CN205433581U - Automatic change device of cleaning machines people's rag and have device's cleaning machines people - Google Patents
Automatic change device of cleaning machines people's rag and have device's cleaning machines people Download PDFInfo
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- CN205433581U CN205433581U CN201521138493.1U CN201521138493U CN205433581U CN 205433581 U CN205433581 U CN 205433581U CN 201521138493 U CN201521138493 U CN 201521138493U CN 205433581 U CN205433581 U CN 205433581U
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- wiping cloth
- cloth plate
- clean robot
- rag
- slide block
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Abstract
The utility model provides an automatic change device of cleaning machines people's rag and have device's cleaning machines people, the device is including rag board ejecting mechanism and controller. Rag board ejecting mechanism includes the casing and sets up motor, drive mechanism and the actuating mechanism in the casing. The controller is connected with rag board ejecting mechanism, sends the control signal control motor and rotates, through drive mechanism drive actuating mechanism, releases cleaning machines people's rag board. Then the motion of controller control cleaning machines people, actuating mechanism and ground contact as the strong point and one of walking wheel of cleaning machines people, make it reach appointed rag board position. Controller control motor again rotates in the other direction and packs up the rag board, makes its and cleaning machines people combine. The utility model discloses an automatically, change the function of cleaning machines people's rag, reduced human intervention.
Description
Technical field
This utility model relates to automated cleaning field, particularly relates to the device of a kind of automatic replacing clean robot rag.
Background technology
Robot is at the application comparative maturity of industrial circle, and in recent years, along with the arriving of whole world aging, society and family burden are all increasing the weight of, and home-services robot will play the part of the most important role.According to alliance of international robot IFR statistics, the home-services robot quantum of products of whole world consumption in 2012 has reached 1,600,000,000 dollars, IFR prediction 2013-2016 estimates that having 15,500,000 domestic robots is sold, it is seen that clean robot also exists the huge market space.
The cleaning on family ground is dirty tired and loaded down with trivial details, waste people's plenty of time, to occurring in that some automated cleaning machine people's products on this market, such as sweeping robot, floor-mopping robot etc., these products have liberated the both hands of people to a certain extent, household can be given more accompany, be liked by consumers in general.
But, prior art is either swept the robot dragging one robot the most only to possess the function that mops floor, all cannot automatically change rag, specifically, be exactly when robot rag during mopping floor is dirty need to change time, need by manually allowing robot first quit work, then dirty rag disassembled, change clean rag again, restart robot and work on by it.
When the problems referred to above cause robot to mop floor can not full automation, need to pay attention to when owner is in and in cut off the hands in thing go change rag.If owner stays out, even if robot mobile phone A PP long-range remote control function, but owing to can not automatically change rag, the most also cannot realize being automatically performed roomed cleaning.
Utility model content
Cannot automatically change rag to this end, technical problem to be solved in the utility model is clean robot of the prior art, thus propose the device of a kind of automatically replaceable clean robot rag, it is achieved under the conditions of unattended, robot changes the function of rag automatically.
For solving above-mentioned technical problem, the device of a kind of automatic replacing clean robot rag of the present utility model, including Wiping cloth plate ejecting mechanism, be suitable to from described clean robot, release the Wiping cloth plate of described clean robot, it is achieved described Wiping cloth plate separates with described clean robot；
Controller, described controller is connected with described Wiping cloth plate ejecting mechanism, is suitable to control described Wiping cloth plate ejecting mechanism and is separated with described clean robot by the Wiping cloth plate of described clean robot；
Described Wiping cloth plate ejecting mechanism includes housing, and is arranged at the motor in described housing, drive mechanism and actuator, wherein,
Described motor is connected with described controller, and being suitable to the signal according to described controller provides provides power for described Wiping cloth plate ejecting mechanism；
Described drive mechanism is connected with described motor and described actuator respectively, be suitable to the power that described motor exports is transferred to described actuator, control the release of described actuator and/or pack up, thus the Wiping cloth plate of described clean robot is separated with described clean robot and/or combines；
Described drive mechanism includes that leading screw, nut, slide block and rotary module, described slide block are connected with described leading screw, can drive described slide block movement by the motion of described leading screw；Described rotary module is rotatable to be fixed in described housing, and described rotary module is provided with opening, and described opening contacts with the part edge of described slide block, coordinates to described opening and can drive that described rotary module is corresponding to be rotated during described slide block movement.
Described drive mechanism includes that worm gear, worm screw, slide block and rotary module, described slide block are connected with described worm screw, can drive described slide block movement by the motion of described worm screw；Described rotary module is rotatable to be fixed in described housing, and described rotary module is provided with opening, and described opening contacts with the part edge of described slide block, coordinates to described opening and can drive that described rotary module is corresponding to be rotated during described slide block movement.
Described actuator includes performing wheel, and described execution wheel is fixing with the described rotary module of described drive mechanism to be connected, and when described slide block drives described rotary module to turn an angle, described execution is taken turns and releases, or packed up by described execution wheel.
Described actuator includes connecting rod and performs wheel, the described wheel that performs is connected by described connecting rod is fixing with the described rotary module of described drive mechanism, when described slide block drives described rotary module to turn an angle, described connecting rod rotates accordingly thus is released by the described wheel that performs, or is packed up by described execution wheel.
A kind of clean robot, including the device of the arbitrary described automatic replacing clean robot rag according to above-mentioned all features.
Described clean robot farther includes Wiping cloth plate, and described Wiping cloth plate is connected with described Wiping cloth plate ejecting mechanism magnetic.
Described Wiping cloth plate farther includes rag and/or water tank, described rag and/or described water tank and is detachably arranged on described Wiping cloth plate.
Described clean robot includes arbitrary described device of above-mentioned all features, and clean robot is changed the process of rag and comprised the steps:
S1: described controller sends control signal and controls described electric machine rotation, drives described actuator by described drive mechanism, thus is released by the Wiping cloth plate of described clean robot so that it is separates with described clean robot；
S2: described controller sends control signal and controls the motion of described clean robot so that it is arrives and specifies Wiping cloth plate position, and wherein, the described execution wheel being pushed out contacts with ground, one of the strong point and road wheel of being adapted as described clean robot；
S3: after described clean robot arrives described appointment Wiping cloth plate position, described controller controls described motor opposite direction and rotates, drive described actuator by described drive mechanism, thus the Wiping cloth plate of described clean robot is packed up so that it is be combined with described clean robot.
Technique scheme of the present utility model has the following advantages compared to existing technology,
(1) device of automatic replacing clean robot rag described in the utility model, uses screw nut driven or Worm Wheel System mode, has the advantages such as abrasion is little, transmission efficiency is high, stable drive, life-span length, precision are high, temperature rise is low.
(2) device of automatic replacing clean robot rag described in the utility model, simple in construction is easily achieved so that it is commercialization cost is substantially reduced.
(3) device of automatic replacing clean robot rag described in the utility model, the described wheel that performs is packed up during described clean robot mops floor, after Wiping cloth plate is pushed out, robot walk around Wiping cloth plate walk appointment position during, the described wheel that performs can make in robot running more stable as one of the strong point of robot and road wheel.
(4) device of automatic replacing clean robot rag described in the utility model, described Wiping cloth plate is connected by magnetic with described Wiping cloth plate ejecting mechanism, it is achieved the two is detachably fixed, very convenient when user thinks manual teardown.
(5) device of automatic replacing clean robot rag described in the utility model, simple to operate changing during rag, only described actuator need to be driven to be released by Wiping cloth plate by the described drive mechanism of described Wiping cloth plate ejecting mechanism, then arrive and specify Wiping cloth plate position, then drive described actuator to be packed up by Wiping cloth plate by described drive mechanism to realize Wiping cloth plate installation.
(6) device of automatic replacing clean robot rag described in the utility model, decreases the human intervention during clean robot mops floor, improves the degree of intelligence of robot, save the time of people.
Accompanying drawing explanation
In order to make content of the present utility model be easier to be clearly understood, below according to specific embodiment of the utility model and combine accompanying drawing, this utility model is described in further detail, wherein
Fig. 1 is that the device of automatic replacing clean robot rag described in the utility model is by the structural representation after Wiping cloth plate release；
Fig. 2 is after Wiping cloth plate described in the utility model is pushed out, and the described wheel that performs contacts with ground, as the structural representation of one of the strong point of described clean robot and road wheel；
Fig. 3 is that the device of automatic replacing clean robot rag described in the utility model is by mounted for Wiping cloth plate structural representation；
Fig. 4 is the structural representation that described actuator is released by Wiping cloth plate ejecting mechanism described in the utility model；
Fig. 5 is the structural representation that described actuator is packed up by Wiping cloth plate ejecting mechanism described in the utility model；
Fig. 6 is the structural representation that described actuator is packed up by Wiping cloth plate ejecting mechanism described in the utility model.
In figure, reference is expressed as: 100-Wiping cloth plate ejecting mechanism, 110-housing, 120-motor, 130-nut, 140-leading screw, 150-slide block, 160-rotary module, 200-performs wheel, 210-connecting rod, 220,230-magnet steel, 240,250-Wiping cloth plate, 300-clean robot.
Detailed description of the invention
A specific embodiment of the device of described in the utility model automatic replacing clean robot rag is given below, as Figure 1-Figure 4, the device automatically changing clean robot rag described in the present embodiment includes Wiping cloth plate ejecting mechanism 100, be suitable to from clean robot 300, release the Wiping cloth plate 240 of clean robot 300, it is achieved Wiping cloth plate 240 separates with clean robot 300；And controller, this controller is connected with Wiping cloth plate ejecting mechanism 100, is suitable to control Wiping cloth plate ejecting mechanism 100 and is separated with clean robot 300 by the Wiping cloth plate 240 of clean robot 300.
Specifically, as shown in Figure 4 and Figure 5, in the present embodiment, Wiping cloth plate ejecting mechanism 100 includes: housing 110, and motor 120, drive mechanism and the actuator being arranged in housing 110；Wherein, motor 120 is connected with controller, and being suitable to the signal according to controller provides provides power for Wiping cloth plate ejecting mechanism 100.
In the above-described embodiments, drive mechanism is connected with motor 120 and actuator respectively, be suitable to the power that motor exports is transferred to actuator, control the release of actuator and/or pack up, thus the Wiping cloth plate 240 of clean robot 300 is separated with clean robot 300 and/or combines.
Specifically, in the present embodiment, this drive mechanism uses screw-nut structure, and as shown in Figure 4 and Figure 5, drive mechanism includes nut 130, leading screw 140, slide block 150 and rotary module 160.Leading screw 140 is connected with motor 120 and slide block 150 respectively, by coordinating with nut 130, the power that motor 120 exports is transferred to slide block 150.Controller controls the forward or reverse of motor 120 according to control signal, thus is moved to the left or to the right along the axis of leading screw 140 by nut 130 and leading screw 140 band movable slider 150.Rotary module 160 is rotatable to be fixed in housing 110, and rotary module 160 is provided with opening, and opening contacts with the part edge of slide block 150, coordinates to opening and can be rotated that module 160 is corresponding to be rotated when slide block 150 moves.
Fig. 4 is the schematic diagram that the actuator of Wiping cloth plate ejecting mechanism 100 is in release state, as it can be seen, now, the opening of rotary module 160 is positioned at the left side of rotary module 160, and slide block 150 part snaps in the opening of rotary module 160.When motor 120 rotates and passes through nut 130 and leading screw 140 band movable slider 150 to left movement, the opening of rotary module 160 is due to acting on by the power of slide block 150, make rotary module 160 rotate about axle counterclockwise movement, thus be further driven to actuator and pack up.As it is shown in figure 5, when slide block 150 is moved to the left to specify position, actuator is packed up completely.Although it should be noted that in the present embodiment, the opening of rotary module 160 is arranged at the left side of rotary module 160, but the relative position of the opening of rotary module 160 and slide block 150, and the mutual relation released with actuator or pack up do not limits to and this.Such as, the opening of rotary module 160 may also be arranged on the right side of rotary module 160, and by realizing the release of actuator with coordinating of slide block 150 or pack up, repeats no more here.
In the present embodiment, actuator includes performing wheel 200.Execution wheel 200 is fixing with the rotary module 160 of drive mechanism to be connected, when slide block 150 be rotated module 160 turn an angle time, by execution wheel 200 release, maybe execution wheel 200 is packed up, thus the Wiping cloth plate 240 of clean robot 300 is separated with clean robot 300 and/or combines.
Further, described controller includes: is installed on the main controller in clean robot 300 fuselage, resolves the motor control card of the control signal that main controller sends and connect the control line composition of the two, not shown in figure.
Preferably, in the present embodiment, the Wiping cloth plate 240 of clean robot 300 is realized magnetic with Wiping cloth plate ejecting mechanism 100 be connected by magnet steel 220 and magnet steel 230 absorption.It is mounted on rag and water tank on the Wiping cloth plate 250 that Wiping cloth plate 240 and another block are specified.
As alternative embodiment, on the basis of above-described embodiment, as shown in Figure 6, actuator can also include connecting rod 210 and perform wheel 200, perform wheel 200 to be connected by connecting rod 210 is fixing with the rotary module 160 of drive mechanism, when slide block 150 be rotated module 160 turn an angle time, connecting rod 210 rotates accordingly thus by execution wheel 200 release, maybe executions is taken turns and 200 pack up.
As alternative embodiment, on the basis of above-described embodiment, the feed screw nut in drive mechanism is readily modified as worm and gear, thus is moved left and right, not shown in figure by this worm gear structure band movable slider.
As alternative embodiment, on the basis of above-mentioned embodiment, Wiping cloth plate 240 can also be attached by Magnet or other magnetic device with clean robot 300.
As alternative embodiment, on the basis of above-mentioned embodiment, Wiping cloth plate 240 can also only be installed rag or only install water tank.
Using the device of a kind of automatic replacing clean robot rag disclosed in this utility model, clean robot comprises the following steps when changing rag:
S1: the main controller of described controller sends control signals to motor control card by control line, motor control card judges rotation direction after receiving control signal, motor 120 is driven to rotate, actuator is driven to rotate clockwise certain angle by drive mechanism, the magnet steel 230 on the Wiping cloth plate 240 of clean robot 300 is made to separate with the magnet steel 220 on housing 110, Wiping cloth plate 240 is released from clean robot 300 so that it is separate with clean robot 300, as shown in Figure 1；
After S2: Wiping cloth plate 240 is pushed out, the main controller of controller sends motor message to clean robot 300, it is made first to get around Wiping cloth plate 240, the execution wheel 200 of the actuator being now pushed out contacts with ground, then as one of the strong point of clean robot 300 and road wheel, as in figure 2 it is shown, and other road wheel of clean robot 300 coordinate and arrive Wiping cloth plate 250 position specified；
S3: after clean robot 300 arrives and specifies Wiping cloth plate 250 position, the main controller of controller sends control signals to motor control card by control line, motor control card judges rotation direction after receiving control signal, motor 120 opposite direction is driven to turn an angle, actuator is driven to rotate counterclockwise by drive mechanism, make the magnet steel 220 on housing 110 and the magnet steel absorption on Wiping cloth plate 250, so that Wiping cloth plate 250 is detachably arranged on clean robot 300, as shown in Figure 3.
Drive mechanism in above-mentioned steps can be screw-nut structure, when motor 120 rotates, slided to the right or to the left by the mating band movable slider 150 of nut 130 and leading screw 140, rotary module 160 is made to rotate clockwise or counterclockwise certain angle, rotary module 160 is further driven to the execution wheel 200 of actuator and rotates clockwise or counterclockwise respective angles, execution wheel 200 release is maybe packed up by execution wheel 200.
Further, drive mechanism in above-mentioned steps can also be worm gear structure, when motor 120 rotates, slided to the right or to the left by the mating band movable slider 150 of worm gear and worm screw, rotary module 160 is made to rotate clockwise or counterclockwise certain angle, rotary module 160 is further driven to the execution wheel 200 of actuator and rotates clockwise or counterclockwise respective angles, execution wheel 200 release is maybe packed up by execution wheel 200.
Further, the actuator in above-mentioned steps can only include execution wheel 200, performs wheel 200 and the fixing connection of rotary module 160, directly execution wheel 200 release is maybe packed up by execution wheel 200 when rotary module 160 turns an angle.
Further, actuator in above-mentioned steps can also include connecting rod 210 and perform wheel 200, perform wheel 200 to be connected by connecting rod 210 is fixing with rotary module 160, when rotary module 160 turns an angle, connecting rod 210 rotates accordingly thus by execution wheel 200 release, is maybe packed up by execution wheel 200.Preferably, when rotary module 160 rotates 90 degree, connecting rod 210 rotates accordingly thus by execution wheel 200 release, is maybe packed up by execution wheel 200.
Obviously, above-described embodiment is only for clearly demonstrating example, and not restriction to embodiment.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also cannot all of embodiment be given exhaustive.And among the protection domain that the obvious change thus extended out or variation are created still in this utility model.
Claims (9)
1. the device of an automatic replacing clean robot rag, it is characterised in that including:
Wiping cloth plate ejecting mechanism, is suitable to release the Wiping cloth plate of described clean robot from described clean robot, it is achieved described Wiping cloth plate separates with described clean robot；
Controller, described controller is connected with described Wiping cloth plate ejecting mechanism, is suitable to control described Wiping cloth plate ejecting mechanism and is separated with described clean robot by the Wiping cloth plate of described clean robot.
The device of replacing clean robot rag the most according to claim 1, it is characterized in that, described Wiping cloth plate ejecting mechanism includes housing, and it is arranged at the motor in described housing, drive mechanism and actuator, wherein, described motor is connected with described controller, and being suitable to the signal according to described controller provides provides power for described Wiping cloth plate ejecting mechanism；Described drive mechanism is connected with described motor and described actuator respectively, be suitable to the power that described motor exports is transferred to described actuator, control the release of described actuator and/or pack up, thus the Wiping cloth plate of described clean robot is separated with described clean robot and/or combines.
Device the most according to claim 2, it is characterised in that described drive mechanism includes that leading screw, nut, slide block and rotary module, described slide block are connected with described leading screw, can drive described slide block movement by the motion of described leading screw；Described rotary module is rotatable to be fixed in described housing, and described rotary module is provided with opening, and described opening contacts with the part edge of described slide block, coordinates to described opening and can drive that described rotary module is corresponding to be rotated during described slide block movement.
Device the most according to claim 2, it is characterised in that described drive mechanism includes that worm gear, worm screw, slide block and rotary module, described slide block are connected with described worm screw, can drive described slide block movement by the motion of described worm screw；Described rotary module is rotatable to be fixed in described housing, and described rotary module is provided with opening, and described opening contacts with the part edge of described slide block, coordinates to described opening and can drive that described rotary module is corresponding to be rotated during described slide block movement.
5. according to the device described in claim 3 or 4, it is characterized in that, described actuator includes performing wheel, described execution wheel is fixing with the described rotary module of described drive mechanism to be connected, when described slide block drives described rotary module to turn an angle, the described wheel that performs is released, or described execution wheel is packed up.
Device the most according to claim 3, it is characterized in that, described actuator includes connecting rod and performs wheel, the described wheel that performs is connected by described connecting rod is fixing with the described rotary module of described drive mechanism, when described slide block drives described rotary module to turn an angle, described connecting rod rotates accordingly thus is released by the described wheel that performs, or is packed up by described execution wheel.
7. a clean robot, it is characterised in that include the device according to the arbitrary described automatic replacing clean robot rag of claim 1-6.
Clean robot the most according to claim 7, it is characterised in that farther include Wiping cloth plate, described Wiping cloth plate is connected with described Wiping cloth plate ejecting mechanism magnetic.
9. according to the clean robot described in claim 7 or 8, it is characterised in that described Wiping cloth plate farther includes rag and/or water tank, described rag and/or described water tank and is detachably arranged on described Wiping cloth plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521138493.1U CN205433581U (en) | 2015-12-19 | 2015-12-19 | Automatic change device of cleaning machines people's rag and have device's cleaning machines people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521138493.1U CN205433581U (en) | 2015-12-19 | 2015-12-19 | Automatic change device of cleaning machines people's rag and have device's cleaning machines people |
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| CN205433581U true CN205433581U (en) | 2016-08-10 |
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| CN201521138493.1U Expired - Fee Related CN205433581U (en) | 2015-12-19 | 2015-12-19 | Automatic change device of cleaning machines people's rag and have device's cleaning machines people |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106491048A (en) * | 2016-11-19 | 2017-03-15 | 叶志敏 | A kind of intellective dust collector with mop function |
| CN106889955A (en) * | 2015-12-19 | 2017-06-27 | 天津蓝莓信息技术有限责任公司 | A kind of device and method of automatic replacing clean robot rag |
| CN109044212A (en) * | 2018-08-26 | 2018-12-21 | 陈熹 | Novel floor wiping robot capable of automatically replacing and automatically rolling |
| CN109330508A (en) * | 2018-10-15 | 2019-02-15 | 常州大学 | A kind of household floor-mopping robot |
| CN110123216A (en) * | 2019-04-30 | 2019-08-16 | 余姚市浙江大学机器人研究中心 | A kind of work station of automatic replacement mopping robot rag |
| WO2020125774A1 (en) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robotic cleaning system, base station, and control method |
| CN111345746A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
| CN111399510A (en) * | 2020-03-25 | 2020-07-10 | 上海钛米机器人科技有限公司 | Detachable disinfection robot, robot control method and robot control system |
| CN113017491A (en) * | 2021-02-19 | 2021-06-25 | 黎巍 | Operation and base station recovery method of cleaning machine |
| KR20210105994A (en) * | 2019-06-17 | 2021-08-27 | 메이디 로보존 테크놀러지 컴퍼니 리미티드 | self-moving cleaning device |
| CN113729572A (en) * | 2020-05-29 | 2021-12-03 | 宝时得科技（中国）有限公司 | Cleaning robot and control method thereof |
| WO2022134850A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| RU2777408C1 (en) * | 2018-12-21 | 2022-08-03 | Позитек Пауэр Тулз (Сюйчжоу) Ко., Лтд | Robotic cleaning system, base station, and method for control thereof |
| CN115067832A (en) * | 2022-03-02 | 2022-09-20 | 深圳市杉川机器人有限公司 | Method for replacing dragging module and replacement base station |
| US11974707B2 (en) | 2019-03-12 | 2024-05-07 | Midea Robozone Technology Co., Ltd. | Water tank for sweeper and sweeper comprising same |
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| CN106889955A (en) * | 2015-12-19 | 2017-06-27 | 天津蓝莓信息技术有限责任公司 | A kind of device and method of automatic replacing clean robot rag |
| CN106491048B (en) * | 2016-11-19 | 2018-12-21 | 叶志敏 | A kind of intellective dust collector with dragging function |
| CN106491048A (en) * | 2016-11-19 | 2017-03-15 | 叶志敏 | A kind of intellective dust collector with mop function |
| CN109044212A (en) * | 2018-08-26 | 2018-12-21 | 陈熹 | Novel floor wiping robot capable of automatically replacing and automatically rolling |
| CN109330508A (en) * | 2018-10-15 | 2019-02-15 | 常州大学 | A kind of household floor-mopping robot |
| CN109330508B (en) * | 2018-10-15 | 2020-11-10 | 常州大学 | Domestic mopping robot |
| JP2022514931A (en) * | 2018-12-21 | 2022-02-16 | ポジテック パワー ツールズ（スーチョウ）カンパニー，リミティド | Cleaning robot and its control method, and floor treatment system |
| WO2020125774A1 (en) * | 2018-12-21 | 2020-06-25 | 苏州宝时得电动工具有限公司 | Robotic cleaning system, base station, and control method |
| CN111345746A (en) * | 2018-12-21 | 2020-06-30 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and ground processing system |
| CN111345746B (en) * | 2018-12-21 | 2024-04-09 | 苏州宝时得电动工具有限公司 | Cleaning robot, control method thereof and floor processing system |
| RU2777408C1 (en) * | 2018-12-21 | 2022-08-03 | Позитек Пауэр Тулз (Сюйчжоу) Ко., Лтд | Robotic cleaning system, base station, and method for control thereof |
| US11974707B2 (en) | 2019-03-12 | 2024-05-07 | Midea Robozone Technology Co., Ltd. | Water tank for sweeper and sweeper comprising same |
| CN110123216A (en) * | 2019-04-30 | 2019-08-16 | 余姚市浙江大学机器人研究中心 | A kind of work station of automatic replacement mopping robot rag |
| KR20210105994A (en) * | 2019-06-17 | 2021-08-27 | 메이디 로보존 테크놀러지 컴퍼니 리미티드 | self-moving cleaning device |
| KR102619924B1 (en) * | 2019-06-17 | 2023-12-29 | 메이디 로보존 테크놀러지 컴퍼니 리미티드 | self-moving cleaning device |
| CN111399510A (en) * | 2020-03-25 | 2020-07-10 | 上海钛米机器人科技有限公司 | Detachable disinfection robot, robot control method and robot control system |
| CN113729572A (en) * | 2020-05-29 | 2021-12-03 | 宝时得科技（中国）有限公司 | Cleaning robot and control method thereof |
| WO2022134850A1 (en) * | 2020-12-22 | 2022-06-30 | 广东美的白色家电技术创新中心有限公司 | Cleaning robot and cleaning system |
| CN113017491A (en) * | 2021-02-19 | 2021-06-25 | 黎巍 | Operation and base station recovery method of cleaning machine |
| CN115067832A (en) * | 2022-03-02 | 2022-09-20 | 深圳市杉川机器人有限公司 | Method for replacing dragging module and replacement base station |
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