CN115054158A

CN115054158A - Base station and cleaning system

Info

Publication number: CN115054158A
Application number: CN202210640969.XA
Authority: CN
Inventors: 马天航; 赵天菲; 桑晓庆; 农贵升; 严欣
Original assignee: Anker Innovations Co Ltd
Current assignee: Anker Innovations Co Ltd
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2022-09-16

Abstract

The application discloses basic station and clean system, the basic station is used for using with cleaning device is supporting, includes: the base station comprises a base station main body, a base station and a base station control module, wherein at least two layers of accommodating spaces at different heights are arranged in the base station main body; an elevating mechanism provided to the base station main body and configured to: switching cleaning equipment arranged in the base station main body between the accommodating spaces at different heights; and the charging module is arranged in the base station main body and used for charging the cleaning equipment entering the base station. According to basic station and clean system of this application, the basic station can use with a plurality of cleaning equipment cooperations simultaneously to can reduce cost, reduce and take up an area of the space, promote clean efficiency.

Description

Base station and cleaning system

Technical Field

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

Background

Currently, base stations for cleaning devices (e.g., floor sweeping or mopping robots, etc.) typically support only one cleaning device, and the base stations typically can only accommodate one cleaning device or only provide for one cleaning device at a time. When a user has two or more robots, two or more base stations are required, or two or more robots alternately use the base stations, thereby increasing costs, occupying an increased space, or reducing cleaning efficiency.

Improvements are therefore needed to at least partially address the above problems.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

To at least partially solve the above problem, according to a first aspect of the present invention, there is provided a base station for use with a cleaning apparatus, comprising:

the base station comprises a base station main body, a base station and a base station control module, wherein at least two layers of accommodating spaces at different heights are arranged in the base station main body;

an elevating mechanism provided to the base station main body and configured to: switching cleaning equipment arranged in the base station main body between the accommodating spaces at different heights;

and the charging module is arranged in the base station main body and used for charging the cleaning equipment entering the base station.

Illustratively, the lifting mechanism includes a lifting plate for supporting the cleaning device into the base station body and a lifting assembly coupled to the lifting plate for lifting the lifting plate.

Exemplarily, the lifting assembly comprises a first lifting assembly and a second lifting assembly, and the first lifting assembly and the second lifting assembly are respectively arranged on two sides of the lifting plate.

Exemplarily, the first lifting assembly comprises a motor, a screw rod and a first lifting slide seat, wherein an output shaft of the motor is in transmission connection with the screw rod, and the first lifting slide seat is sleeved on the screw rod and is configured to be capable of sliding along an axial direction of the screw rod.

Exemplarily, the first lifting assembly further includes a first connecting portion and a first rotating shaft, one end of the first connecting portion is hinged to the first lifting slide, the other end of the first connecting portion is connected to the lifting plate through the first rotating shaft, a first sliding groove is disposed on a side wall of the base station main body, and the first rotating shaft is disposed in the first sliding groove in a penetrating manner and configured to: can slide along the first sliding groove.

Exemplarily, the second lifting assembly comprises a lifting guide shaft and a second lifting slide, wherein the second lifting slide is sleeved on the lifting guide shaft and configured to be capable of sliding along the axial direction of the lifting guide shaft.

Exemplarily, the second lifting assembly further includes a second connecting portion and a second rotating shaft, one end of the second connecting portion is hinged to the second lifting slide, the other end of the second connecting portion is connected to the lifting plate through the second rotating shaft, a second sliding groove is provided on the side wall of the base station main body, and the second rotating shaft is disposed in the second sliding groove in a penetrating manner and configured as: can slide along the second sliding groove.

Illustratively, the base station body has an entrance through which the cleaning device enters the accommodating space, the lifting plate includes a first end and a second end opposite to each other, wherein the second end of the lifting plate is adjacent to the entrance of the base station body, the lifting mechanism further includes an elastic member through which the first end of the lifting plate is connected to the base station body.

Illustratively, the lifting plate is rotatably connected with the lifting assembly, and the connection position of the lifting plate and the lifting assembly is located between the first end and the second end, and the height of the second end of the lifting plate is configured to be increased along with the movement of the center of gravity of the cleaning device to the first end of the lifting plate.

Exemplarily, a supporting platform is arranged between two adjacent accommodating spaces, the supporting platform is connected with the base station main body, and the supporting platform is used for receiving and supporting the cleaning equipment or the cleaning module of the cleaning equipment on the lifting mechanism.

According to a second aspect of the present invention, there is provided a cleaning system comprising:

a base station as described above; and

a cleaning device, the cleaning device comprising:

the cleaning device comprises an equipment main body and a cleaning module detachably connected with the equipment main body;

and the driving mechanism is used for driving the equipment main body to move.

Exemplarily, the cleaning module comprises a cleaning module and a mopping module, and the cleaning module and the mopping module are respectively used for being placed in different accommodating spaces.

Illustratively, the cleaning device moves to the base station after sweeping the surface to be cleaned through the sweeping module, the sweeping module is replaced by the mopping module, and the cleaning device performs mopping cleaning on the surface to be cleaned through the mopping module.

Illustratively, the sweeping module comprises a dust box for collecting dirt, and the dust box is provided with a dust exhaust port;

the mopping module comprises a sewage tank for collecting dirt, and the sewage tank is provided with a sewage outlet.

Illustratively, the base station comprises a first recovery mechanism arranged on the base station main body, and the first recovery mechanism is used for recovering the dirt collected by the dust box;

the base station comprises a second recovery mechanism arranged on the base station main body, and the second recovery mechanism is used for recovering the dirt collected by the sewage tank.

Illustratively, the base station also comprises a recovery mechanism arranged on the base station main body, the recovery mechanism comprises a suction source, a recovery center, a first recovery channel and a second recovery channel, the suction source is communicated with the recovery center, two ends of the first recovery channel are respectively used for communicating the recovery center and the dust exhaust port, the suction source is for generating suction to collect dirt within the dirt box into the recovery center through the first recovery channel, two ends of the second recovery channel are respectively used for communicating the recovery center and the sewage outlet, the suction source for generating suction force to collect the filth inside the foul water tank into the recovery center through the second recovery channel, the recycling center can selectively communicate with one of the first recycling passage and the second recycling passage according to the type of the cleaning module.

According to the base station and the cleaning system, the base station is provided with at least two layers of accommodating spaces and can drive the cleaning equipment to be switched among different accommodating spaces, so that one base station can be used for being matched with a plurality of cleaning equipment simultaneously, the cleaning efficiency is improved, and compared with the mode that one base station is independently configured for each cleaning equipment, the cost is effectively reduced, and the occupied space is reduced.

Drawings

The following drawings of the present application are included to provide an understanding of the present application. The drawings illustrate embodiments of the application and their description, serve to explain the principles and apparatus of the application. In the drawings, there is shown in the drawings,

FIG. 1 is a schematic diagram of a cleaning system according to an embodiment of the present invention;

fig. 2 is an exploded view of a base station according to an embodiment of the present invention when the lifting plate is in an un-lifted state;

fig. 3 is a left side schematic view of a base station according to an embodiment of the present invention when a lifting plate is in an un-lifted state;

fig. 4 is a right-side structural view of the base station according to an embodiment of the present invention, in which the structure inside the main body of the base station is shown in cross section, when the lifting plate is in an un-lifted state;

fig. 5 is an exploded view of a base station according to an embodiment of the present invention when the lifter plate is in a raised state;

fig. 6 is a left side schematic view of a base station according to an embodiment of the present invention when a lifting plate is in a lifted state;

fig. 7 is a right-side structural view of the base station according to an embodiment of the present invention, in which the structure inside the main body of the base station is shown in cross section, when the lifting plate is in a lifted state;

FIGS. 8-10 are schematic views of a base station housing two cleaning devices simultaneously;

fig. 11-12 are schematic views illustrating a process of replacing the cleaning module with the cleaning device through different accommodating spaces of the base station;

FIG. 13 is a schematic view of a cleaning apparatus connected to a sweeping module according to an embodiment of the present invention;

FIG. 14 is a schematic view of a cleaning device coupled to a mopping module according to an embodiment of the present invention;

FIG. 15 is a schematic bottom view of a cleaning apparatus according to an embodiment of the invention;

FIG. 16 is a schematic structural diagram of a cleaning module according to an embodiment of the present invention;

figure 17 is a schematic illustration of a splice of a cleaning brush head in a cleaning module according to an embodiment of the present invention;

FIG. 18 is an assembled view of a cleaning module according to an embodiment of the present invention;

FIG. 19 is a schematic view of a cleaning module according to an embodiment of the present invention connected to an apparatus main body;

FIG. 20 is a schematic structural view of a mopping module according to an embodiment of the present invention;

FIG. 21 is a schematic illustration of the splice of the floor scrubbing head of the floor scrubbing module according to one embodiment of the present invention;

FIG. 22 is an assembled view of a mopping module according to an embodiment of the present invention;

FIG. 23 is a schematic view of a floor mopping module according to an embodiment of the present invention connected to a main body of a device;

FIG. 24 is a schematic view of a cleaning module and an apparatus body of a cleaning apparatus in an inverted state according to an embodiment of the present invention;

FIG. 25 is a schematic view of a cleaning module and an apparatus body of a cleaning apparatus according to an embodiment of the present invention, wherein the left side is a bottom view and a side view of the apparatus body, and the right side is a side view and a bottom view of the cleaning module;

FIG. 26 is a cross-sectional view of a cleaning module of a cleaning apparatus according to an embodiment of the present invention, the cleaning module being disconnected from the main body;

FIG. 27 is a cross-sectional view of a cleaning module of a cleaning apparatus according to an embodiment of the present invention, being connected to an apparatus main body;

FIG. 28 is a cross-sectional view of a cleaning module of a cleaning apparatus according to another embodiment of the present invention, the cleaning module being disconnected from the main body;

FIG. 29 is a cross-sectional view of a cleaning module of a cleaning apparatus according to another embodiment of the present invention, being connected to an apparatus main body;

fig. 30 to 31 are schematic diagrams illustrating a process of replacing a first cleaning module carried by a cleaning apparatus with a second cleaning module through different accommodating spaces of a base station;

fig. 32 to 33 are schematic diagrams illustrating a process of replacing the second cleaning module carried by the cleaning apparatus with the first cleaning module through different accommodating spaces of the base station;

FIG. 34 is a schematic diagram of a cleaning device return base station according to one embodiment of the invention;

fig. 35 is a left side view of a cleaning device reaching a first-layer accommodation space inside a base station main body according to an embodiment of the present invention;

FIG. 36 is a right side view of a cleaning device according to one embodiment of the present invention reaching a first level of receiving space inside a base station body;

FIG. 37 is a schematic view of a cleaning device entering a base station in accordance with one embodiment of the present invention;

fig. 38 is a schematic view illustrating a cleaning apparatus reaching a first-layer accommodating space inside a base station body to start disassembling a cleaning module according to an embodiment of the present invention;

FIG. 39 is a schematic view of the detachment mechanism detaching, replacing and carrying the cleaning module to return to its original position according to one embodiment of the present invention;

fig. 40 is a schematic view of the device body being lifted to the second layer of the accommodating space of the base station according to an embodiment of the invention;

fig. 41 is a schematic view of the main body of the apparatus according to an embodiment of the present invention, installing another cleaning module in the second-layer accommodation space of the base station;

FIG. 42 is a schematic view of the main body of the apparatus falling to the first floor of the base station after the cleaning module is mounted according to one embodiment of the present invention;

FIGS. 43 and 44 are schematic views of the cleaning module being disassembled by the disassembling mechanism according to one embodiment of the present invention;

FIG. 45 is an exploded view of a detachment mechanism according to one embodiment of the present invention;

FIG. 46 is a first cross-sectional view illustrating a position limiting member not inserted into a position limiting slot according to an embodiment of the present invention;

FIG. 47 is a second cross-sectional view illustrating a position-limiting member not inserted into a position-limiting groove according to an embodiment of the present invention;

FIG. 48 is a first cross-sectional view illustrating a position limiting member inserted into a position limiting slot according to an embodiment of the present invention;

FIG. 49 is a second cross-sectional view illustrating a position limiting member inserted into a position limiting slot according to an embodiment of the present invention;

FIG. 50 is an exploded view of the drive assembly of the detachment mechanism, in accordance with one embodiment of the present invention;

FIGS. 51 and 52 are schematic views of a drive assembly driving a detachment mechanism carrying a cleaning module in a home position according to an embodiment of the present invention;

fig. 53 and 54 are schematic cross-sectional views illustrating the driving assembly driving the detaching mechanism to carry the cleaning module to the home position according to an embodiment of the present invention.

Description of reference numerals:

100. a base station main body; 110. a base plate; 111. a left side wall; 112. a right side wall; 113. a support platform; 120. a lifting plate; 121. a protruding portion; 130. a motor; 131. a bearing; 132. a screw rod; 133. a first lifting slide carriage; 134. a first connection portion; 135. a first rotating shaft; 136. a first sliding groove; 141. a bearing; 142. a lifting guide shaft; 143. a second lifting slide; 144. a second connecting portion; 145. a second rotating shaft; 150. an elastic member; 136. a second sliding groove;

200. cleaning equipment; 210. an apparatus main body; 220. a drive mechanism; 230. a cleaning module; 231. cleaning the module; 232. a floor mopping module;

211. a drive wheel; 212. a fan; 213. a sensor; 214. a drive motor; 215. a transmission mechanism; 216. a battery;

2. a first mounting bracket; 20. the first brush head quick-release fixing frame; 21. a sweeping brush head; 22. a first brushhead drive motor; 23. a second auxiliary wheel; 24. a base station dust suction port; 25. a dust suction port; 26. a dust box; 27. a second air inlet;

3. a quick release mechanism; 31. a first connecting member; 32. a second connecting member;

4. a second mounting bracket; 40. the second brush head quick-release fixing frame; 41. a mopping brush head; 42. a second brushhead drive motor; 43. a first auxiliary wheel; 44. a clear water inlet; 45. a sewage outlet; 46. a water suction port; 47. a water jet; 48. a wiper blade; 49. a sewage tank; 410. a first air intake opening; 411. a clear water tank; 412. a water pump;

50. a quick release mechanism; 51. a first connecting mechanism; 52 a second connection mechanism; 61. a positioning member; 62. a fitting portion; 521. a locking member; 522. a spring; 523. a magnetic conductive member; 524. an electromagnet; a limiting member 525; 71. a spring; 72. a nut; 73. a lead screw; 74. a motor;

fig. 34-fig. 48, 160, lifting mechanism, 170, dismounting mechanism 171, limit stop; 172. a mechanism main body; 173. a cover plate; 174.

electromagnetic members

174, 175, a first reset member; 176. a magnetic member; 177. accommodating grooves; 180. a bearing; 181. a driver; 1821. a first drive pulley; 1822. a second transmission wheel; 183. a conveyor belt; 184. a driven wheel; 185. an optical axis; 234. a limiting groove.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present application. It will be apparent, however, to one skilled in the art, that the present application may be practiced without one or more of these specific details. In other instances, well-known features of the art have not been described in order to avoid obscuring the present application.

It is to be understood that the present application is capable of implementation in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art. In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity. Like reference numerals refer to like elements throughout.

It will be understood that, although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present application.

Spatial relational terms such as "under," "below," "under," "above," "over," and the like may be used herein for convenience in describing the relationship of one element or feature to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

Embodiments of the invention are described herein with reference to cross-sectional illustrations that are schematic illustrations of idealized embodiments (and intermediate structures) of the present application. As such, variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, are to be expected. Thus, embodiments of the present application should not be limited to the particular shapes of regions illustrated herein, but are to include deviations in shapes that result, for example, from manufacturing. Thus, the regions illustrated in the figures are schematic in nature and their shapes are not intended to illustrate the actual shape of a region of a device and are not intended to limit the scope of the present application.

A cleaning system according to an embodiment of the present invention is illustrated with reference to fig. 1-12.

The cleaning system comprises a base station and the cleaning device 200, and the base station and the cleaning device 200 are used in cooperation. The cleaning device 200 may be a device such as a sweeping robot, mopping robot, or the like, capable of traveling over and cleaning a work surface (e.g., a floor surface, etc.).

Referring to fig. 1 to 7, the base station includes a base station main body 100, a lifting mechanism, and a charging module (not shown).

The base station main body 100 may further include at least one accommodating space, which may be used to accommodate a cleaning module of a cleaning apparatus and/or a cleaning apparatus, wherein when there are a plurality of accommodating spaces, the accommodating spaces may be at different heights in an up-down direction or different regions in a horizontal direction. Illustratively, the base station body 100 includes a bottom plate 110 and a side wall partially surrounding the bottom plate 110 along a circumferential direction of the bottom plate 110 such that one side is open and the other side is closed by the side wall, thereby forming a partially open receiving space, the open side being an entrance of the body of the base station, from which the cleaning device 200 can enter the receiving space of the base station body 100. The base station body 100 may further include a ceiling plate located above the sidewalls. The base station main body 100 has two layers of accommodation spaces at different heights in the up-down direction, and the size of each layer of accommodation space is larger than the volume of the cleaning device 200, so that each layer of accommodation space can be used for accommodating the cleaning device 200. A supporting platform 113 is arranged between the accommodating spaces of the two adjacent layers, the supporting platform 113 is connected with the base station main body 100 and can be a partition board fixedly connected to the side wall, and the supporting platform 113 is used for receiving and supporting the cleaning device 200 on the lifting mechanism or the cleaning module 230 of the cleaning device 200.

The lifting mechanism is provided to the base station main body 100, and is configured to switch the cleaning device 200 placed in the base station main body 100 between two layers of accommodation spaces of different heights. Specifically, the lifting mechanism includes a lifting plate 120 and a lifting assembly connected to the lifting plate 120, the lifting plate 120 is located in the accommodating space of the base station body 100 and includes a first end and a second end opposite to each other, the first end of the lifting plate 120 is located inside the accommodating space, and the second end of the lifting plate 120 is adjacent to the entrance of the base station body 100. The lifting plate 120 serves to support the cleaning apparatus 200 into the base station body 100. The lifting assembly is connected to the lifting plate 120 and is used for lifting or lowering the lifting plate 120, so that the cleaning device 200 supported on the lifting plate 120 can move from the accommodating space of the lower layer to the accommodating space of the upper layer, or can move from the accommodating space of the upper layer to the accommodating space of the lower layer.

The elevating mechanism further includes an elastic member 150, and the first end of the elevating plate 120 is connected to the base station body 100 through the elastic member 150. The lifting plate 120 is rotatably connected to the lifting assembly, and a connection position between the lifting plate 120 and the lifting assembly is located between the first end and the second end, the lifting assembly can lift or lower the lifting plate 120 from the connection position, and the lifting plate 120 can rotate around the connection position as a rotation axis in the lifting or lowering process. The height of the second end of the lifting plate 120 is configured to be raised as the center of gravity of the cleaning apparatus 200 moves toward the first end of the lifting plate 120. Specifically, in the present embodiment, two side edges of the first end of the lifting plate 120 are respectively provided with a protruding portion 121 extending from the lifting plate 120 to a direction away from the lifting plate 120, the protruding portions 121 are approximately L-shaped, and a distance between the protruding portions 121 is greater than a width of the cleaning apparatus 200. The elastic member 150 may be a spring, and both ends of the spring have hook portions, the spring may be connected to a hook provided on the bottom plate 110 of the base station body 100 through the hook portion of a first end thereof, and connected to a connection hole of one end of the extension portion 121 far away from the lifting plate 120 through the hook portion of a second end thereof, so that the spring may be extended and retracted in the lifting or lowering process of the lifting plate 120, and may rotate with respect to the base station body 100 and the lifting plate 120. Therefore, when the cleaning device 200 is located on the lifting plate 120 and needs to enter the receiving space of the upper layer, the lifting assembly lifts the lifting plate 120 upwards from the connection position of the lifting assembly and the lifting plate 120, and when the center of gravity of the cleaning device 200 is located between the connection position (the connection position of the lifting plate 120 and the lifting assembly) and the second end of the lifting plate 120, a moment can be formed by the pulling force of the elastic member 150 to keep the balance of the lifting plate 120. When the cleaning device 200 on the lifting plate 120 is located in the upper accommodation space and gradually moves to the supporting platform 113, the center of gravity of the cleaning device 200 is located between the connection position and the supporting platform 113, the cleaning device 200 can be simultaneously supported on the lifting plate 120 and the supporting platform 113, and the pulling force of the elastic component 150 drives the lifting plate 120 to rotate, so that the second end of the lifting plate 120 is lifted. By the pulling force of the elastic member 150 and the rotation of the lifting plate 120, the height of the second end of the lifting plate 120 can be increased as the center of gravity of the cleaning apparatus 200 moves toward the first end of the lifting plate 120. Therefore, when the cleaning device 200 is completely located in the accommodating space of the upper layer, the height of the second end of the lifting plate 120 relative to the bottom plate 110 of the base station main body 100 is greater than the height of the cleaning device 200, and the lifting plate 120 is horizontal or approximately horizontal, so that one cleaning device 200 can be accommodated in the accommodating space below the lifting plate 120 at this time, that is, the accommodating spaces of the upper layer and the lower layer of the base station main body 100 can accommodate two cleaning devices at the same time.

In this embodiment, the lifting assembly includes a first lifting assembly and a second lifting assembly, the first lifting assembly and the second lifting assembly are respectively disposed on two sides of the lifting plate 120, and the lifting plate 120 is lifted from two sides of the lifting plate 120, so that the lifting plate 120 can be changed in position in the up-down direction, and the cleaning device 200 supported on the lifting plate 120 is driven to be switched between two layers of accommodating spaces with different heights.

The first lifting assembly comprises a motor 130, a screw 132 and a first lifting slide 133, the motor 130 can be fixedly or detachably arranged outside the left side wall 111 of the base station main body 100, an output shaft of the motor 130 is in transmission connection with the screw 132, and the screw 132 is rotatably arranged outside the left side wall 111 of the base station main body 100 and is connected with the base station main body 100 through a bearing 131. Specifically, a coaxial sleeve portion is fixedly provided in the vertical direction outside the left side wall 111 of the base station main body 100, and both ends of the screw 132 are rotatably connected to the sleeve portion through bearings 131. The motor 130 is used for driving the screw 132 to rotate around the central axis thereof, the first lifting slide carriage 133 is sleeved on the screw 132 and is constructed to be capable of sliding up and down along the axial direction of the screw 132, the first lifting slide carriage 133 can be a ball nut, and the first lifting slide carriage 133 and the screw 132 can form a ball screw pair, so that when the screw 132 rotates, the first lifting slide carriage 133 sleeved on the screw 132 can slide along with the rotation of the screw 132 in the axial direction of the screw 132. The first lifting assembly further includes a first connection portion 134 and a first rotation shaft 135, one end of the first connection portion 134 is hinged to the first lifting slider 133, the other end of the first connection portion 134 is connected to the lifting plate 120 through the first rotation shaft 135, and the first rotation shaft 135 can be rotatably connected to the first connection portion 134 and fixedly connected to the lifting plate 120 (or the first rotation shaft 135 can be rotatably connected to the lifting plate 120 and fixedly connected to the first connection portion 134). The left side wall 111 of the base station body 100 is provided with a first slide groove 136 penetrating the side wall, and the first rotation shaft 135 is inserted into the first slide groove 136 and is disposed slidably along the first slide groove 136. The first sliding groove 136 serves to guide the first rotating shaft 135 to be movable only in an extending direction of the first sliding groove 136.

The second lifting assembly includes a lifting guide shaft 142 and a second lifting slider 143, the lifting guide shaft 142 may be an optical axis, and is rotatably disposed outside the right sidewall 112 of the base station body 100, and both ends of the lifting guide shaft 142 are connected to the base station body 100 through bearings 141, and can rotate around its central axis. In other embodiments, the lifting guide shaft 142 may be fixedly disposed outside the right sidewall 112 of the base station body 100 and may not be rotatable. The second lifting slide 143 is sleeved on the lifting guide shaft 142 and configured to be capable of sliding along the axial direction of the lifting guide shaft 142, and the second lifting slide 143 may be an optical axis slider. The second lifting assembly further includes a second connecting portion 144 and a second rotating shaft 145, one end of the second connecting portion 144 is hinged to the second lifting slide 143, the other end of the second connecting portion 144 is connected to the lifting plate 120 through the second rotating shaft 145, the second rotating shaft 145 can be rotatably connected to the second connecting portion 144 and fixedly connected to the lifting plate 120 (or the second rotating shaft 145 can be rotatably connected to the lifting plate 120 and fixedly connected to the second connecting portion 144), the right side wall 112 of the base station body 100 is provided with a second sliding groove 136 penetrating through the side wall, and the second rotating shaft 145 is inserted into the second sliding groove 136 and configured to be capable of sliding along the second sliding groove 136. The second sliding groove 136 serves to guide the second rotating shaft 145 to move only in the extending direction of the second sliding groove 136.

Through the first lifting assembly and the second lifting assembly, the lifting plate 120 can be lifted, so that at least part of the cleaning equipment 200 on the lifting plate 120 in the accommodating space on the lower layer of the base station main body 100 moves to the accommodating space on the upper layer of the base station main body 100, and then, the lower layer accommodating space between the lifting plate 120 and the bottom plate 110 can also accommodate one cleaning equipment 200, that is, the base station can accommodate two cleaning equipment 200 at the same time. The specific process of the base station housing two cleaning apparatuses 200 is illustrated with reference to fig. 8-10. Referring to fig. 8, when the lifting plate 120 is in the non-lifted state shown in fig. 2-4, the second end of the lifting plate 120 is approximately flush with the ground or the bottom plate 110 of the base station main body 100, the cleaning device 200 can move from the second end of the lifting plate 120 to the lifting plate 120, and at this time, the cleaning device 200 is at least partially located in the receiving space of the lower layer of the base station main body 100, and then the motor 130 drives the screw 132 to rotate, the first lifting slide 133 moves upward through the transmission of the screw 132, the first lifting slide 133 drives the first rotating shaft 135 to move upward along the first sliding groove 136 through the first connecting portion 134, so as to lift the lifting plate 120, the lifting plate 120 drives the second rotating shaft 145 to move upward along the second sliding groove 146, and the second rotating shaft 145 drives the second lifting slide 143 to move upward on the upper lifting guide shaft 142 through the second connecting portion 144. Through the combined action of the first lifting component and the second lifting component positioned on the left and right of the lifting plate 120, the whole lifting mechanism can be ensured to move up and down stably, the deflection torque is reduced, and the mechanism is prevented from being damaged. Meanwhile, the lifting assembly adopts screw rod transmission, and because the screw rod transmission has self-locking performance, when the motor 130 does not act, the whole structure can keep state balance, and meanwhile, stress cannot be transmitted to the motor 130, so that the reliability and the service life of the motor 130 are ensured. Referring to fig. 9, when the lifting plate 120 is lifted to the lifted state shown in fig. 5 to 7, the cleaning device 200 moves forward to the supporting platform 113, the cleaning device 200 is supported by the lifting plate 120 and the supporting platform 113 to be located in the accommodating space of the upper layer, the change of the center of gravity caused by the back and forth movement of the cleaning device 200 and the balance moment caused by the spring tension cause the cleaning device 200 to move to the supporting platform 113, the lifting plate 120 is in a horizontal or approximately horizontal state, the height of the second end of the lifting plate 120 relative to the bottom plate 110 of the base station main body 100 is greater than that of the cleaning device 200, the accommodating space of the lower layer between the lifting plate 120 and the bottom plate 110 of the base station main body 100 can be used for accommodating another cleaning device 200, referring to fig. 10, the another cleaning device 200 travels to the bottom plate 110 of the base station main body 100 to be located in the accommodating space of the lower layer of the base station main body 100, the base station accommodates two cleaning apparatuses 200 at the same time.

The base station main body 100 of the embodiment has only two layers of accommodating spaces. In other embodiments, the base station main body 100 may have three or more accommodating spaces at different heights, and only the lifting mechanism needs to be configured accordingly, so that the cleaning device 200 in the base station main body 100 can be switched between the accommodating spaces at different heights. For example, by controlling the lifting height and the rotating angle of the lifting plate 120, it is possible to switch the cleaning device 200 thereon between the accommodating spaces with different heights.

The base station further includes a charging module, which is disposed in the base station main body 100 and is used for charging the cleaning device 200 entering the base station. Specifically, the charging module includes at least one output terminal, which can be disposed in at least one layer of the accommodating space of the base station main body 100. When the cleaning device 200 enters a preset position in the accommodating space of the corresponding layer, the input terminal on the cleaning device 200 is electrically connected with the output terminal of the charging module, and the charging module charges the cleaning device 200. The charging module can receive an external power to charge the cleaning device 200, and can also charge the cleaning device 200 through a rechargeable battery in the charging module. Thereby, the basic station can be used for simultaneously charging a plurality of cleaning device 200 that are in different layers of accommodation space, and a basic station can cooperate a plurality of cleaning device 200 to use, makes a plurality of cleaning device 200 can charge and carry out cleaning work by the completion more quick, can effectively promote clean efficiency, and need not to charge for every cleaning device 200 disposes a basic station alone, has effectively reduced the cost, has reduced the occupation of land space of basic station.

Referring to fig. 13-23, a cleaning apparatus 200 according to an embodiment of the present invention is illustrated.

Referring to fig. 13 and 14, a cleaning apparatus 200, wherein the cleaning apparatus 200 comprises an apparatus main body 210, a cleaning module 230 and a quick release mechanism 3, the cleaning module 230 is used for cleaning a surface to be cleaned (e.g. a floor, a carpet surface, etc. to be cleaned). The cleaning module 230 comprises a cleaning module 231 and a mopping module 232, one of the cleaning module 231 and the mopping module 232 is connected with the equipment main body 210 through the quick-release mechanism 3, so that the cleaning equipment 200 can be used as a common module of a minimum system in the sweeping and mopping processes, namely, each functional module in the equipment main body 210 participates in the sweeping process or the mopping process, no excess load exists, and the space volume and the efficiency can reach the optimum.

Cleaning module 230 can be the module that is used for carrying on the working face cleaning wantonly, for example it can also be the module of waxing, perhaps, other suitable modules, wherein, in this application, the change of cleaning the module can be the module of will sweeping the floor and change for the module of mopping the floor, or will drag the module of mopping the floor and change for the module of waxing, or, can also be the change etc. between the different module of sweeping of brush hair length, can realize cleaning device's multiple work demand through the change of module.

As shown in fig. 15, the apparatus main body 210 is provided with a drive mechanism 220 (see fig. 1), a fan 212, an air duct, a sensor 213, a drive motor 214, a transmission mechanism 215, and a battery 216. The driving mechanism 220 is used for driving the main body 210 to advance, in this embodiment, the driving mechanism 220 is arranged on a driving wheel 211 at the bottom of the main body 210, and the cleaning device 200 moves on the working surface by the driving wheel 211. In other embodiments, the driving wheels 211 may be driving tracks provided on both sides or the bottom of the apparatus body 210 or may also be rollers or the like. The driving wheel 211 is installed at the bottom of the device body 210 for realizing the movement of the cleaning device 200, the driving motor 214 is installed inside the device body 210 for driving the rotation of the driving wheel 211, the driving wheel 211 and the driving motor 214 are installed at the bottom of the device body 210 in two and one-to-one correspondence, and the two driving wheels 211 are installed at the two sides of the bottom of the device body 210 and symmetrically arranged. The transmission mechanism 215 is installed at the bottom of the device body 210 and is used for connecting the driving motor 214 and the driving wheel 211, in some embodiments, the transmission mechanism 215 adopts a chain, a belt, a gear, and the like, and the driving wheel 211 is driven to rotate by the transmission mechanism 215 when the driving motor 214 operates.

The fan 212 is installed inside the device main body 210, the air duct is opened on the device main body 210 and communicated with an air inlet of the fan 212, an opening at the bottom of the air duct is located at the bottom of the device main body 210, and the fan 212 supplies air through the air duct when working, so that dust and sundries are sucked, and ground cleaning is assisted when the device main body 210 moves.

The battery 216 is installed inside the apparatus main body 210, and the driving motor 214 and the blower 212 are electrically connected to the battery 216 to supply power for the operation of the driving motor 214 and the blower 212.

The device main body 210 of the present application further includes a sensing module, the sensing module may be detachably connected to the device main body 210, the sensing module may include one or more sensors, the sensors may include one or more of a laser ranging sensor, an infrared ranging sensor, an image recognition sensor, a pressure sensor, a contact sensor and a proximity sensor, for example, the sensing module includes a sensor 213, at least two sensors 213 are installed at the bottom of the device main body 210, the sensor 213 is electrically connected to the battery 216 and connected to the control center of the cleaning device 200, transmit the collected sensing signals, and the types of the sensors 213 may be selected according to the usage scenario.

The cleaning module 231 is described with reference to fig. 16-18, wherein the cleaning module 231 is detachably connected to the device main body 210, the cleaning module 231 includes a dust box 26, a cleaning brush head 21, and a first driving mechanism in transmission connection with the cleaning brush head 21, the first driving mechanism is used for driving the cleaning brush head 21 to move so as to clean a work surface, and the dust box 26 is used for collecting garbage cleaned by the cleaning brush head 21. Optionally, the sweeping brush head 21 is provided with a plurality of uneven patterned structures for sweeping. In some embodiments, the sweeping brush head 21 is provided with a plurality of bristles for sweeping.

The dust box 26 is provided with an opening, for example, the opening is arranged at the top of the dust box 26 or other suitable positions, the bottom of the dust box 26 is provided with a dust suction port 25 for communicating with the outside, and the opening of the dust suction port 25 is arranged towards the sweeping brush head 21. The dust box 26 is provided with a second air suction opening 27, the second air suction opening 27 is positioned on the side wall of the dust box 26 far away from the dust suction opening 25, and the second air suction opening 27 is communicated with an air duct on the device main body 210 (see fig. 15). The sweeping brush head 21 with certain interference with the working surface sweeps the garbage on the working surface and rolls the garbage in front of the dust suction port 25 between the sweeping brush head 21 and the dust box 26, when the fan 212 on the device main body 210 works, the fan 212 generates and passes through the suction air of the dust box structure, so that the air with dust and dirt is sucked through the air duct and the dust suction port 25 on the dust box 26, and finally the garbage, the dust and the like are temporarily stored in the dust box structure. A filter device such as a filter screen or the like (not shown in the drawings) is installed at the air inlet of the fan 212, and dust-air separation is realized by changing the filter device, so that dust is prevented from entering the fan and causing negative effects on the fan. After the fan 212 draws air, dirt and dust is retained in the dirt tray 26 for better sweeping operation by the fan and its associated structure in cooperation with the brush head 21.

In some embodiments, a base station dust suction opening 2524 is further disposed on the dust box 26, the base station dust suction opening 2524 is communicated with the dust box 26, and the garbage in the dust box 26 can be sent to a base station cooperating with the cleaning apparatus 200 through the base station dust suction opening 2524 for centralized processing, for example, a dust suction device (not shown) can be disposed in the base station and communicated with the base station dust suction opening 2524, so that the garbage in the dust box 26 can be sucked to the base station cooperating with the cleaning apparatus 200 for centralized processing.

Clean module 231 still includes first mounting bracket 2, this mounting bracket can be used for dirt box 26, sweep the floor and brush head 21, a drive mechanism is for example first brush head driving motor 22 etc. sweep the floor, sweep the floor and brush head 21 demountable installation on first mounting bracket 2, sweep the floor and be connected with first brush head quick detach mount 20 on the brush head 21, first brush head quick detach mount 20 and first mounting bracket 2 demountable connection, first brush head quick detach mount 20 can include but not limited to and connect first mounting bracket 2 through modes such as buckles to convenience of customers changes brush head regularly. The sweeping brush head 21 is rotatably connected with the first brush head quick-release fixing frame 20 through a rotating shaft, and the sweeping brush head 21 rotates along the axis of the sweeping brush head 21. Optionally, a first accommodating space is provided in the brush head 21 for sweeping, and the first driving mechanism is provided in the first accommodating space, for example, the first driving mechanism includes a first brush head driving motor 22 installed on the first mounting bracket 2, the first brush head driving motor 22 is located in the first accommodating space of the brush head 21 for sweeping, the first brush head driving motor 22 and the brush head 21 for sweeping are connected to be used for driving the brush head 21 for sweeping to rotate, optionally, the first brush head driving motor 22 and the brush head 21 for sweeping may be directly connected, or may also be connected through a transmission assembly. In some embodiments, a groove is further disposed on the first brush head quick-detaching fixing frame 20, a protrusion is disposed at an end of the first mounting frame 2 and engaged with the groove, and the protrusion and the groove are in interference fit for performing the detachable connection between the first mounting frame 2 and the first brush head quick-detaching fixing frame 20, or, in some embodiments, a protrusion is further disposed on the first brush head quick-detaching fixing frame 20, a groove is disposed at an end of the first mounting frame 2 and engaged with the groove, and the protrusion and the groove are in interference fit for performing the detachable connection between the first mounting frame 2 and the first brush head quick-detaching fixing frame 20.

The cleaning module 231 further comprises a second auxiliary wheel 23, the second auxiliary wheel 23 is disposed at the bottom of the cleaning module 231, for example, the second auxiliary wheel 23 is mounted at the bottom of the first mounting frame 2 and is rotatably connected with the first mounting frame 2, and the rotation center line of the second auxiliary wheel 23 is parallel to the axis of the cleaning brush head 21. The number of the second auxiliary wheels 23 may be 1 or more, and provide support to the cleaning device to assist the movement of the cleaning device when the cleaning device is moved.

The quick release mechanism 3 (see fig. 19) includes a first link 31 and a second link 32 that mates with the first link 31. The cleaning module 231 and the mopping module 232 are both provided with the first connector 31, and the device body 210 is provided with the second connector 32. The apparatus main body 210 is detachably connected to the first connector 31 of the cleaning module 231 through the second connector 32, or the apparatus main body 210 is detachably connected to the first connector 31 of the mopping module 232 through the second connector 32.

For the quick release mechanism 3, in some embodiments, the first connecting member 31 includes a quick release male opening installed on the cleaning module 231, the second connecting member 32 is a quick release female opening opened on the apparatus main body 210, and the positions of the quick release male opening and the quick release female opening are in one-to-one correspondence, wherein the number of the quick release male opening and the quick release female opening may be 1 or 2 or more. In some embodiments, the quick-release male port is installed on the dust box 26, the quick-release male port is a protruding buckle, and the quick-release female port is a clamping slot formed on the device body 210, or the quick-release male port is a protruding clamping slot, the quick-release female port is a buckle formed on the device body 210, and the clamping slot and the buckle cooperate with each other, so as to achieve the detachable connection between the cleaning module 231 and the device body 210.

In other embodiments, one of the first and second coupling members is a locking groove, and the other is a retractable coupling member (e.g., a plunger spring), and the retractable coupling member is engaged with the locking groove, and is coupled when the retractable coupling member is inserted into the locking groove, and is decoupled when the retractable coupling member is separated from the locking groove, and also detachably coupled between the device body 210 and the cleaning module 231.

In other embodiments, the detachable connection of the first connector and the second connector can also be realized by magnetic attraction, wherein at least one of the first connector and the second connector is a magnetic component, and the first connector and the second connector are detachably connected by magnetic attraction, for example, the first connector and the second connector can both be magnetic components such as a magnet or an electromagnet, the polarities of the two are opposite, so as to realize attraction, or one of the two is a magnet or an electromagnet, and the other is a metal such as iron, so as to form a magnetic force between the two, so as to realize attraction connection.

Referring to fig. 17 to 19, when the cleaning module 231 is coupled to the apparatus main body 210, the operation is as follows:

the installation that the equipment main part 210 cleaned the module 231 in the basic station to leave the basic station and advance to the working surface and clean, when the equipment main part 210 moved, first brush head driving motor 22 rotated and drives the brush head 21 that sweeps the floor and rotate, rolled up dust rubbish etc. to dust absorption mouth 25 department, through fan 212 and second inlet scoop 27, dust rubbish was inhaled in dust box 26, accomplished the action of sweeping the floor and absorbing dust. The base station dust suction port 24 is used for connecting the base station with the cleaning module 231, and the sweeping robot collects the garbage in the full dust box 26, sucks the garbage and concentrates the garbage in the base station through a mechanism corresponding to the base station, and processes the garbage uniformly. Referring next to fig. 20-23, describing an exemplary structure of the mopping module 232, the mopping module 232 may include a water tank, a mopping head 41, and a second driving mechanism in driving connection with the mopping head 41, and the mopping module 232 is detachably connected with the apparatus body 210 through the quick release mechanism 3. Alternatively, the mopping brush head 41 and the sweeping brush head 21 are both cylindrical, and a sponge, a mop, etc. may be sleeved outside the mopping brush head 41 for mopping. The mopping brush head 41 is connected with a second brush head quick-release fixing frame 40, the mopping brush head 41 is rotationally connected with the second brush head quick-release fixing frame 40, and the mopping brush head 41 rotates along the axis of the mopping brush head 41. The mopping module 232 further comprises a second mounting frame 4, and the second brush head quick-release fixing frame 40 is detachably connected with the second mounting frame 4, so that a user can replace the brush head regularly.

The second mounting frame 4 can be realized by the structure of the first mounting frame 2, exemplarily, a protrusion is arranged on the second mounting frame 4, a groove matched with the protrusion is formed in the second brush head quick-detaching fixing frame 40, and the second brush head quick-detaching fixing frame 40 and the second mounting frame 4 are detachably connected through the groove and the protrusion in an interference fit mode. In some embodiments, at least one of the second brush head holder or the protrusion is a magnetic member such as a magnet, and the second brush head quick release holder 40 is connected to the second mounting rack 4 by magnetic attraction.

Optionally, the second driving mechanism may include a second brush head driving motor 42, the second brush head driving motor 42 is installed on the second mounting frame 4, a second accommodating space is provided in the mopping brush head 41, and the second driving mechanism is provided in the second accommodating space, for example, one end of the second brush head driving motor 42 is fixedly connected to the second mounting frame 4, and the output shaft of the other end and the mopping brush head 41 are connected and drive the mopping brush head 41 to rotate, so as to drive the mopping brush head 41.

The mopping module 232 further comprises a first auxiliary wheel 43, the first auxiliary wheel 43 is disposed at the bottom of the mopping module 232, for example, the first auxiliary wheel 43 is mounted at the bottom of the second mounting frame 4 and is rotatably connected with the second mounting frame 4, and the rotation center line of the first auxiliary wheel 43 is parallel to the axis of the mopping. The number of the first auxiliary wheels 43 may be 1 or more, and provide support to the cleaning device to assist the movement of the cleaning device when the cleaning device is moved.

The mopping module 232 is detachably connected to the main body of the apparatus via the first connecting member 31 and the second connecting member 32 of the quick release mechanism 3, which is substantially the same as the cleaning module 231. The cleaning module 231 and the mopping module 232 are both provided with the first connector 31, and the equipment body 210 is provided with the second connector 32.

For the quick release mechanism 3 and the mopping module 232, in some embodiments, the first connecting member 31 is two quick release male ports installed on the mopping module 232, and the second connecting member 32 is two quick release female ports opened on the device body 210, and the positions of the quick release male ports and the quick release female ports are in one-to-one correspondence. Wherein, the public mouth of quick detach is installed on the water tank of dragging ground module 232, and the public mouth of quick detach is bellied buckle, and the female mouth of quick detach is for seting up the draw-in groove on equipment main part 210, and draw-in groove and buckle mutually support, have realized dragging the dismantled connection between ground module 232 and the equipment main part 210.

In some embodiments, the first connector 31 is a slot opened on the mopping module 232, and the second connector 32 is a buckle installed on the device body 210, so as to also realize the detachable connection between the device body 210 and the mopping module 232.

In some embodiments, at least one of the first connector 31 and the second connector 32 is a magnetic component, such as a magnet, a magnetic ring, etc., and the first connector 31 and the second connector 32 are detachably connected by magnetic attraction.

In some embodiments, the first connecting member 31 or the second connecting member 32 is a slot, and the other is a retractable connecting member (e.g. a plunger spring, or a retractable rod with a hook), and the retractable connecting member enters the slot to cooperate with the slot to realize the detachable connection between the first connecting member 31 and the second connecting member 32.

Through the structural design of quick detach mechanism 3, when needs carry out equipment main part 210 and drag the connection of ground module 232, through the cooperation of first connecting piece 31 and second connecting piece 32, can realize the connection fast, it is more convenient to use, when sweeping the floor and need drag ground after accomplishing, also can accomplish fast and clean the module 231 to drag the switching between the ground module 232, improve work efficiency. The cleaning module 231 and the mopping module 232 are not only simple replacement of the brush head, but also replacement of two sets of systems, and only a common module (such as a fan, a battery, a driving wheel, a sensor and the like) of the two sets of cleaning systems is reserved on the device main body 210, so that the cleaning robot works with the minimum system every time no matter in the sweeping process or the mopping process, no redundant load is caused, the efficiency is reduced, and the cleaning efficiency can be optimized every time. Meanwhile, under the condition that the volume of the whole equipment is not increased, the space of the dust feeding box 26 and the water tank is made as large as possible, and the cleaning coverage range of the cleaning equipment can be further improved.

In some embodiments the tank comprises a clean water tank 411 and a waste water tank 49 arranged separately from each other, for example in a floor module 232, connected to the second mounting frame 4, and a partition is provided in the tank to divide the tank into the clean water tank 411 and the waste water tank 49 separated from each other. The clean water tank 411 is used for providing cleaning liquid (such as clean water) used when the mopping module 232 mops and wipes a working surface, the sewage tank 49 is used for recovering dirty liquid, the mopping brush head in a rolling brush mode is adopted, and the clean water tank and the sewage tank are matched, so that the mopping brush head can be automatically cleaned in real time in the mopping cleaning process, the diffusible dirt can be automatically cleaned in time when the diffusible dirt is encountered, the dirt is prevented from being further diffused, and the cleaned area is prevented from being polluted secondarily.

In order to spray clean water to the mopping roller brush during mopping, in some embodiments, the mopping module 232 further comprises a water pumping device and a water spraying opening 47, optionally, the water pumping device may comprise a water pump 412, and the water pumping device may be installed in the second mounting frame 4. Optionally, the mopping module further comprises a water spraying opening 47 arranged facing the mopping brush head and/or the working surface, the water pumping device is communicated with the clean water tank 411 and the water spraying opening 47, the cleaning liquid in the clean water tank 411 enters the water spraying opening through the water pumping pump so as to spray the cleaning liquid, such as clean water or cleaning liquid containing cleaning liquid and the like, to the mopping brush head and/or the working surface through the water spraying opening 47, and the water pumping device of the water pump 412 is communicated with the clean water tank 411 through a pipeline. Alternatively, a water pumping device such as the water pump 412 may be connected to the water spraying port 47 through a pipe, and the water spraying port 47 may be opened on the second mounting frame 4 to spray the clean water through the water spraying port 47. The water jets 47 are directed towards the floor brush head 41 or the work surface and cleaning liquid will eventually fall onto the floor brush head 41 and/or the work surface and the floor brush head 41 will carry the cleaning liquid with it when rotated, thereby enhancing the cleaning effect.

In some embodiments, the mopping module 232 further comprises a wiper blade 48 and a water suction port 46, the wiper blade 48 can be mounted on the second mounting frame 4 on a side facing the mopping head 41, and the wiper blade 48 and the mopping head 41 are abutted, and the wiper blade 48 can wipe off the dirty liquid on the mopping head 41 when the mopping head 41 rotates. The suction port 46 communicates with the waste tank 49, and the waste liquid is introduced into the waste tank 49 through the suction port 46.

In order to make it easier for the dirty liquid to be collected in the dirty tank 49, in some embodiments, the dirty tank 49 is further provided with a first suction port 410. The blower 212 (see fig. 15) and the first air suction opening 410 of the device main body 210 are communicated, for example, the blower 212 and the first air suction opening 410 are communicated through an air duct, when the blower 212 works, air can be sucked through the first air suction opening 410, the water suction opening 46 can suck dirty liquid scraped from the wiper blade 48 under the action of negative pressure, for example, sewage, and the dirty liquid is sent into the sewage tank 49, so that the dirty liquid generated during cleaning is concentrated into the sewage tank 49, and the floor mopping module and the floor sweeping module can share one blower 212, thereby saving more space and cost.

To facilitate the injection of the cleaning liquid into the clean water tank 411, the clean water tank 411 is exemplarily provided with a clean water inlet 44, the clean water inlet 44 is used for connecting a water injection device to provide the cleaning liquid into the clean water tank 411, the water injection device may include a pipeline, a water pump and the like, the water injection device may also be connected with a tap water pipe or a water faucet, so that the cleaning liquid, such as clean water, can be automatically or manually injected into the clean water tank 411 when needed.

In order to facilitate the discharge of the dirty liquid in the dirty liquid tank 49, the dirty liquid tank 49 is provided with a dirty liquid outlet 45, the dirty liquid outlet 45 is used for guiding the dirty liquid in the dirty liquid tank 49 out, for example, the dirty liquid outlet 45 can also be communicated with a sewer floor drain, when in use, the dirty liquid outlet can be sealed by a sealing cover, and when in sewage discharging, the sealing cover is opened to discharge the dirty liquid.

When the device body 210 is connected to the mopping module 232, an exemplary operation is as follows: after the floor-mopping module 232 is replaced in the base station, the equipment main body 210 sucks away the residual sewage through the sewage outlet 45, ensures that the sewage tank 49 is empty, and simultaneously replenishes the clean water tank 411 with the available clean water through the clean water inlet 44. After that, the cleaning apparatus starts operating. Clean water in the clean water tank 411 enters the water spraying port 47 through the action of the water pump 412 and is sprayed onto the mopping brush head 41, the mopping brush head 41 is driven by the second brush head driving motor 42 to rotate, and the wet mopping brush head 41 rotates with the ground after water spraying to take away dirt on the ground. When the mopping brush head 41 rotates a circle to the position of the wiper blade 48, under the action of the wiper blade 48, the dirty liquid on the mopping brush head 41 is scraped and falls to the water suction port 46, the fan 212 works, and under the action of the fan 212 and the first air suction port connected with the air duct, the dirty liquid is sucked into the dirty water tank 49, so that the mopping process is completed.

The cleaning module 231 and the mopping module 232 are connected through the quick release mechanism 3 and the equipment main body 210 respectively, and quick connection or separation can be achieved. When sweeping the floor, the main body 210 does not need to carry the floor-cleaning module 232 which does not participate in the work, and the main body 210 does not need to carry the floor-cleaning module 231 which does not participate in the work, so that extra load is not required to be carried by the main body 210, and the waste of energy is reduced. When mopping the ground, the mopping module 232 can carry out the cleaning of the brush head and the collection of sewage through the clean water box and the sewage box while mopping the ground, thereby realizing the self-cleaning of the brush head in the working process and improving the working efficiency and the cleaning effect. The cleaning and mopping work is performed separately, each of which can be optimized. In addition, the cleaning deterioration caused by mopping without cleaning can be prevented when sweeping and mopping are carried out together.

In another embodiment, in order to facilitate the mounting of the cleaning module to the apparatus main body, as shown in fig. 24 and 25, a recess for receiving the cleaning module is provided on the apparatus main body, and an opening size of the recess is gradually reduced in a mounting direction of the cleaning module so as to secure an assembling accuracy of the cleaning module and the apparatus main body. Wherein, the size of the groove is matched with the size of the cleaning module. Alternatively, the recess may be provided at the bottom of the main body of the apparatus, or at another suitable position, wherein the recess has a first opening facing the working surface, so that the cleaning module faces the working surface after installation.

In order to ensure the assembling accuracy and the tightening at the locking position to ensure that the cleaning module does not fall off, as shown in fig. 24 and 25, a positioning member 61 is provided on the apparatus main body, a fitting portion 62 that matches the positioning member 61 is provided on the cleaning module, and the positioning member 61 is used to align the first link mechanism 51 and the second link mechanism 52 when the cleaning module is mounted to the apparatus main body, thereby ensuring the assembling accuracy. For example, the positioning member 61 has a first positioning surface and a second positioning surface opposite to the first positioning surface, both the first positioning surface and the second positioning surface are inclined to the outside of the cleaning apparatus with respect to the detaching direction of the cleaning module, that is, both the first positioning surface and the second positioning surface are inclined surfaces, wherein the detaching direction of the cleaning module is parallel to the advancing direction of the cleaning apparatus, as shown in fig. 24 and 25, the fitting portion 62 of the cleaning module includes a first positioning surface and a second positioning surface respectively matched with the first fitting surface and the second fitting surface, and the movement of the cleaning module in the direction perpendicular to the detaching direction of the cleaning module can be restricted by the first positioning surface and the second positioning surface, so that the cleaning module can be prevented from falling off the apparatus main body, and because the first positioning surface and the second positioning surface are inclined, the first positioning surface and the second positioning surface can provide an upward supporting force to the cleaning module, the cleaning module can be prevented from falling off from the equipment main body.

The first positioning surface and the second positioning surface are used as partial side walls of the groove, and the first positioning surface and the second positioning surface surround the groove used for accommodating the cleaning module with the surface of the bottom of the equipment main body and the surface perpendicular to the disassembling direction of the cleaning module.

In order to realize the automatic disassembly and assembly of the cleaning module and the equipment main body, referring to fig. 24 to 29, the cleaning equipment of the present application may further include a quick-release mechanism 50, the cleaning module is detachably connected to the equipment main body through the quick-release mechanism 50, and the quick-release mechanism 50 is used for realizing the automatic assembly and disassembly of the cleaning module, so that the function of automatically disassembling, assembling and replacing the cleaning module can be realized, both hands of a user can be liberated, and the cleaning equipment is more convenient, clean and safe.

In some embodiments, as shown in fig. 24, the quick release mechanism 50 includes a first connection mechanism 51 and a second connection mechanism 52, one of the first connection mechanism 51 and the second connection mechanism 52 is disposed on the cleaning module, and the other is disposed on the main body of the apparatus, and the first connection mechanism 51 and the second connection mechanism 52 can be connected in a plugging manner, which may mean that a part of one of the first connection mechanism 51 and the second connection mechanism 52 is inserted into the other.

First coupling mechanism 51 and second coupling mechanism 52 can realize being arbitrary suitable can peg graft automatically and carry out the structure that separates automatically to can realize the function of automatic dismantlement and installation change cleaning module, can liberate user's both hands, it is more convenient, clean, safety. In one embodiment, the quick release mechanism 50 includes a first connection mechanism 51 and a second connection mechanism 52, one of the first connection mechanism 51 and the second connection mechanism 52 is disposed on the cleaning module, and the other is disposed on the main body of the apparatus, and the first connection mechanism 51 and the second connection mechanism 52 are detachably connected by plugging, for example, as shown in fig. 26 and 27, the first connection mechanism 51 is disposed on the cleaning module, and the second connection mechanism 52 is disposed on the main body of the apparatus. In one specific example, the first connecting mechanism 51 includes a pin, and the second connecting mechanism 52 includes a slot that mates with the pin, and a portion of the pin may be inserted into the slot.

To achieve locking and unlocking of the first connecting mechanism 51, as shown in fig. 26 and 27, the quick release mechanism 50 further includes a locking assembly for restricting the separation of the first connecting mechanism 51 and the second connecting mechanism 52 in the connected state, and an unlocking assembly for unlocking the locking assembly to separate the first connecting mechanism 51 and the second connecting mechanism 52, and the locking assembly and the unlocking assembly may be implemented as any suitable assembly capable of performing locking and unlocking. Alternatively, the locking assembly and the unlocking assembly may both be provided to the apparatus main body.

In one example, the locking assembly may include a locking member 521, the locking member 521 may be, for example, a steel ball or other suitable member, an opening is formed in a sidewall of the slot and is matched with the locking member 521, the locking member is movably disposed in the opening between a locking position and an unlocking position, the locking member in the locking position abuts against the slot to lock the latch, and the locking member in the unlocking position no longer presses the latch to unlock the connection between the latch and the slot.

In one specific example, the first connecting mechanism 51 includes a latch, the second connecting mechanism 52 includes a slot matching with the latch, and the locking assembly includes a locking member 521 (e.g., a steel ball or other suitable member), wherein when the latch is inserted into the slot, the locking member 521 presses the latch to lock the latch and limit the separation of the latch from the slot, for example, a slot is further disposed on the latch, for example, on a sidewall of the latch, and when the latch is inserted into the slot, the locking member 521 abuts against the slot to press the latch and limit the separation of the latch from the slot.

In order to lock and unlock the first connecting mechanism 51 and the second connecting mechanism 52, in a specific example, the locking assembly further includes a limiting member 525, the limiting member 525 is movably disposed outside the slot between a first position and a second position, when the bolt is inserted into the slot, the limiting member 525 is in the first position and abuts against the locking member 521 to apply a force to the locking member 521 toward the bolt, for example, toward the slot on the bolt, so that the locking member 521 compresses the bolt to achieve locking, thereby limiting the separation of the bolt from the slot.

In order to achieve automatic unlocking of the first connecting mechanism 51 and the second connecting mechanism 52, optionally, the unlocking assembly is connected to the limiting member 525 for moving the limiting member 525 from the first position to the second position to unlock the locking member so that the bolt and the slot can be separated, for example, when the limiting member 525 is located at the first position, a distance between a side surface of the limiting member 525 and the opening of the locking member 521 is a first distance, and when the limiting member 525 is located at the second position, a distance between a side surface of the limiting member 525 and the opening of the locking member 521 is a second distance, wherein the second distance is greater than the first distance, so that when the limiting member 525 is switched from the first position to the second position, the bolt moving in a direction opposite to the insertion direction applies a force to the locking member to the limiting member 525 to cause the locking member to be switched from the locking position to the unlocking position, so that the locking member 521 can move a part of the distance to the outside of the slot, so that the plug can be pulled out from the slot, and when the limiting member 525 is switched from the second position to the first position, the locking member 521 can move a part of distance into the slot, that is, be switched from the unlocking position to the locking position, so as to press the plug to realize locking.

In order to automatically unlock the locking assembly through the unlocking assembly, so as to separate the plug pin and the slot, in some embodiments, the unlocking assembly includes an electromagnet 524 and a magnetic conducting member 523, the magnetic conducting member 523 is connected to the limiting member 525, the electromagnet 524 is powered to attract the magnetic conducting member 523 to move towards the electromagnet 524, so as to drive the limiting member 525 to move from the first position to the second position, so as to unlock the locking assembly, such as the locking member 521, and after the unlocking is completed, the plug pin and the slot may be separated from each other, for example, the cleaning module may be automatically detached by a detaching mechanism to travel to a side far away from the apparatus main body, and the plug pin inserted in the slot is pulled out, or the cleaning module may also be stationary and the apparatus main body travels to a side far away from the cleaning module, and the plug pin inserted in the slot is pulled out.

Alternatively, the magnetic conductor 523 may be, for example, iron or other suitable magnetic conductor 523, or may also be a permanent magnet, such as a magnet or neodymium iron boron magnet, or the like.

The locking assembly further includes a resetting member for resetting the limiting member 525 to the first position, for example, the resetting member may be a spring 522 or other elastic member, for example, the resetting member of the spring 522 may connect the limiting member 525 and the magnetic conducting member 523, so that when the electromagnet 524 is powered on, the magnetic conducting member 523 drives the limiting member 525 to move towards the electromagnet 524 and compress the resetting member, for example, the spring 522, and when the electromagnet 524 is powered off, there is no attractive force between the magnetic conducting member 523 and the electromagnet 524, so that the resetting member, for example, the spring 522, is restored to deform and applies an acting force to the limiting member 525, thereby resetting the limiting member 525 to the first position.

It should be noted that, after the latch leaves the slot, the locking member 521, such as a steel ball, may further move a predetermined distance into the slot due to the absence of the blocking of the latch.

The present application further provides another quick release mechanism, as shown in fig. 28 and 29, the quick release mechanism may also be configured to automatically disassemble and assemble the cleaning module and the apparatus main body, for example, a first connection mechanism of the quick release mechanism includes a driver and a first connection portion in transmission connection with the driver, a second connection mechanism includes a second connection portion, the driver is configured to drive the first connection portion to rotate so as to enable the first connection portion to be in threaded connection with the second connection portion, so as to connect the apparatus main body with the cleaning module, and the driver is further configured to drive the first connection portion to rotate in a reverse direction so as to enable the first connection portion to be separated from the second connection portion, so as to separate the apparatus main body from the cleaning module. Alternatively, the driver may comprise a motor 74 or other suitable driving means, and the first connection may comprise a lead screw 73 or other suitable structure, the motor 74 being connected to the lead screw 73 for driving the lead screw to rotate in a first rotational direction, or for driving the lead screw 73 to rotate in a second rotational direction, the first rotational direction and the second rotational direction being opposite to each other. Automatic attachment and detachment of the first attachment mechanism and the second attachment mechanism can be achieved by driving of a driver such as the motor 74, thereby attaching and detaching the apparatus main body and the cleaning module.

In one example, as shown in fig. 28 and 29, the first connecting mechanism may be disposed at the main body of the apparatus, and the second connecting mechanism may be disposed at the cleaning module, which is further provided with a fixing hole therein, and the second connecting portion is disposed inside or outside the fixing hole, such as a nut 72 or other structure having threads. Alternatively, the diameter of the fixing hole may be larger than the diameter of a first connecting portion, such as the lead screw 73, so that a part of the lead screw 73 can be inserted into the fixing hole, the first connecting portion may be a nut 72 having an internal thread, and the lead screw 73 may be threadedly connected with the nut 72.

In one embodiment, the second connection mechanism further comprises an intermediate member such as a spring 71 or other elastic member, wherein the intermediate member abuts against the second connection portion, and when the first connection portion is inserted into the second connection portion, the intermediate member applies a force to the second connection portion opposite to the insertion direction to bring the second connection portion into contact with the first connection portion, thereby ensuring that the second connection portion and the first connection portion can be screwed together.

As shown in fig. 28 and 29, the mounting and dismounting process of the cleaning module is as follows: when the cleaning module is installed, the cleaning module is positioned and merged to a corresponding alignment position according to a positioning mechanism (such as two inclined planes), the lead screw 73 is inserted into the fixing hole, the spring 71 continuously exerts force to ensure that the nut 72 is in contact with the lead screw 73, and the motor 74 of the lead screw 73 starts to tighten the nut 72, so that locking is realized. When the cleaning module is unlocked, the motor 74 of the lead screw 73 rotates reversely, the nut 72 is loosened to be meshed, and the cleaning module can be unlocked, so that the cleaning module can be automatically detached.

The utility model provides a cleaning device's sensing module can be used for the perception of environment all around to under the cooperation of each sensor, realize the self-adaptation operation to multiple environment. For example, the cleaning device can be sensed to enter the base station through the sensing module to detach the cleaning module, the processor of the cleaning device can control the quick-detaching mechanism to automatically unlock the connection between the first connecting mechanism and the second connecting mechanism through the acquired sensing information, for example, the electromagnet is controlled to be powered on or the screw rod motor is controlled to rotate reversely, the processor can also be used for controlling the main body of the device to move to a storage area of the base station for placing another cleaning module when the cleaning device is acquired through the sensing module and used for completing detachment, so that the cleaning module can be installed, when the cleaning module is required to be installed, the main body of the device and the cleaning module can be controlled to move relatively until the cleaning module and the main body of the device are automatically connected and installed through the quick-detaching mechanism, and therefore automatic replacement among a plurality of cleaning modules can be achieved without manual operation of a user.

When a cleaning module is replaced in the base station, it can be placed in the base station so as to perform pre-preparation and post-treatment of cleaning, such as washing mops, adding clean water, draining sewage, collecting dust, etc. And the cleaning equipment can continue to execute the work at the moment, the preparation processing work of the cleaning module is not required to be finished, and the cleaning efficiency of the cleaning equipment is greatly improved.

The base station of this application is used for supplying cleaning device to berth, and cleaning device is used for accomplishing the dismantlement and the installation of equipment main part and clean module on the base station. The following describes, with reference to fig. 30 to 33, an exemplary operation logic of the cleaning apparatus of the present application entering a base station replacement cleaning module:

1. the action logic of returning to the base station to replace the second cleaning module is as follows: first, as shown in fig. 30, the cleaning apparatus with the first cleaning module returns to the base station, for example, to the first floor of the base station, the first cleaning module is detached from the first floor of the base station, the first cleaning module is temporarily stored in the first floor of the base station, then, as shown in fig. 31, the apparatus main body of the cleaning apparatus is retracted to avoid the obstacle and lifted up, the cleaning apparatus climbs up to the second floor by its own power or power provided by the lifting mechanism, the second cleaning module is stored in the second floor, the second cleaning module is installed on the second floor, and after the installation is completed, the cleaning apparatus exits from the base station and continues to work by the second cleaning module.

2. The action logic of returning to the base station to replace the first cleaning module is as follows: firstly, as shown in fig. 32, the cleaning device with the second cleaning module returns to the base station, is placed on the lifting mechanism, is lifted by the power of the cleaning device or is lifted upwards to the second floor by the power provided by the lifting mechanism, is detached, is temporarily stored in the second floor of the base station, and then, as shown in fig. 33, is used for retreating the device body of the cleaning device by the lifting mechanism to avoid obstacles and is lowered to be flat, so that the cleaning device can enter the first floor of the base station, is used for installing the first cleaning module in the first floor, and after the installation is finished, the cleaning device exits from the base station and continues to work by the second cleaning module.

Further, as shown in fig. 34 to fig. 36, after the main body 210 carries the cleaning module, such as the cleaning module 231 or the floor mopping module, back to the base station, the first step is to go to the lifting plate 120 of the lifting mechanism 160 on one floor, and the description of the lifting mechanism 160 can refer to the above, the lifting plate 120 is connected to the lifting component fixed on the side surface of the main body 100 of the base station and connected to the lifting plate 120, and the lifting component drives the lifting plate 120 to move up and down, thereby driving the main body 210 to move up and down. As shown in fig. 37, when the apparatus main body 210 is returned to the base station with, for example, the cleaning module 231 or the floor mopping module carried, in order to achieve removal and installation of the cleaning module in the base station, a removal mechanism 170 is provided inside the base station main body 100, the removal mechanism 170 being connected to the base station main body, the removal mechanism 170 being used to remove the cleaning module from the apparatus main body or to attach the cleaning module to the apparatus main body.

Optionally, in this application, the base station main body includes at least two receiving spaces, each receiving space is used for placing a cleaning module, each receiving space may be used for placing cleaning modules with different functions or may also be used for placing cleaning modules with the same function, in order to achieve detachment or installation of each cleaning module, a detaching mechanism 170 may be correspondingly disposed in each receiving space, for example, as shown in fig. 37, a detaching mechanism 170 is disposed in a receiving space of one layer of the base station, and is shrunk and fixed at an innermost position of the base station, the innermost position is far away from an entrance of the base station, and a detaching mechanism 170 is disposed in a solute space of the second layer of the base station, and the detaching mechanism 170 is fixed and receives another cleaning module, such as a floor mopping module 232. Alternatively, in some embodiments, at least two accommodating spaces share one detaching mechanism 170, and the detaching and installing of all the cleaning modules are realized through one detaching mechanism 170.

Further, the base station of the present application further includes a moving mechanism, the moving mechanism is configured to move the cleaning device between the accommodating spaces, the moving mechanism may be a translational moving mechanism or may also be an elevating mechanism 160, for example, the moving mechanism may be an elevating mechanism 160, at least two accommodating spaces are different accommodating spaces arranged in an upper-lower layer, the elevating mechanism 160 is configured to elevate the cleaning device between the accommodating spaces with different heights, and the elevating mechanism 160 may be implemented as the elevating mechanism described above or may also be implemented by other applicable elevating mechanisms.

In one example, the base station further comprises a charging module, which is arranged on the moving mechanism and used for charging the equipment main body on the moving mechanism. In the base station working process, the relative position of the equipment main body above the lifting mechanism 160 can be kept motionless all the time, thereby being beneficial to charging through the charging module on the lifting mechanism 160, and enabling the equipment main body to charge in a fragmented manner when the cleaning module is replaced inside the base station, and having two functions of using and charging.

Taking at least two different accommodating spaces arranged in layers up and down as an example, referring to fig. 38 and 39, when the device main body 210 carries the cleaning module, such as the cleaning module 231, to return to the bottom of the base station, it will return to the upper side of the lifting plate 120 of the lifting mechanism 160, at this time, the detaching mechanism 170 automatically moves toward the side where the cleaning device is located, moves to the lower side of the cleaning module, such as the cleaning module 231, and automatically detaches the cleaning module, such as the cleaning module 231, and then the detaching mechanism 170 automatically moves to the side away from the device main body with the cleaning module 231, thereby returning to the accommodating position inside the base station main body.

Further, as shown in fig. 40 and 41, after the cleaning module 231 is disassembled, the device body 210 is lifted by the lifting plate 120 and lifted to the height of 2 floors by the movement of the lifting assembly, as shown in fig. 41, at which time the disassembling mechanism 170 of 2 floors automatically moves toward the device body 210 with another cleaning module, such as the mopping module 232, and the mopping module 232 is inserted into the device body 210, so as to realize the installation of the other cleaning module.

As shown in fig. 42, when another cleaning module, such as the floor mopping module 232, is connected to the main body 210, the 2-layer dismounting mechanism 170 automatically moves to the side away from the main body 210 to return to the fixed storage position, and the synchronous lifting plate 120 carries the main body 210 back down to the first-layer accommodation space of the base station, and then the cleaning device automatically moves back away from the base station, and performs a new round of cleaning activities using another cleaning module, such as the floor mopping module 232.

In one example, as shown in fig. 37 and 44, the base station of the present application further includes a detaching mechanism 170 connected to the base station main body, the detaching mechanism 170 being used to detach the cleaning module from the apparatus main body or to attach the cleaning module to the apparatus main body; and further includes a drive assembly drivingly connected to the detachment mechanism 170, the drive assembly configured to: the detachment mechanism 170 is driven to move toward or away from the cleaning apparatus to detach or attach the cleaning module. Through the dismounting mechanism 170 of this application need not the user and uses the hand, can realize the change of the full automatic clean module of contactless, and is swift more, sanitary and intelligent, has promoted user's use and has experienced.

To accomplish the mounting and dismounting of the cleaning module, the dismounting mechanism 170 includes: the mechanism body 172 and a dismounting member disposed on the mechanism body 172, the driving assembly being in driving connection with the mechanism body 172, the dismounting member being configured to contact the cleaning module to dismount or mount the cleaning module, for example, the dismounting member includes a clamping mechanism configured to clamp the cleaning module to dismount or mount the cleaning module, alternatively, the clamping mechanism may include, but is not limited to, a robot or other suitable mechanism. Alternatively, the detachment mechanism 170 may also be implemented as shown in fig. 43 through 50, some details of which will be described below.

In one example, as shown in fig. 43 and 44, the bottom of the cleaning module, such as the sweeping module 231 or the mopping module 232, may be provided with a limiting groove 234, the number of the limiting grooves 234 may be set reasonably according to actual needs, for example, may be 1 or more, in the present application, only two limiting grooves 234 are shown, the mechanism main body 172 of the detaching mechanism 170 corresponding to the cleaning module is provided with a detaching piece, the detaching piece may include a limiting piece 171, the limiting piece 171 is telescopically disposed on the mechanism main body 172, when the mechanism main body 172 moves below the cleaning module, such as the sweeping module 231, the limiting piece 171 is bounced upward into the limiting groove 234 corresponding to the bottom of the cleaning module, so that the clamping fixation and detachment of the cleaning module can be achieved.

Referring to fig. 45 to 49, an exemplary detachment mechanism 170 of the present application will be described, as shown in fig. 45, the detachment mechanism 170 includes a mechanism main body 172, an accommodating groove 177 is disposed on the mechanism, the detachment member includes a limiting member 171, the limiting member 171 is telescopically disposed on the mechanism main body 172, the limiting member 171 is inserted into the accommodating groove 177, and the limiting member 171 is configured as: the limiting member 171 can extend out of the accommodating groove 177 or retract into the accommodating groove 177, wherein the limiting member 171 is further configured to extend into the limiting groove 234 on the cleaning module, the limiting member 171 can include one or more vertical protrusions, for example, as shown in fig. 45, the limiting member 171 includes two protrusions, and the two protrusions are connected by a connecting plate, so as to achieve synchronous extension and retraction of the two protrusion structures.

With continued reference to fig. 45, in order to achieve the control of the extension and retraction of the limiting member 171, the detaching mechanism 170 further includes a magnetic component for extending the limiting member 171 out of the receiving groove 177, for example, the magnetic component includes a magnetic component 176 and an electromagnetic component 174, optionally, the magnetic component 176 includes but is not limited to a permanent magnet or other magnetic component 176, one of the magnetic component 176 and the electromagnetic component 174 is disposed on the mechanism main body 172, the other is disposed on the limiting member 171, for example, the magnetic component 176 is mounted on the limiting member 171, the magnetic component 176 may be disposed on an upper surface or a lower surface of a connecting plate of the limiting member 171 or embedded in the connecting plate, optionally, the magnetic component may be connected to the connecting plate by bonding or other fixing means or directly attached to the connecting plate (for example, the magnetic component 176 may include a permanent magnet or other suitable magnetic component, and the connection plate comprises ferrous metal or alloy), an electromagnetic component 174 (e.g., an electromagnetic switch) is mounted on the mechanism body 172 (e.g., embedded in the mechanism body 172), and a magnetic force is formed between the energization of the electromagnetic component 174 and the magnetic component 176, so that the limiting member 171 extends out of the accommodating groove 177. Optionally, the electromagnetic component 174 and the magnetic component 176 are oppositely disposed so as to be capable of generating a magnetic force therebetween.

With continued reference to fig. 45, the detaching mechanism 170 further includes a cover plate 173, the cover plate 173 is disposed at the bottom of the mechanism body 172 and detachably connected to the mechanism body 172, and can be used to support and shield the retaining member 171, the first restoring member 175, the magnetic assembly, and other components above the cover plate 173.

In one example, as shown in fig. 45, the detaching mechanism 170 further includes a first restoring member 175, and the first restoring member 175 is used to restore the position-retaining member 171, so that the position-retaining member 171 is retracted into the receiving groove 177, alternatively, the first restoring member 175 may be any suitable structure capable of restoring, for example, the first restoring member 175 is a spring, such as an extension spring or a compression spring. For example, when the first restoring member 175 is an extension spring, one end of the extension spring is connected to the limiting member 171, for example, a connecting plate connected to the limiting member 171, and the other end of the extension spring may be connected to the cover plate 173 below the limiting member 171, so that the protrusion of the limiting member 171 is always received in the receiving groove 177, and when the electromagnetic member 174 is energized, the protrusion of the position-limiting member 171 is extended out of the receiving groove 177 and into the position-limiting groove 234 at the bottom of the cleaning module against the pulling force of the tension spring, and for example, when the first restoring member 175 is a compression spring, one end of the compression spring is connected to the limiting member 171, the other end of the compression spring abuts against the mechanism main body 172 opposite to and above the connecting plate of the limiting member 171, so that the protrusion of the limiting member 171 is always received in the receiving groove 177, and when the electromagnetic member 174 is energized, the protrusion of the position-limiting element 171 is extended out of the accommodating groove 177 and extends into the position-limiting groove 234 at the bottom of the cleaning module by overcoming the pressure of the compression spring.

As shown in fig. 46 and 47, under normal conditions, the first restoring member 175, such as a spring, generates an elastic force to make the limiting member 171 contract into the receiving groove 177 without protruding out of the receiving groove 177, and when the first restoring member is aligned with the limiting groove 234 at the bottom of the cleaning module, the first restoring member does not protrude into the limiting groove 234, as shown in fig. 48 and 49, when the electromagnetic component 174, such as an electromagnetic switch, is turned on, the first restoring member generates a magnetic force to attract the limiting member 171 to move upward, and at this time, the two protrusions of the limiting member 171 protrude out of the receiving groove 177 (i.e., protrude above the surface of the mechanism main body 172), so as to enter and exit the limiting groove 234 at the bottom of the cleaning module, such as the cleaning module 231, for disassembly or assembly.

In some embodiments, the dismounting mechanism 170 further includes a second restoring member, which is configured to contract when being pressed to contract the limiting member 171 into the receiving groove and restore the limiting member 171 to extend part of the limiting member 171 out of the receiving groove 177, and optionally, the second restoring member may be a spring, such as a compression spring or an extension spring, wherein when the second restoring member is a compression spring, one end of the compression spring is connected to the limiting member 171, such as a connecting plate connected to the limiting member 171, and the other end of the compression spring may be connected to a cover plate 173 located below the limiting member 171, so as to always provide an acting force to extend the protrusion of the limiting member 171 out of the receiving groove 177, and when the limiting member 171 is pressed, the protrusion of the limiting member 171 is received into the receiving groove 177 against the pressure of the compression spring, and when the second restoring member is an extension spring, one end of the extension spring is connected to the limiting member 171, the other end of the mechanism body 172 is connected to the connecting plate of the limiting member 171 and located above the connecting plate, so that an acting force is always provided to extend the protrusion of the limiting member 171 out of the accommodating groove 177, and when the limiting member 171 is under pressure, the protrusion of the limiting member 171 is accommodated in the accommodating groove 177 by overcoming the tensile force of the tension spring.

In some embodiments, the aforementioned magnetic component is used to make the limiting member 171 retract into the receiving groove 177, and it can be used in cooperation with the second restoring member to make the limiting member 171 retract into the receiving groove 177 so as to separate the detaching mechanism 170 from the cleaning module, for example, when the detaching mechanism 170 is installed, the magnetic component can make the limiting member 171 retract into the receiving groove 177 so as to separate from the limiting groove 234 at the bottom of the cleaning module, so that the detaching mechanism 170 and the cleaning module can be separated.

In one embodiment, the base station further comprises a controller (not shown), such as a Micro Control Unit (MCU), for: the detachment mechanism 170 is controlled to detach or mount the cleaning module of the cleaning apparatus to the cleaning apparatus, the control including, but not limited to, controlling the electromagnetic component 174 (e.g., electromagnetic switch) of the detachment mechanism 170 to be turned on or off, and the driving assembly of the detachment mechanism 170 is controlled to drive the detachment mechanism 170 to advance or retreat toward or away from the cleaning apparatus.

Illustratively, the cleaning apparatus includes a sensing module, such as a distance sensor, for detecting distance information between the cleaning apparatus and the detachment mechanism 170, the base station includes a communication interface for communicatively coupling with the cleaning apparatus, and the controller is configured to: the distance information is acquired, whether the limiting part 171 of the dismounting mechanism 170 is aligned with the limiting groove 234 on the cleaning module is determined according to the distance information, when the limiting part 171 of the dismounting mechanism 170 is determined to be aligned with the limiting groove 234 on the cleaning module according to the distance information, the limiting part 171 is controlled to extend into the limiting groove 234, the dismounting mechanism 170 retreats or the cleaning equipment moves away from the cleaning equipment, and then the cleaning module and the equipment main body can be separated.

In order to accomplish the travel of the detaching mechanism 170 so as to mount or detach the cleaning module thereto, a driving assembly for driving the detaching mechanism 170 to move may be implemented as a structure as shown in fig. 50 to 54, the driving assembly including: the cleaning device comprises a driver 181 and a first transmission assembly mechanically coupled to the driver 181, the driver 181 is used for driving the first transmission assembly to move, the first transmission assembly is connected to a mechanism body 172 and used for driving the mechanism body 172 to move towards the cleaning device or move away from the cleaning device, optionally, the first transmission assembly comprises a first transmission wheel 1821, a second transmission wheel 1822 and a first transmission belt 183, the driver 181 is in transmission connection with the first transmission wheel 1821, the first transmission belt 183 is sleeved on the first transmission wheel 1821 and the second transmission wheel 1822, and the first transmission belt 183 is connected to the mechanism body 172.

A set of driving components may be disposed on two opposite sides inside the base station, only one set of driving components may have the driver 181, and the other set may not have the driver 181, or both sets of driving components may have their own drivers 181, which may be set reasonably according to actual needs.

In one particular example, a set of drive assemblies is provided on opposite sides of the interior of the base station, first drive wheel 1821 and second drive wheel 1822 may be gears, a first side (also referred to as a left side) and a second side (also referred to as a right side) opposite to the first side in the base station body are respectively provided with a bearing 180 fixing position, the bearings 180 are fixed in place for fixing the bearings 180, each of the first and

second drive wheels

1821 and 1822 are connected to the bearings 180, a conveyor belt 183 such as a gear belt is sleeved on the first and

second driving wheels

1821 and 1822, the conveyor belt 183 is connected to the mechanism body 172 through the optical axis 185, the first driving wheel 1821 on the first side is axially connected to a driver 181, such as a power motor, to drive the second driving wheel 1822 to rotate, thereby moving the belt and, in turn, the detachment mechanism 170 back and forth (e.g., toward the cleaning device or away from the cleaning device).

Alternatively, the structure of the detachment mechanism 170 is generally left-right symmetric, i.e., symmetric about the central axis of the detachment mechanism 170, the central axis of which is parallel to the mounting direction of the cleaning module, the driving force can be generated only by connecting the structure of the mechanism body 172 of the detachment mechanism 170 on the first side of the base station body with the driver 181, while the structure of the mechanism body 172 adjacent to the second side of the base station body is connected with the second transmission wheel 1822 of the other set of driving components, and the transmission belt 183 of the other set of driving components is connected with the mechanism body 172 through the optical axis 185.

In one example, the conveyor belt 183 may further have a shaft sleeve, and the optical axis 185 is disposed through the shaft sleeve and connected to the mechanism body 172, so as to drive the mechanism body 172 to move back and forth under the driving of the driver 181.

With continued reference to fig. 50-54, the drive assembly further includes a driven pulley 184, the driven pulley 184 being coupled to the mechanism body 172, the base station body being provided with a sliding slot, the driven pulley 184 being slidably disposed within the sliding slot for accommodating fore and aft movement of the driven pulley 184 therein, optionally the driven pulley 184 including, but not limited to, a bearing 180 roller, the sliding slot allowing the bearing 180 roller to nest therein, the driven pulley 184 being carried along within the sliding slot as the mechanism body 172 is carried along by the drive belt.

As shown in fig. 51 to 54, the driving assembly may drive the detaching mechanism 170 to detach the cleaning module, such as the cleaning module 231, and drive the detaching mechanism 170 to move the detached cleaning module to the storage position in the base station, so as to store the detached cleaning module in the storage space of the base station.

Through the above-mentioned structure such as detaching mechanism and drive assembly, cleaning device can get into the base station and carry out the change of cleaning module, for example, in each layer accommodation space of different height of base station, can be used for placing different cleaning module 230 respectively, cleaning device 200 can get into the accommodation space of different layers in proper order and change cleaning module 230. This process is described in detail with reference to fig. 11-12. The device main body 210 is first detachably connected to the cleaning module 231, the surface to be cleaned is cleaned by the cleaning module 231, after the cleaning is completed, the cleaning device 200 enters the lower-layer accommodating space of the base station main body 100 in the state that the lifting plate 120 is lifted, the cleaning module 231 is detached, the cleaning module 231 is left in the lower-layer space, the device main body 210 exits from the base station, and then the lifting plate 120 is lowered to the non-lifted state. Referring to fig. 12, the device body 210 travels toward the elevating plate 120, which is not elevated, and the elevating plate 120 is elevated when the device body 210 is seated on the elevating plate 120. Referring to fig. 12, the lifting plate 120 lifts the apparatus body 210 to the upper receiving space, and the apparatus body 210 advances forward until forming a connection with the floor mopping module 232 placed in the upper receiving space. After the floor mopping module 232 is connected to the apparatus main body 210, the lifting plate 120 drives the cleaning apparatus 200 (including the apparatus main body 210 and the floor mopping module 232) thereon to descend to an uplifted state, and the cleaning apparatus 200 moves from the lifting plate 120 to a surface to be cleaned outside the base station, and the surface to be cleaned is mopped and cleaned by the floor mopping module 232 thereon. Thus, the cleaning apparatus 200 can replace different cleaning modules 230 in the accommodation spaces of different layers of the base station to clean the surface to be cleaned. The cleaning effect can be effectively improved by cleaning the surface to be cleaned through two different cleaning modules 230.

In some embodiments, the base station further comprises a recycling mechanism provided in the base station body 100, the recycling mechanism comprising a suction source, a recycling center, a first recycling channel, and a second recycling channel. The suction source may include a fan 212 and the recovery center may include a dirty collection bin. The suction source is communicated with the recycling center, two ends of the first recycling channel are respectively used for communicating the recycling center and a dust discharge port in the dust box 26 of the cleaning module 231 located at a preset position in the base station, and the suction source is used for generating suction force to collect the dirt in the dust box 26 into a dirt collecting box of the recycling center through the first recycling channel. The two ends of the second recycling channel are respectively used for communicating a recycling center and a sewage outlet 45 of a sewage tank 49 in a floor mopping module 232 located at a preset position in the base station, the suction source is used for generating suction force to collect the sewage in the sewage tank 49 into a sewage collecting box of the recycling center through the second recycling channel, and the recycling center can be selectively communicated with one of the first recycling channel and the second recycling channel according to the type of the cleaning module 230. In particular, the recovery center may identify the type of cleaning module 230 within the base station body (e.g., identify whether it is a sweeping module 231 or a mopping module 232) and then selectively communicate with one of the first recovery passage and the second recovery passage via a media flow direction control device, such as a three-way control valve. For example, after the cleaning module 231 is identified. The recycling center is communicated with the first recycling channel, and is connected with the dust discharging port in the dust box 26 of the cleaning module 231 through the first recycling channel so as to collect the dirt in the dust box 26 of the cleaning module 231; after the mopping module 232 is identified. The recovery center is communicated with the second recovery channel through which the sewage outlet 45 in the sewage tank 49 of the mopping module 232 is connected to collect the sewage in the sewage tank 49 of the mopping module 232.

In summary, the cleaning system according to the invention may have the following advantageous effects:

1. make full use of the space utilization of basic station direction of height, the basic station can hold a plurality of cleaning device 200 or hold a plurality of cleaning module 230 of cleaning device 200 through multilayer accommodation space, can make cleaning device 200 save, dirty collection or cleaning module 230 change in the accommodation space on different layers.

2. The base station can work with a plurality of cleaning devices 200 in a matched mode, so that the base station can be effectively applied to a scene where a plurality of cleaning devices 200 work in a matched mode, and cleaning efficiency is improved; and a single cleaning device 200 can be replaced by different modules to work, so that the cleaning effect is improved.

3. The cleaning module of the cleaning equipment is automatically replaced, and the disassembled cleaning module can be left in the base station for self-cleaning and the like, so that the cleaning equipment can be kept in a continuous working state;

4. the cleaning system can realize the equipment main body of the same cleaning equipment, and different functions such as short brushes, long brushes, mops and the like are realized by automatically replacing the cleaning module, so that the functions of the cleaning equipment are expanded.

5. Can avoid the clean module of user's manual contact to made things convenient for the user to use, it is more convenient, clean, safety.

6. The cleaning system can realize automatic replacement of the cleaning modules, and can realize that different cleaning modules are selected by the cleaning equipment aiming at different material environments, such as carpet, wood floor, ceramic tile and other scenes, through replacement in the base station, so that the automatic identification and automatic adaptive cleaning of the whole complex environment are realized, and the cleaning system is more intelligent.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above-described illustrative embodiments are only exemplary, and are not intended to limit the scope of the present application thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present application. All such changes and modifications are intended to be included within the scope of the present application as claimed in the appended claims.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the present application, various features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present application should not be construed to reflect the intent: this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. A base station for use with a cleaning device, comprising:

and the charging module is arranged in the base station main body and is used for charging the cleaning equipment entering the base station.

2. The base station of claim 1, wherein the lift mechanism comprises a lift plate for supporting the cleaning apparatus into the base station body and a lift assembly coupled to the lift plate for raising and lowering the lift plate.

3. The base station of claim 2, wherein the lifting assembly comprises a first lifting assembly and a second lifting assembly, and the first lifting assembly and the second lifting assembly are respectively disposed on two sides of the lifting plate.

4. The base station of claim 3, wherein the first lifting assembly comprises a motor, a screw, and a first lifting slide, wherein an output shaft of the motor is in transmission connection with the screw, and the first lifting slide is sleeved on the screw and configured to slide along an axial direction of the screw.

5. The base station of claim 4, wherein the first lifting assembly further comprises a first connecting portion and a first rotating shaft, one end of the first connecting portion is hinged to the first lifting slide, the other end of the first connecting portion is connected to the lifting plate via the first rotating shaft, a first sliding groove is formed in a side wall of the base station body, and the first rotating shaft is inserted into the first sliding groove and configured to: can slide along the first sliding groove.

6. The base station of claim 3, wherein the second lifting assembly comprises a lifting guide shaft, and a second lifting carriage, wherein the second lifting carriage is sleeved on the lifting guide shaft and configured to slide along an axial direction of the lifting guide shaft.

7. The base station of claim 6, wherein the second lifting assembly further comprises a second connecting portion and a second rotating shaft, one end of the second connecting portion is hinged to the second lifting slide, the other end of the second connecting portion is connected to the lifting plate through the second rotating shaft, a second sliding groove is disposed on a sidewall of the base station body, and the second rotating shaft is disposed through the second sliding groove and configured to: can slide along the second sliding groove.

8. The base station of claim 2, wherein the base station body has an entrance through which the cleaning device enters the receiving space, the lifting plate includes opposing first and second ends, wherein the second end of the lifting plate is adjacent to the entrance of the base station body, the lifting mechanism further includes a resilient member through which the first end of the lifting plate is connected to the base station body.

9. The base station of claim 8, wherein the lift plate is rotatably coupled to the lift assembly at a location between the first end and the second end, the second end of the lift plate configured to increase in height as the center of gravity of the cleaning apparatus moves toward the first end of the lift plate.

10. The base station as claimed in claim 1, wherein a supporting platform is disposed between two adjacent accommodating spaces, the supporting platform is connected to the base station main body, and the supporting platform is used for receiving and supporting a cleaning device or a cleaning module of the cleaning device on the lifting mechanism.

11. A cleaning system, characterized in that the cleaning system comprises:

the base station of one of claims 1 to 10; and

a cleaning device, the cleaning device comprising:

a driving mechanism for driving the apparatus main body to travel.

12. The cleaning system of claim 11, wherein the cleaning module comprises a sweeping module and a mopping module, and the sweeping module and the mopping module are respectively configured to be placed in different accommodating spaces.

13. The cleaning system of claim 12, wherein the cleaning device travels to the base station after sweeping the surface to be cleaned by the sweeping module, the sweeping module is replaced with the mopping module, and the cleaning device mops the surface to be cleaned by the mopping module.

14. The cleaning system of claim 12, wherein the sweeping module comprises a dust box for collecting dirt, the dust box having a dust exhaust port;

15. The cleaning system of claim 14, wherein the base station comprises a first recycling mechanism disposed on the base station body, the first recycling mechanism being configured to recycle the dirt collected by the dirt box;

16. The cleaning system of claim 14, wherein the base station further comprises a recovery mechanism provided to the base station main body, the recovery mechanism comprises a suction source, a recovery center, a first recovery channel and a second recovery channel, the suction source is communicated with the recovery center, two ends of the first recovery channel are respectively used for communicating the recovery center and the dust exhaust port, the suction source is for generating suction to collect dirt within the dirt box into the recovery center through the first recovery channel, two ends of the second recovery channel are respectively used for communicating the recovery center and the sewage outlet, the suction source for generating suction force to collect the filth inside the foul water tank into the recovery center through the second recovery channel, the recycling center can selectively communicate with one of the first recycling passage and the second recycling passage according to a type of the cleaning module.