CN206659755U - Clean robot and cleaning robot system - Google Patents

Abstract

Clean robot technical field is the utility model is related to, more particularly to a kind of clean robot and cleaning robot system.Clean robot provided by the utility model, two mopping parts on mopping unit in the same direction or can rotate backward relative to the chassis of the clean robot around vertical axis, and the collection port of refuse collector is arranged on the middle part of two mopping units.So in mopping process, relative motion between mopping part and ground not only includes the overall movement on the ground of clean robot, also include mopping part relative to the rotary motion on ground, so as to strengthen the mopping dynamics of mopping, and then the mopping effect of mopping part can be improved.In addition, the mopping part of rotation can also sweep up the rubbish such as bulky grain thing and the dust on ground, in order to which refuse collector collects the rubbish assembled by the mopping part of the two mopping units rotated around vertical axis, the mopping part that rotates while play cleaning effect so that the clean robot, which turns into sweep, drags integral robot.

Description

Clean robot and cleaning robot system

Technical field

Clean robot technical field is the utility model is related to, more particularly to a kind of clean robot and clean robot system System.

Background technology

In recent years, as the development of social economy and the raising of family life level, furniture cleaning step into intelligence Change, the robotic epoch, the clean robot to arise at the historic moment can free people from household cleaning work, effectively subtract Light work load of the people in terms of household cleaning, alleviate tired degree of the people during household cleaning is carried out.

Some existing clean robots can only realize cleaning function, and can not realize mopping function, it is difficult to effectively remove The stain being attached on ground, floor cleaning effect are undesirable.Moreover, existing clean robot, its mopping part it is clear Clean needs are completed by user, and during the entire process of ground is cleaned, user needs frequently to participate in changing clothes dragging for clean robot Part is wiped, this aspect can lead to not that thorough liberation comes out during mopping floor by user, increase the workload of user, the opposing party Face also easily influences mopping effect because changing clothes not in time, leads to not floor cleaning is clean.

Existing sweep drags all-in-one, the wet rag of lastblock is added most commonly on the basis of sweeper, such as section's Butterworth Ground Bao Duoduo.It is this that to sweep the problem of dragging all-in-one maximum be that robot has no idea automatically to clean or change rag.And One piece of rag can not possibly clean whole house, so whole cleaning process is required for user frequently to participate in replacing and clean robot Rag.During cleaning, robot pushes down rag close proximity to ground using the gravity of itself, and dragging rag scrape along the ground is carried out Cleaning.The relative motion on rag and ground is only to be formed by the mobile of robot itself, so the relative fortune of ground and mop It is dynamic less, the effect for being wiped repeatedly ground is unable to reach, so cleaning effect is poor.

Utility model content

A technical problem to be solved in the utility model is：Existing sweep drags integral clean robot, and ground is clear Clean effect is undesirable.

In order to solve the above-mentioned technical problem, the utility model first aspect provides a kind of clean robot.The cleaner Device people includes being used for the running gear, the ground for cleaning ground for driving that the clean robot walks on the ground Cleaning device and refuse collector, the floor cleaning device include mopping device, and the mopping device drags including two Unit and mopping drive mechanism are wiped, the mopping unit includes the mopping part for mopping floor, in the mopping drive mechanism Driving effect under, the mopping part of described two mopping units can be same around vertical axis relative to the chassis of the clean robot To or rotate backward, the refuse collector includes being used to connect collection port inside the refuse collector and outside, The collection port is arranged on the middle part of described two mopping units, in order to which the refuse collector is collected by described around vertical The rubbish that axis is in the same direction or the mopping part of counter-rotational two mopping units is assembled.

Alternatively, the mopping unit and/or running gear are pivotably connected on the chassis of the clean robot, So that the mopping part of the mopping unit can be by being swung to keep contacting with ground with the uneven of landing ground.

Alternatively, mopping unit also includes cleaning item, and cleaning item is arranged on the edge of mopping part.

Alternatively, clean robot also includes jacking mechanism, and jacking mechanism is arranged on clean robot, and jacking mechanism is used In the front end and/or rear end that jack up clean robot.

Alternatively, clean robot includes being arranged on the suspension arrangement at the road wheel of running gear, and suspension arrangement is used for Road wheel is set to keep elastic connection so that road wheel keeps contacting with ground with the chassis of clean robot.

Alternatively, the mopping drive mechanism includes two output shafts, described two output shafts and described two mopping lists Member, which corresponds, to be set and is used for the opposite torque of described two mopping unit direction of transfer, and described two output shafts are perpendicular To arrangement.

Alternatively, the mopping drive mechanism also includes being used for the opposite torque of described two output shaft direction of transfer Worm-and-wheel gear and/or gear mechanism.

Alternatively, the mopping drive mechanism includes endless screw electric motor and corresponds drive connection with described two output shafts Two turbines, the endless screw electric motor is used for output torque, and described two worm gears engage with the endless screw electric motor, with to described The opposite torque of two output shaft direction of transfer.

Alternatively, the endless screw electric motor includes two single start worm motors, and each single start worm motor is respectively with one The individual worm gear engagement.

Alternatively, the refuse collector includes dust exhaust apparatus, and the dust exhaust apparatus includes dust box, filter screen, dedusting Blower fan, blower fan conduit and suction port, the collection port include the suction port of the dust exhaust apparatus, and the suction port is arranged on dust The bottom of box and towards surface openings, the dedusting fan is by blower fan conduit and dust box internal fluid communication, so that rubbish Dust box can be entered by suction port in the presence of dedusting fan；The filter screen is located at dedusting fan and the fluid of dust box connects All on road；

The overall fore-and-aft direction along clean robot of the dust exhaust apparatus extends, and the mopping drive mechanism is arranged in described The both sides of dust exhaust apparatus.

Alternatively, what mopping device also included being arranged at mopping unit rear scrapes gear structure, scrapes gear structure and passes through to rubbish And/or sewage carries out scraping gear to prevent rubbish and/or sewage from residuing on the ground crossed by mopping unit institute mopping.

Alternatively, the collection port be arranged on it is described around vertical axis is in the same direction or counter-rotational two mopping units before Side or the middle part at rear.

Alternatively, the refuse collector also includes baffle plate, and the baffle plate is tilted down and extended by the collection port To ground, for prevent by the rubbish that the floor cleaning device flushes out diffuse to scope that the collection port can collect it Outside.

On the other hand the utility model additionally provides a kind of cleaning robot system.The cleaning robot system includes base station Above-mentioned clean robot, the base station set independently of the clean robot and can be that the clean robot charges And/or the mopping part of the cleaning clean robot.

Alternatively, base station includes base station body and the mopping part cleaning device being arranged on the body of base station, the cleaning of mopping part Device is used to clean the mopping part for mopping floor of clean robot；The mopping part cleaning device includes projection Structure, bulge-structure include lug boss, and when mopping part cleaning device cleans to mopping part, lug boss connects with mopping part Touch；And/or mopping part cleaning device includes cleaning roller, when mopping part cleaning device cleans to mopping part, cleaning rolling Wheel contacts with mopping part.

Alternatively, during mopping part cleaning device mop part, mopping part cleaning device can with mopping part Relatively rotate, and/or, mopping part cleaning device can relatively move with mopping part.

Clean robot of the present utility model, two mopping parts on mopping unit can be relative to the clean robot Chassis in the same direction or rotates backward around vertical axis, and the collection port of refuse collector is arranged on the middle part of two mopping units. So in mopping process, the relative motion between mopping part and ground not only includes the overall shifting on the ground of clean robot Move, in addition to mopping part so as to strengthen the mopping dynamics of mopping, and increases mopping part relative to the rotary motion on ground Mopping number, the mopping repeatedly to ground is realized, and then the mopping effect of mopping part can be improved.In addition, the mopping part of rotation The rubbish such as bulky grain thing and the dust on ground can also be swept up, in order to which refuse collector is collected by the same direction around vertical axis Or the rubbish that the mopping part of counter-rotational two mopping units is assembled, that is, the mopping part rotated at the same play cleaning effect, So that the clean robot, which turns into sweep, drags integral robot, function is more comprehensive, and floor cleaning is better, and due to that need not set Put special clearing apparatus and cleaning function can be achieved, therefore, also allow clean robot dragging a body function with sweeping While there is simpler structure and smaller volume, be advantageous to further realize miniaturization and the dexterity of clean robot Change.

Moreover, the utility model is also by increasing the relative motion of mopping part and ground, and enable mopping part relative Carry out the measure such as swinging in ground, further improve the cleaning effect of clean robot.

Also mopping part is cleaned by setting up the base station independently of clean robot, and using the base station in addition, it is real Now to the automated cleaning of mopping part, be advantageous to further free user during floor cleaning, mitigate the clear of user Clean burden, and can prevent from influenceing mopping effect because being changed clothes not in time mopping part.

By the way that exemplary embodiment of the present utility model is described in detail referring to the drawings, it is of the present utility model its Its feature and its advantage will be made apparent from.

Brief description of the drawings

, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid Put, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 shows the overall structure diagram of the utility model first embodiment cleaning robot system.

Fig. 2 shows the overall structure diagram of base station shown in Fig. 1.

Fig. 3 shows Fig. 2 configuration schematic diagram.

Fig. 4 shows the structural representation of mopping part cleaning device in Fig. 2.

Fig. 5 shows scheme of installation of the liquid level detection device in the first storage organization.

Fig. 6 shows the integrally-built top perspective view of clean robot shown in Fig. 1.

Fig. 7 shows the integrally-built face upwarding stereogram of clean robot shown in Fig. 1.

Fig. 8 shows Fig. 6 configuration schematic diagram.

Fig. 9 shows that clean robot shown in Fig. 6 removes the structural representation after upper shell and process circuit.

Figure 10 shows further to remove blower fan and the Postductal structural representation of blower fan on the basis of Fig. 9.

Figure 11 shows the overall structure diagram of the mopping device of clean robot shown in Fig. 6.

Figure 12 shows Figure 11 configuration schematic diagram.

Figure 13 shows the swing free degree of the mopping part under flexible connection block and horizontal rotating shaft effect in Figure 12.

Figure 14 shows that mopping device shown in Figure 11 removes the structural representation after horizontal rotating shaft.

Figure 15 shows the swing free degree of the mopping part under flexible connection block effect in Figure 14.

Figure 16 shows Figure 13 the first modified example.

Figure 17 shows Figure 13 the second modified example.

Figure 18 shows Figure 13 the 3rd modified example.

Figure 19 shows the air channel schematic diagram of the refuse collector of clean robot shown in Fig. 6.

Figure 20 shows the mopping device of clean robot shown in Fig. 6 and the position relationship schematic diagram of refuse collector.

Figure 21 shows that clean robot in first embodiment shown in Fig. 1 enters the process of base station under jacking mechanism effect.

Figure 22 shows that clean robot enters the mated condition signal with base station behind base station in first embodiment shown in Fig. 1 Figure.

Figure 23 shows that base station is to the cleaning principle schematic of the mopping part of clean robot in first embodiment shown in Fig. 1.

Figure 24 shows the overall structure diagram of the utility model second embodiment cleaning robot system.

Figure 25 shows the overall structure diagram of base station shown in Figure 24.

Figure 26 shows Figure 25 configuration schematic diagram.

Figure 27 shows the overall structure diagram of clean robot shown in Figure 24.

Figure 28 shows Figure 27 configuration schematic diagram.

Figure 29 shows that clean robot shown in Figure 27 removes the structural representation after upper shell and upper casing capping.

Figure 30 shows that clean robot shown in Figure 27 removes the structural representation after lower casing capping.

Figure 31 shows the configuration schematic diagram of mopping device shown in Figure 30.

Figure 32 a show the package assembly sectional view of output shaft and mopping unit in Figure 31.

Figure 32 b show the I close-up schematic views in Figure 32 a.

Figure 32 c show the II close-up schematic views in Figure 32 b.

Figure 33 shows the configuration schematic diagram (omission dedusting fan) of refuse collector in second embodiment.

Figure 34 shows the air channel schematic diagram of refuse collector in second embodiment.

Figure 35 shows motion schematic diagram when clean robot in second embodiment enters base station.

Figure 36 shows suction port and a kind of modification of mopping setting position relation in first embodiment and second embodiment.

Figure 37 shows another modification of first embodiment and second embodiment.

Figure 38 shows the overall structure diagram of the cleaning robot system of the utility model 3rd embodiment.

Figure 39 shows the overall structure face upwarding stereogram of clean robot shown in Figure 38.

Figure 40 shows that clean robot shown in Figure 38 removes the structural representation after upper shell.

Figure 41 shows suction port and the schematic diagram of mopping setting position relation in figure 3rd embodiment.

Figure 42 show in fourth embodiment have can be around the knot of the clean robot for the mopping unit that horizontal axis rotates Structure sketch.

Figure 43 shows the principle that there is the base station of cleaning roller to be cleaned to the mopping part of clean robot shown in Figure 42 Schematic diagram.

Figure 44 shows a kind of modification of fourth embodiment clean robot shown in Figure 43.

Figure 45 shows a kind of modification of clean robot shown in Figure 44.

Figure 46 shows the structure in the 5th embodiment with the clean robot for the mopping unit for being capable of horizontal reciprocating movement Sketch.

Figure 47 shows a kind of modification of the 5th embodiment clean robot shown in Figure 46.

Two kinds of modification structures of the utility model bulge-structure are shown respectively in Figure 48 and Figure 49.

Figure 50 shows the structure diagram of the clean robot provided with suspension arrangement at wheel.

Figure 51 shows the III close-up schematic views in Figure 50.

Figure 52 shows process of the clean robot based on the suspension arrangement disengaging base station shown in jacking mechanism and Figure 50.

Figure 53 shows process of the clean robot based on spigot surface and directive wheel disengaging base station.

Figure 54 shows the structure diagram of the cleaning robot system of the utility model sixth embodiment.

Figure 55 shows the view that base station is cleaned to clean robot in sixth embodiment shown in Figure 54.

Figure 56 shows that base station is illustrated to the cleaning principle of the mopping part of clean robot in another embodiment of the utility model Figure.

Figure 57 shows that the part of the bottom of clean robot in the improvement embodiment of the utility model first embodiment is shown It is intended to.

Figure 58 shows that the bottom of the clean robot of the utility model Figure 57 illustrated embodiments is different from Figure 57 visual angle Partial schematic diagram.

In figure：

1st, base station；

10th, base station body；101st, support frame；102nd, support frame bottom；

11st, mopping part cleaning device；111st, clean tank；112nd, lug boss；1121st, bottom protrusion；1122nd, side projections； 113rd, feed liquor structure；114th, drainage structure；115th, guide plate；116th, spigot surface；117th, block piece is scraped；118th, cleaning roller；119、 Directive wheel；

12nd, net liquid feeding mechanism；121st, the first storage organization；1211st, casing；1212nd, case lid；1213rd, handle；1214、 Buckle；122nd, the first water pump；

13rd, soiling solution collection device；131st, the second storage organization；132nd, the second water pump；

14th, charging device；141st, charge sheet；

151st, the first conducting strip；152nd, the second conducting strip；153rd, the 3rd conducting strip；

2nd, clean robot；

20th, housing；201st, upper shell；2011st, upper casing covers；202nd, chassis；2021st, lower casing covers；203rd, escape groove；

21st, running gear；211st, road wheel；212nd, spring；213rd, support member；

22nd, floor cleaning device；221st, mopping device；2211st, mopping unit；22111st, mopping part；22112nd, platen； 2212nd, mopping drive mechanism；22121st, double-thread worm motor；22121 ', single start worm motor；22122nd, worm gear；22123rd, it is defeated Shaft；22124th, bearing；22125th, oil seal washer；2213rd, installation chassis；2214th, upper disk；2215th, lower wall；2216th, it is flexibly connected Block；2217th, magnetic absorption part；2218th, horizontal rotating shaft；2219th, gear structure is scraped；222nd, clearing apparatus；2221st, side is brushed；

23rd, refuse collector；231st, dust box；2311st, baffle plate；2312nd, scraping blade；2312 ', round brush；2313rd, box body； 2314th, lid；2315th, handle；2316th, alignment pin；233rd, filter screen；233 ', Hai Pazhi；2331 ', extra large pa paper support；234th, remove Dirt blower fan；235th, blower fan conduit；236th, suction port；237th, garbage blocking part；238th, filtering frame；

24th, jacking mechanism；

25th, collision sensing plate；251st, camera；252nd, charge contact；

26th, laser radar；261st, radar protection cap；

27th, control device；

28th, battery.

Embodiment

Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole Embodiment.The description only actually at least one exemplary embodiment is illustrative to be never used as to this practicality below New and its application or any restrictions used.Based on the embodiment in the utility model, those of ordinary skill in the art are not having There is the every other embodiment carried out and obtained under the premise of creative work, belong to the scope of the utility model protection.

It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as authorizing part for specification.

In description of the present utility model, it is to be understood that limit zero using the word such as " first ", " second " Part, it is only for it to be easy to distinguish corresponding parts, does not such as have Stated otherwise, above-mentioned word does not have particular meaning, Therefore it is not intended that limitation to scope of protection of the utility model.

In addition, in description of the present utility model, it is to be understood that the noun of locality such as " forward and backward, upper and lower, left and right ", Orientation or position relationship indicated by " laterally, vertical, vertical, horizontal " and " top, bottom " etc. are normally based on clean robot system What the state of system normal use defined, wherein, using the direction of advance of clean robot before, correspondingly, with clean robot After direction of retreat is；The noun of locality " inside and outside " refers to relative to inside and outside each part profile in itself.

Fig. 1-58 shows multiple embodiments of the cleaning robot system including the utility model base station.Reference picture 1- 58, clean robot 2 of the present utility model, it includes being used for the running gear 21 for driving clean robot 2 to walk on the ground And the floor cleaning device 22 for being cleaned to ground, floor cleaning device 22 include mopping device 221, mopping device 221 include mopping unit 2211, and mopping unit 2211 includes mopping part 22111, and mopping part 22111 is used for mopping floor.

Clean robot 2 of the present utility model, it includes the mopping part 22111 for mopping floor, therefore, it is possible to realize Mopping function, the stain on ground can be removed, floor cleaning effect can be improved.

In the utility model, in order to further improve the effect that mops floor, mopping unit 2211 is configured to relative to clear The chassis 202 of clean robot 2 rotates and/or horizontal reciprocating movement.So in mopping process, mopping part 22111 and ground it Between relative motion not only include the overall movement on the ground of clean robot 2, in addition to mopping part 22111 is relative to ground Rotary motion and/or horizontal reciprocating movement, so as to strengthen the mopping dynamics of mopping part 22111, and increase mopping part 22111 mopping number, the mopping repeatedly to ground is realized, and then the mopping effect of mopping part 22111 can be improved, wherein especially It helps more thoroughly to clean the stain being adhered on ground.Wherein preferably, mopping unit 2211 is configured to Rotated relative to the chassis 202 of clean robot 2, because the mopping part 22111 of rotation can also sweep up the bulky grain on ground The rubbish such as thing and dust, namely cleaning effect is played simultaneously so that clean robot 2, which turns into sweep, drags integral robot, and function is more Adding comprehensively, floor cleaning is better, and due to that need not set special clearing apparatus 222 that cleaning function can be achieved, therefore, Also allow clean robot 2 with sweep drag a body function while with simpler structure and smaller volume, have Beneficial to the miniaturization and dexterityization for further realizing clean robot 2.

Another improved procedure for the effect that mopped floor as further improvement, can also be by mopping list in the utility model Member 2211 is configured to be swung relative to chassis 202.Based on the setting, the energy of mopping part 22111 of mopping unit 2211 It is enough by being swung with the uneven of landing ground relative to chassis 202 to keep contacting with ground, so as to ensure Two 22111 moment of mopping part close proximity to grounds of the embodiment, this not only can effectively prevent occurring because of ground relief Phenomenon is dragged in leakage, so as to ensure that various ground are realized with more thorough and more efficient cleaning, can also make clean robot 2 to landform More complicated various ground is cleaned, and effectively expands the scope of application of clean robot 2.

In addition, the utility model additionally provides a kind of cleaning robot system for including the utility model clean robot 2. The cleaning robot system can further include the base station 1 that can be cleaned to mopping part 22111.The base station 1 includes Base station body 10 and the mopping part cleaning device 11 being arranged on base station body 10, mopping part cleaning device 11 are used for cleaner The mopping part 22111 of device people 2 is cleaned.

In the utility model, base station 1 can be realized to mopping part using modes such as ultrasonic clean, dry-cleaning or washings 22111 cleaning, wherein, preferred water-washing method, because water-washing method is not only more easily implemented, cost is lower, and cleaning effect is more Totally, and the mopping part 22111 after water-washing method cleaning has certain moisture, can continue directly to put into mopping up work, The step of getting mopping part 22111 wet is set without extra again, therefore, washing cleaning mode can further reduce user's ginseng With, and it is further ensured that the continuity that clean robot 2 works.

And in order that base station 1 has preferable cleaning effect, in the utility model, preferably by mopping part cleaning device 11 It is arranged to what be can be movable relatively with mopping part 22111, for example, mopping part cleaning device 11 relative with mopping part 22111 can turn It is dynamic, and/or, mopping part cleaning device 11 can relatively move with mopping part 22111, so be cleaned in mopping part cleaning device 11 During mopping part 22111, mopping part 22111 is pressed on mopping part cleaning device 11, mopping part cleaning device 11 is Frictional force can be applied to mopping part 22111, so as to improve the cleaning cleanliness of mopping part 22111, improve the cleaning of mopping part The cleaning effect of device 11.Wherein, mopping part cleaning device 11 and the generation of the relative motion of mopping part 22111, can be moppings Part cleaning device 11 moves another remains stationary or mopping part cleaning device 11 with one in mopping part 22111 Moved from mopping part 22111 but the direction of motion and/or movement velocity are different.

In the utility model, mopping part cleaning device 11 could be arranged to include bulge-structure, and bulge-structure includes convex Portion 112 is played, when mopping part cleaning device 11 cleans to mopping part 22111, lug boss 112 contacts with mopping part 22111. By setting lug boss 112 on mopping part cleaning device 11, can not only be utilized during mop part 22111 should Lug boss 112 strikes off to the sewage on mopping part 22111 or rubbish, realizes and mopping part 22111 is more thoroughly cleaned, and Prevent that the mopping part 22111 for completing cleaning is too moist, moreover, being capable of phase with mopping part 22111 in mopping part cleaning device 11 In the case of motion, lug boss 112 can also produce planar friction motion with mopping part 22111, can further increase mopping The frictional force of part cleaning device 11 and mopping part 22111, further improve mopping part cleaning device 11 to the clear of mopping part 22111 Clean effect.

In addition, entering base station 1 for the ease of clean robot 2, base station 1 of the present utility model is preferably arranged to also include setting The guide frame on mopping part cleaning device 11 is put, the guide frame is used to guide clean robot 2 clear relative to mopping part Clean device 11 moves so that mopping part 22111 passes in and out mopping part cleaning device 11.Based on this, when needing that mopping part 22111 is entered During row cleaning, clean robot 2 can be conveniently entered in base station 1 under the guide effect of the guide frame, makes mopping part Cleaned in 22111 entrance mopping part cleaning devices 11, and once clean and finish, clean robot 2 again can be in the guiding Under the guide effect of structure, base station 1 is successfully rolled away from, mopping part 22111 is left mopping part cleaning device 11, it is seen then that this is led Setting to structure, it can make it that disengaging of the clean robot 2 in base station 1 is all more convenient, this is favorably improved cleaner The operating efficiency of device people's system.Wherein guide frame can include at least one in spigot surface, guide plate and directive wheel.

Enter traveling one to the utility model with reference to each embodiment of the cleaning robot system shown in Fig. 1-58 Step ground explanation.

Fig. 1-2 3 shows the first embodiment of cleaning robot system.

As shown in Fig. 1-2 3, in this first embodiment, cleaning robot system includes the cleaner set independently of one another Device people 2 and base station 1, wherein clean robot 2 are used to carry out ground the automated cleaning including mopping, and base station 1 is then used for Charged for clean robot 2 and the mopping part 22111 of clean robot 2 is cleaned.When the mopping one of mopping part 22111 The section time, when clean robot 2 needs to charge and/or need mop part 22111, clean robot 2 being capable of auto-returned Base station 1, is charged at base station 1 and/or mopping part cleans.

Fig. 6-20 shows the structure of the clean robot 2 in the first embodiment.As shown in Fig. 6-20, in first reality Apply in example, clean robot 2 is a mobile cleaning equipment, and it includes housing 20, running gear 21, the and of floor cleaning device 22 Refuse collector 23 etc..

Wherein, housing 20 forms the installation foundation of the other structures part of clean robot 2, and branch is provided for miscellaneous part Support.From Fig. 6-8, the housing 20 of the embodiment includes upper shell 201 and chassis 202, running gear 21, floor cleaning device 22 and refuse collector 23 etc. are mounted on chassis 202, and upper shell 201 then covers at the top of chassis 202, for protection The structure member in hollow space between housing 201 and chassis 202, and keep integrally-built neat and attractive in appearance.

It is the mobile offer driving force of clean robot 2 on the ground that running gear 21, which is used for, and driving clean robot 2 exists Walked on ground.From Fig. 7 and Fig. 8, the running gear 21 of the embodiment includes a pair of road wheels 211, this pair of road wheels 211 are symmetrically disposed in the left and right sides on chassis 2, and road wheel 211 rotates, before can realizing clean robot 2 on the ground Enter or retreat.Also, rotated by the differential of a pair of road wheels 211, the steering of clean robot 2 can be realized.

Floor cleaning device 22 is used to clean ground.In this embodiment, floor cleaning device 22 includes mopping Device 221, the mopping device 221 includes a pair of mopping units 2211, and each mopping unit 2211 includes the He of platen 22112 Mopping part 22111, mopping part 22111 is installed on the lower surface of platen 22112, for mopping floor.

Mopping part 22111 can be the various parts that mopping can be carried out to ground such as mop (or rag) or sponge, The mopping part 22111 of the embodiment selects mop.Moreover, mopping part 22111 is preferably detachably connected with platen 22112, for example, In this embodiment it is possible to mopping part 22111 is pasted on the lower surface of platen 22112 using VELCRO, in order to dismount Change mopping part 22111.

The mopping part 22111 and platen 22112 of the embodiment are rounded, and certainly, in other embodiments, the two also may be used To be arranged to the other shapes such as rectangle, and the two is shaped to circle and is advantageous in that by the embodiment, is more convenient for dragging Wipe unit 2211 to clean the small spaces such as corner within doors, and the rotation for being also more convenient for following is set.

, can by Fig. 7-Figure 12 and Figure 20 in order to further solve the problems, such as that existing clean robot mopping effect is poor Know, as it was previously stated, the mopping unit 2211 of the embodiment is configured to be rotated relative to chassis 202, dragged by increase The relative rotation on unit 2211 and ground is wiped to improve the effect that mops floor.Herein mopping unit 2211 relative to chassis 202 rotation, Both can be the rotation around horizontal axis, or around the rotation of vertical axis, the wherein embodiment is preferably arranged to around perpendicular The rotation of straight axis, because can realize more preferably mopping around the mopping part 22111 that vertical axis rotates and clean effect.And And when mopping device 221 includes at least two mopping units 2211, at least two mopping units 2211 can turn to it is identical, Difference can also be turned to, switchably can also be rotate in same direction and be rotated backward, namely certain a period of time in this at least two Individual mopping unit 221 rotates backward and changes into and rotate backward in another a period of time.Wherein, by by the mopping list of paired youngster Member 2211 is arranged to rotate backward around vertical axis, additionally it is possible to and make mopping device 221 play a part of assembling rubbish to centre, Realize more preferable rubbish congregational rate.

As shown in figure 20, in this embodiment, two mopping units 2211 rotate around vertical axis, but rotation direction phase Instead.Due to being rotated backward around vertical axis, two mopping units 2211 can be by the rubbish swept up to two mopping units 2211 Among aggregation, therefore, the setting causes mopping device 221 while mopping and cleaning function is realized, moreover it is possible to play preferably Rubbish aggtegation, be easy to more sufficiently thoroughly collect rubbish.Based on this, the mopping device 221 of the embodiment can be with this The refuse collector 23 of embodiment, which coordinates, realizes cleaner cleaning effect, and this point will be said in more detail below It is bright.In addition, two mopping units 2211 be arranged to around vertical axis rotate backward when, two mopping units 2211 because rotation produce Direction on the contrary, can cancel out each other, can effectively avoid occurring frictional force imbalance problem during cleaning, have Help make clean robot 2 more smoothly walk according to projected route.

And in order to realize rotation of the mopping unit 2211 relative to ground, the mopping device 221 of the embodiment also includes mopping Drive mechanism 2212, the mopping drive mechanism 2212 connection mopping unit 2211 and chassis 202, and for driving mopping unit 2211 are rotated relative to chassis 202, namely for driving mopping unit 2211 to be rotated relative to ground.Specifically, As illustrated in figs. 8-12, in this embodiment, it is defeated to include endless screw electric motor, two worm gears 22122 and two for mopping drive mechanism 2212 Shaft 22123, wherein：Endless screw electric motor is used to provide torque for two mopping units 2211；Two worm gears 22122 and two outputs Drive connection is between endless screw electric motor and two output shafts 22123 correspondingly for axle 22123, each worm gear 22122 and worm screw Worm engaging on motor, i.e. worm gear 22122 form worm-and-wheel gear, and two worm gears with the worm screw on endless screw electric motor 22122 are driven with the worm engaging of endless screw electric motor, so as to the opposite torque of two direction of transfer of output shaft 22123；Two The individual drive connection of output shaft 22123 is between two worm gears 22122 and two mopping units 2211, and two output shafts 22123 Correspond and set with two mopping units 2211, for torque in opposite direction to be transferred into two mopping units respectively 2211, meanwhile, two output shafts 22123 are vertically arranged, driving effect of the two such mopping unit 2211 in endless screw electric motor Under rotated around respective output shaft 22123, i.e., can realize two rotating backward around vertical axis of mopping unit 2211.

More specifically, as shown in figure 12, in this embodiment, endless screw electric motor is double-thread worm motor 22121, wherein：It is double Head endless screw electric motor 22121 is used as worm screw actuating unit, for output torque；Two worm gears 22122 and two mopping units 2211 Correspond and set, and engaged respectively with two worm screw heads of the both sides of double-thread worm motor 22121, and two worm gears 22122 With the engaged transmission of double-thread worm motor 22121.So when double-thread worm motor 22121 rotates, power can be transferred to two Worm gear 22122, and drive two outputs to the opposite torque of two direction of transfer of output shaft 22123 by two worm gears 22122 Axle 22123 drives two mopping units 2211 to be rotated backward around vertical axis, simple and compact for structure, and transmission efficiency.

Also, from Figure 11 and Figure 12, the mopping device 221 of the embodiment also includes installation chassis 2213, upper disk 2214th, lower wall 2215, mopping drive mechanism 2212 are installed on chassis 202 by installation chassis 2213, upper disk 2214, lower wall 2215 On.Wherein, upper disk 2214 and lower wall 2215 mutually fasten, and form a hollow space, each part of mopping drive mechanism 2212 It is arranged in the hollow space and carries out cooperation transmission, and installation chassis 2213 is arranged on chassis 202, and lower wall 2215 is installed on On installation chassis 2213 so that mopping drive mechanism 2212 is installed on chassis 202.In addition, the mopping driving of the embodiment Mechanism 2212 also includes bearing 22124 and oil seal washer 22125, wherein, bearing 22124 and oil seal washer 22125 are arranged at output shaft Between 22123 and worm gear 22122, realization is smoothly driven.

In addition, in this embodiment, mopping unit 2211 is pivotably connected on the chassis 202 of clean robot 2, is led to Crossing makes two 22111 moment of mopping part close proximity to grounds improve the mopping effect of mopping device 221, and expands clean robot 2 The scope of application.

Specifically, the mopping unit 2211 of the embodiment can not only be swung centered on vertical axis, can be with Swung centered on horizontal axis, such mopping part 22111 has multiple swing frees degree, is advantageously implemented whole mopping Part 22111 allows mopping part 22111 to better adapt to broken terrain, realized cleaner with being contacted at the time of ground Cleaning effect.

Wherein, in order to realize swing of the mopping unit 2211 centered on vertical axis, in this embodiment, such as Figure 12 institutes Show, flexible connection block 2216 is provided between the output shaft 22123 of mopping unit 2211 and mopping drive mechanism 2212, the two passes through The flexible connection block 2216 connects.Being flexibly connected block 2216 can with mopping unit 2211 and/or mopping drive mechanism 2212 Dismantling connection.Due to can be relatively freely deformed as a kind of flexible connecting structure, flexible connection block 2216, therefore, when When clean robot 2 runs into broken terrain, flexible connection block 2216 can be made on the ground that mopping part 22111 is transmitted Adaptability deformation is produced in the presence of firmly, drives mopping unit 2211 overall relative to chassis 202 (namely relative to ground) Produce the adaptability centered on the output shaft 22123 being vertically arranged to swing, and then keep the contact with ground.Moreover, as schemed 11st, shown in Figure 13 and Figure 15, each flexible connection block 2216 can be that corresponding mopping unit 2211 provides the adjustment swung certainly By degree (i.e. first in Figure 13 swings free degree I), swing mode is more various, can adapt to ground for greater flexibility.

It can be seen that by setting flexible connection block 2216 between output shaft 22123 and mopping unit 2211, can utilize soft Property contiguous block 2216 material deform and realize swing of the mopping unit 2211 centered on vertical axis, and can be according to ground The swing angle of mopping unit 2211 is adjusted flexibly in rough degree, so that the moment of mopping part 22111 fits in ground Mopping is carried out on face, further improves mopping effect.

It should be noted that the flexible connecting structure applied to the embodiment be not limited to be flexibly connected block 2216 this Kind form, other flexible connecting structures of the swing of mopping unit 2211 can be realized similarly using the deformation of own material It is applicable.

And in order to realize swing of the mopping unit 2211 centered on horizontal axis, in this embodiment, mopping device 221 Horizontal rotating shaft 2218 is provided between chassis 202, the two is connected by the horizontal rotating shaft 2218.Specifically, such as Figure 12 and Shown in Figure 13, what the horizontal rotating shaft 2218 of the embodiment was connected to chassis 202 and mopping device 221 is connected to two mopping lists Between the middle part of power transmission shaft between member 2211.The horizontal rotating shaft 2218 can be that each mopping unit 2211 provides a water Flat rotary freedom (second i.e. shown in Figure 13 swings free degree J) so that each mopping unit 2211 can be with landing ground It is uneven and swung centered on the horizontal rotating shaft 2218, so as to ensure that mopping part 22111 is contacted with ground.

It can be seen that the embodiment is by setting flexible connection block 2216 and horizontal rotating shaft 2218 simultaneously so that mopping part 22111 have multiple swing frees degree, can adapt to broken terrain for greater flexibility so that even if clean robot 2 is met Landform to injustice can also allow the close proximity to ground of mopping part 22111 to be cleaned, cleaner so as to which floor cleaning is obtained.

On the other hand, as shown in Figure 13, in this embodiment, due to being provided with level between mopping device 221 and chassis 202 Rotary shaft 2218, therefore equivalent to one fulcrum of contact of the mopping device 221 with ground, namely the mopping device of the embodiment 221 are supplied to 2 one fulcrums of clean robot, simultaneously as equivalent to two branch of contact of two road wheels 211 with ground Point, therefore, on the whole, supported at three point mode is formed between the clean robot 2 of the embodiment and ground, this causes the cleaner Device people 2 can moment three points of contact, so as to increase the overall operation stability of clean robot 2, be further ensured that cleaning Effect.

It should be noted that the embodiment for making mopping unit 221 be swung with landing ground injustice is not limited to State mode (i.e. mode shown in Figure 13), three kinds of alternate embodiments provided herein.

As a kind of alternative therein, as shown in figure 16, the set location of horizontal rotating shaft 2218 can also be changed, Horizontal rotating shaft 2218 is arranged between running gear 21 and chassis 202.Based on this alternative, running gear 21 and bottom Rotary shaft connected mode is used between disk 202, the generally clean robot 2 of running gear 21 provides a fulcrum, meanwhile, mopping Each flexible connection block 2216 of device 221 is the adjustment free degree that each mopping unit 2211 provides two swings so that is dragged Wipe equivalent to two fulcrums when device 221 contacts with ground to contact with ground, namely mopping device 221 is that clean robot 2 carries For two fulcrums, it is seen then that the alternative still can make 22111 moment of mopping part close proximity to ground, and make clean robot 2 and ground Supported at three point mode is formed between face.Supported at three point in the alternative include front two fulcrums and one of rear Fulcrum, and the supported at three point in the mode shown in Figure 13 includes a fulcrum in front and two fulcrums at rear.

As other two alternative therein, as shown in Figure 17 and Figure 18, in this embodiment, can also omit foregoing Flexible connection block 2216, and only between mopping device 221 and chassis 202 set horizontal rotating shaft 2218, or, be only expert at Horizontal rotating shaft 2218 is set between walking apparatus 21 and chassis 202.Using both alternatives, although making mopping part 22111 The situation that the effect of moment close proximity to ground is swung centered on vertical axis simultaneously not as mopping unit 2211, but still can be real Existing mopping part 22111 and/or running gear 21 form foregoing supported at three point, and structure relative to the Integral swinging on chassis 202 Simpler, cost is relatively low.

Refuse collector 23 is used to collect the rubbish assembled by floor cleaning device 22, and it includes being used to connect rubbish The inside of collection device 23 and outside collection port, received by the rubbish that floor cleaning device 22 is assembled from the collection port into rubbish The inside of acquisition means 23.

As shown in Fig. 7-9 and Figure 19, in this embodiment, refuse collector 23 includes dust box 231, filter screen 233, removed Dirt blower fan 234, blower fan conduit 235 and suction port 236, wherein：Dust box 231 includes box body 2313 and lid 2314, lid 2314 cover at the top end opening of box body 2313；Suction port 236 is arranged on the bottom of dust box 231, towards surface openings, with Rubbish is set to enter via the suction port 236 in dust box 231；Dedusting fan 234 passes through blower fan conduit 235 and dust box 231 internal fluid communications, so that the rubbish such as dust can enter dust box in the presence of dedusting fan 234 by suction port 236 231；Filter screen 233 is then arranged on the sidepiece of dust box 231 and positioned at dedusting fan 234 and the fluid communication passageway of dust box 231 Upper (filter screen 233 is specifically located in the fluid communication passageway of blower fan conduit 235 and dust box 231 in Figure 19), so that in wind Rubbish can be filtered and be stayed in dust box 231 by filter screen 233, and wind can continue to be taken away by dedusting fan 234.

As shown in figure 19, the outlet of dedusting fan 234 is so flowed towards double-thread worm motor 22121 by dedusting fan 234 The wind gone out can directly blow to double-thread worm motor 22121, and double-thread worm motor 22121 is radiated, and advantageously ensure that double The service behaviour of head endless screw electric motor 22121, extend the working life of double-thread worm motor 22121.

In a remodeling is implemented, the mopping drive mechanism is arranged in the both sides of dust exhaust apparatus, to cause dust exhaust apparatus Integrally it can extend along the fore-and-aft direction of clean robot 2.For example, double-thread worm motor 22121 can be replaced with to two motors, Two motors export power by worm-and-wheel gear or gear mechanism.So, it is easy to two motors being arranged in dust suction The both sides of device, avoid because machine shaft crosses dust exhaust apparatus and to dust exhaust apparatus caused by stop, dust exhaust apparatus wind can be made Road is more smooth, reduces the air intake resistance of dust exhaust apparatus, increases the air intake flow of dust exhaust apparatus, improves the dust suction effect of dust exhaust apparatus Fruit.

At work, dedusting fan 234 drives wind to drive rubbish via suction port to the refuse collector 23 of the embodiment 236 enter inside box body 2313, and rubbish is blocked by filter screen 233, and wind then enters blower fan conduit 235 by filter screen 233, and flow direction is removed Dirt blower fan 234, and finally taken away by dedusting fan 234.

It can be seen that the refuse collector 23 of the embodiment is dust exhaust apparatus, suction port 236 is used as collection port.The embodiment It is advantageous in that using dust exhaust apparatus as refuse collector 23, refuse collector 23 can apply attraction to rubbish, This can not only make more to be collected more quickly by the rubbish that floor cleaning device 22 is assembled, and reduce rubbish on the ground Residual, and under suction, the rubbish of larger particles can also be drawn to inside refuse collector 23, therefore, adopted Be advantageous to obtain floor cleaning by the use of dust exhaust apparatus as refuse collector 23 cleaner.

In addition, as it was previously stated, in this embodiment, it can be incited somebody to action around the counter-rotational two mopping units 2211 of vertical axis Between rubbish gathers two mopping units 2211, therefore, rubbish is effectively collected in order to more convenient, as shown in Fig. 7 and Figure 20, In this embodiment, suction port 236 is arranged on the middle part of two mopping units 2211 of the embodiment mopping device 221, so, Suction port 236 is between two mopping units 2211, on the path that rubbish is aggregated, therefore, refuse collector 23 More fully rubbish can be collected, realize more effective refuse collection effect.Wherein, suction port 236 can both be set At the middle part at the rear of two mopping units 2211, the middle part in the front of two mopping units 2211 can also be arranged on.It will inhale Dirt mouth 236 is arranged on the middle part at the rear of two mopping units 2211, as shown in figure 36, due to rubbish be focused into it is one smaller Region after collected again by refuse collector 23, therefore suction port 236 can be configured smaller, and suction port 236 is smaller, inhale Power is bigger, it is possible to achieve more effectively collects.And suction port 236 is arranged on to the middle part in the front of two mopping units 2211, As shown in Fig. 7 and Figure 20, it is advantageous in that, refuse collection can be caused to be carried out before mopping, and rubbish can be by mopping Part 22111 is collected in the case of getting wet, because the rubbish not being dampened is smaller to the adhesive force on ground, is more easy to be received Collection, therefore, suction port 236 is arranged on to the middle part in the front of the two mopping units 2211 reversely rotated around vertical axis, can To reduce refuse collection difficulty so that dust exhaust apparatus need to only apply the less suction i.e. achievable collection to rubbish, and can Effectively to prevent the problem of rubbish such as hair are difficult to be collected because of overly moist, rubbish is thoroughly collected so as to more convenient Rubbish, realize cleaner refuse collection effect.

Based on above-mentioned mopping device 221 and refuse collector 23, when the clean robot 2 of the embodiment can be carried out more The floor cleaning work of high quality：During work, the driving effect of two mopping parts 2111 in mopping drive mechanism 2212 on ground is pasted Under rotated backward around vertical axis, on the one hand on ground stain carry out mopping, rubbish is on the other hand gathered two The middle part of individual mopping part 2111, the rubbish for being focused into middle part pick up collection by refuse collector 23.

Moreover, can also be learnt with reference to Figure 57 and Figure 58, in the clean robot 2 of above-described embodiment, refuse collection dress Putting 23 also includes baffle plate 2311, and the baffle plate 2311 (is dust suction in this embodiment by the collection port of refuse collector 23 236) mouth tilts down and extends to ground.Based on this, the baffle plate 2311 can be carried out to the rubbish assembled to its position Stop, prevent by the rubbish that floor cleaning device 22 flushes out diffuse to scope that collection port (suction port 236) can collect it Outside, so as to which refuse collector 23 of being more convenient for is collected, and prevent rubbish from causing secondary pollution to the ground cleaned.Especially It is, when mopping part 22111 rotates relative to the chassis 202 of the clean robot 2 around vertical axis carries out cleaning work, the gear Plate 2311 can avoid the rubbish of convergence from taking away collection port (suction port 236) by mopping part 22111.

Certainly, the clean robot 2 of the embodiment, it can also close refuse collector 23, and only allow mopping to fill Put 221 work；Or mopping device 221 can also be replaced by the clearing apparatus 222 for cleaning rubbish on ground, such as Round brush, coordinated using clearing apparatus 222 and refuse collector 23 and realize single floor sweeping function, due to the mopping of the embodiment Device 221 is detachably connected with mopping drive mechanism 2212, it is therefore convenient to which mopping device 221 is replaced by into cleaning dress 222 are put, realizes the switching of cleaning mode；, can be with moreover, by the way that wet mopping part 22111 to be changed into dry mopping part 22111 Make the embodiment clean robot 2 realize it is dry drag function, similarly, since the mopping part 22111 of the embodiment removably connects Be connected on platen 22112, accordingly it is also possible to easily change dry mopping part 22111 and wet mopping part 22111, realize it is dry drag and Wet drag mode formula is switched fast.

In addition, as shown in Fig. 6 and Fig. 8-10, in this embodiment, clean robot 2 also includes collision sensing plate 25, swashed The human-computer interaction device such as optical radar 26, control device 27, battery 28 and button for man-machine interaction, screen.Wherein, collide Tablet 25 is used to prevent clean robot 2 from colliding with barrier, and in this embodiment, collision sensing plate 25 is arranged at shell The front end of body 20；Laser radar 26 is used to carry out Scaned map, and that realizes clean robot 2 builds figure and positioning, in the embodiment In, laser radar 26 is embedded in the rear portion of upper shell 201；Battery 28 is used to provide electric energy for clean robot 2；Control device 27 is then For controlling the various activities of clean robot 2, for example, sensor signal collection, drive and control of electric machine, battery management, navigation Positioning, map generation, intelligent barrier avoiding and cleaning path planning etc..

Further, obstacle detouring and disengaging base station 1, the clean robot 2 of the embodiment are carried out in order to facilitate clean robot 2 Also include jacking mechanism 24.Jacking mechanism 24 is used for the front end and/or rear end for jacking up clean robot 2, and this can be cleaner Device people 2 provides lift, not only clean robot 2 can be made to cross certain altitude more conveniently during ground running Barrier (such as threshold), lift the obstacle climbing ability of clean robot 2, expand the cleaning scope of clean robot 2, can be with During clean robot 2 passes in and out base station 1, clean robot 2 is helped more easily to pass in and out base station 1, especially disengaging has one Determine the mopping part cleaning device 11 of the base station 1 of height.

Specifically, as shown in Fig. 7, Fig. 8 and Figure 10, in this embodiment, jacking mechanism 24 is arranged on clean robot 2 On chassis 202, and positioned at the forward position on chassis 202, it includes a swing rod that can be swung up and down, when swing rod is to the bottom After going out, swing rod can be extended downwardly from from chassis 202 and is supported on loading end (such as ground), so as to jack up cleaning machine The front end of people 2, after swing rod is swung back upwards, swing rod is withdrawn, and is released and is jacked up, and the front height of clean robot 2 reduces again.Base In this, as shown in figure 21 and figure, during the obstacle detouring of clean robot 2 or into base station 1, jacking mechanism 24 can jack up The front end of clean robot 2, the front height of clean robot 2 is actively lifted, help the fast obstacle of clean robot 2, or Clean robot 2 is helped quickly to drive into base station 1 and mopping part 22111 is smoothly entered mopping part cleaning device 11.

It will be appreciated by those skilled in the art that jacking mechanism 24 is not limited to be arranged on chassis 202, it can also set Put on base station 1, or a jacking mechanism 24 can also be set respectively on base station 1 and chassis 202；Moreover, work as jack-up machine When structure 24 is arranged on chassis 202, jacking mechanism 24 is also not limited to be arranged at the front portion on chassis 202, and it can also be set At the rear portion on chassis 202, for jacking up the rear end of clean robot 2.

Figure 50-52 shows that jacking mechanism 24 is arranged on the alternate embodiment at the rear portion of chassis 202.As shown in Figure 50-52, In the alternate embodiment, jacking mechanism 24 is arranged on the rear portion on chassis 202, in this case, as shown in figure 52, works as cleaner When device people 2 needs to enter base station 1, jacking mechanism 24 can be failure to actuate, and clean robot 2 is oriented in own drive power and base station 1 Base station 1 is driven directly under the guide effect of structure (the inclined spigot surface 116 in such as Figure 52), enters mopping part 22111 and drags Part cleaning device 11 is wiped, and when the cleaning of mopping part 22111 is completed, clean robot 2 needs to exit base station 1, jacking mechanism 24 Action, the rear end of clean robot 2 is jacked up, make the rear edge of mopping part 22111 high higher than the edge of mopping part cleaning device 11 Degree, and then roll base station 1 away from.Moreover, in the alternate embodiment, it is preferable that suspension arrangement can be set at road wheel 211, The suspension arrangement is used to make road wheel 211 keep elastic connection with chassis 202, and such road wheel 211 can be kept and ground constantly Face contacts, so as to which when jacking mechanism 24 jacks up the rear end of clean robot 2, road wheel 211 is in the presence of suspension arrangement Remain on can close proximity to ground, for clean robot 2 provide frictional force, so, by setting suspension arrangement, can further help Clean robot 2 is helped more efficiently to exit base station 1.

Specifically, as shown in Figure 50 and Figure 51, in the alternate embodiment, suspension arrangement includes spring 212 and support member 213, spring 212 is horizontally disposed, and support member 213 is obliquely connected between spring 212 and road wheel 211, and support member 213 is used Part between the both ends being connected with spring 212 and road wheel 211 is rotationally set relative to the housing 20 of clean robot 2 Put.Based on this structure setting, the suspension arrangement can not only make road wheel 211 keep contacting with ground, can also utilize bullet The elastic force auxiliary jacking mechanism 24 of spring 212 tilts the rear end of clean robot 2, so, in this case, jacking mechanism The less power can that jacks up of 24 need jacks up the rear end of clean robot 2 to come, so that jacking mechanism 24 can be selected Less motor, realize the purpose for reducing cost, saving installing space.

Certainly, suspension arrangement can not also be set together with jacking mechanism 24, because suspension arrangement can make road wheel 211 All the time keep contacting with ground, therefore, when being separately provided suspension arrangement, the obstacle climbing ability of clean robot 2 can also be increased.

Fig. 2-5 shows the structure of the base station 1 in the first embodiment.In this embodiment, base station 1 uses water-washing method Mopping part 22111 is cleaned, namely base station 1 makes mopping part 22111 keep clean by cleaning mopping part 22111.

As shown in Figure 2-5, in this embodiment, base station 1 includes base station body 10, mopping part cleaning device 11, net liquid confession Answer device 12, soiling solution collection device 13 and charging device 14.

Wherein, base station body 10 forms the installation foundation of the other structures part of base station 1, mopping part cleaning device 11, net Liquid supply unit 12 and soiling solution collection device 13 etc. are arranged on base station body 10, base station body 10 be mounted thereon this A little structure members provide support.

As shown in Fig. 2 in this embodiment, mopping part cleaning device 11 is installed on the lower section of base station body 10, and net liquid Feeding mechanism 12 and soiling solution collection device 13 are then installed on the top of base station body 10 and are located at the left and right of base station body 10 respectively Both sides, it is compact-sized and attractive in appearance.The mopping part cleaning device 11 of the embodiment and net liquid feeding mechanism 12 and soiling solution collection device 13 coordinate, and realize the washing cleaning to mopping part 22111 together；Also, because the mopping unit 2211 of the embodiment can be around perpendicular Straight axis rotates, and therefore, mopping unit 2211 can relatively rotate with mopping part cleaning device 11, and base station 1 can realize friction Formula washes cleaning mode.In cleaning process, mopping part 22111 is carried on mopping part cleaning device 11 and rotate clearly Wash, net liquid feeding mechanism 12 provides cleaning fluid, and soiling solution collection device 13 collects the dirty cleaning fluid after cleaning.

Specifically, as shown in figure 3, the mopping part cleaning device 11 of the embodiment includes clean tank 111, has multiple projections Bulge-structure, feed liquor structure 113 and the drainage structure 114 in portion 112.

Wherein, clean tank 111 is used to house mopping part when mopping part cleaning device 11 cleans mopping part 22111 22111, also provide accommodation space for cleaning fluid.From Fig. 3 and Fig. 4, in this embodiment, mopping part cleaning device 11 includes Two clean tanks 111, and the form and dimension and the form and dimension phase of the embodiment mopping unit 221 of each clean tank 111 Adaptation, wherein, the cross sectional shape of clean tank 111 is circle.The setting is in order that clean tank 111 and clean robot 2 drag Shape, size and the number for wiping unit 221 are adapted, and this not only can preferably house mopping part 2111 and cleaning fluid, prevent Cleaning fluid splashes, and also allows base station 1 to be cleaned simultaneously to all mopping parts 22111 of a clean robot 2, improves Cleaning efficiency.Certainly, the shapes and sizes of clean tank 111 can be set according to the concrete condition of mopping unit 2211 progress adaptability Put, and the number of clean tank 111 is it can also be provided that equal with the total number of the mopping unit 221 of multiple clean robots 2, and Correspond and set, such base station 1 can be cleaned simultaneously to all mopping parts 22111 of multiple clean robots 2, clean It is more efficient.

Bulge-structure is used to contact with the mopping part 22111 being placed in clean tank 111, whole due to mopping part 22111 Individual surface can contact with bulge-structure, and therefore, contact area is big, and cleaning efficiency is high, also, bulge-structure is in cleaning process In can play a part of striking off sewage and increase frictional force, can further improve cleaning performance.As shown in figure 4, in the reality To apply in example, bulge-structure is arranged in clean tank 111, wherein each lug boss 112 is curved convex portion, namely lug boss The extension path of 112 cross section is curve, moreover, multiple lug bosses 112 in each clean tank 111 are radially arranged Cloth.This bulge-structure shown in the embodiment, the rotary movement of mopping part 22111 can be better adapted to so that In cleaning process, bulge-structure can more fully be rubbed with the mopping part 22111 of rotation, realize cleaner cleaning effect Fruit.In addition, in the extruding rotary course of mopping part 22111 and bulge-structure, water is from mopping part 22111 by lug boss 112 Extruding gets rid of, thus, it is to play a part of drying mopping part 22111 that bulge-structure, which also has an effect,.

Feed liquor structure 113 and drainage structure 114 are in fluid communication with clean tank 111, so that cleaning fluid can be via feed liquor Structure 113 enters in clean tank 111, and the cleaning fluid after cleaning mopping part 22111 is discharged via drainage structure 114 To clean tank 111.As shown in figure 4, in this embodiment, feed liquor structure 113 and drainage structure 114 are arranged at clean tank In 111, certainly, the two can also be arranged on other positions, as long as keeping being in fluid communication with clean tank 111.

Net liquid feeding mechanism 12 is in fluid communication by feed liquor structure 113 and clean tank 111, with easily to clean tank 111 Middle offer cleaning fluid；Soiling solution feeding mechanism 113 is then in fluid communication by drainage structure 114 and clean tank 111, easily to collect The dirty cleaning fluid cleaned after mopping part 22111.Understood with reference to Fig. 3 and Fig. 4, in this embodiment, net liquid feeding mechanism 12 Including the first storage organization 121 and the first water pump 122, the first storage organization 121 is used to house cleaning fluid, and the first water pump 122 is used Make the first power set, for driving cleaning fluid to be flowed to by the first storage organization 121 in clean tank 111；Soiling solution collection device 13 Including the second storage organization 131 and the second water pump 132, the second storage organization 131 is used to store dirty cleaning fluid, the second water pump 132 are used as the second power set, for dirty cleaning fluid to be pumped in the second storage organization 131.

In addition, user understands the first storage organization 121 and the cleaning fluid in the second storage organization 131 in time for convenience Liquid level, in this embodiment, base station 1 can also include being used for the liquid level detection device for detecting cleaning fluid liquid level.Specifically, as schemed Shown in 5, the embodiment is provided with liquid level detection device in the first storage organization 121 and the second storage organization 131, and each Liquid level detection device includes the first conducting strip 151, the second conducting strip 152 and the 3rd conducting strip 153, wherein, the first conducting strip 151 capacitance for detecting environment, the second conducting strip 152 and the 3rd conducting strip 153 are arranged at accommodating cleaning fluid to be detected Storage organization in, i.e., in the first storage organization 121 and the second storage organization 131, and the second conducting strip 152 be used for detect because clearly Capacitive differential caused by the liquid level change of washing lotion, the 3rd conducting strip 153 are used for the capacitance for detecting cleaning fluid.Due to different liquid The liquid of position can influence the capacitance of conducting strip, and therefore, the liquid level detection device can detect to obtain the first storage organization in real time 121 and the liquid level of the second cleaning fluid in storage organization 122, it is new clear in order to increase in time into the first storage organization 121 Washing lotion, or empty the second storage organization 131 in time.Wherein, the first conducting strip 151 and the second conducting strip 152 are used to correct institute The level sensing data measured, so that level sensing result is more accurate.Specific trimming process is referred to equation below：

Wherein, H：The liquid level finally obtained；

C₂：When having certain liquid level, capacitance that the second conducting strip 152 measures；

C₂₀：When there is no liquid in storage organization, capacitance that the second conducting strip 152 measures；

C₃：The capacitance that 3rd conducting strip 153 measures (when being covered with the liquid)；

C₁：The capacitance that first conducting strip 151 measures (in air)；

γ：Correction parameter.

In the course of the work, reference picture 23 understands that mopping part 22111 is placed in clean tank 111 for the base station 1 of the embodiment And whole surface is pressed on bulge-structure and rotated around vertical axis, the cleaning fluid in the first storage organization 121 passes through the first water After pump 122 pressurizes, sprayed via feed liquor structure 113 to the mopping part 22111 being placed in clean tank 111, course of injection Caused impulsive force, be advantageous to further improve cleaning performance；And clean after dirty cleaning fluid can by lug boss 112 from Gear is scraped on mopping part 22111 to get off, also can be in the rotation process of mopping part 22111 under the influence of centrifugal force from mopping part Get rid of on 22111, flow at drainage structure 114, and be pumped to by the second water pump 132 in the second storage organization 131.

It can be seen that by the mating reaction of net liquid feeding mechanism 12 and soiling solution collection device 13, can keep in clean tank 111 Cleaning fluid is more clean, avoids dirty cleaning fluid from producing secondary pollution to mopping part 22111, so as to further protect Demonstrate,prove cleaning performance.Moreover, rotary motion of the mopping part 22111 in cleaning process, can play a part of centrifuge dripping, prevent The overly moist of mopping part 22111 after cleaning, this aspect can prevent mopping part 22111 from remaining more water in mopping process On the ground, floor cleaning degree is influenceed, or even the potential safety hazard such as cause to slip, on the other hand it is also prevented from clean robot 2 The special ground such as wood floors can not be applied to because of the overly moist of mopping part 22111, can effectively expand being applicable for clean robot 2 Scope.Based on this, in cleaning process, mopping part 22111 can be adjusted and keep suitable rotating speed to be rubbed with lug boss 112 Cleaning, and prevent from causing cleaning fluid to be thrown out of because rotating speed is too fast, and after cleaning and terminating, can make feed liquor structure 113 stop into Liquid, and first control mopping part 22111 compared with slow-speed of revolution spin for some time, most moisture to be dried, then controls and drags again Wipe part 22111 and accelerate rotation, further dry.Certainly, specifically rotary speed and dry degree can according to be actually needed into Row control.

In this embodiment, cleaning fluid can be water, or the mixed liquor of water and cleaning agent, wherein preferably water with The mixed liquor of cleaning agent, can mopping part 22111 be cleaned cleaner.Wherein, when the mixed liquor using water and cleaning agent During as cleaning fluid, the first storage organization 121 can only include a container, wherein directly depositing the mixed liquor mixed；Or Person, the first storage organization 121 can also include two containers, and one of container deposits cleaning agent, and another container deposits water, In this case, it can drive cleaning agent and water respectively by flowing directly into cleaning in respective container simultaneously by the first water pump 122 In groove 111, the 3rd water pump can also be set, even if also the first power set include the 3rd water pump again, by the 3rd again Water pump driving cleaning agent first mixes with water, then drives mixed mixed liquor to flow in clean tank 111 by the first water pump 122.

And in order to further be easy to control the humidity of mopping part 22111, the base station 1 of the embodiment can also include drying dress To put, the mopping part 22111 finished using the drying unit to cleaning is dried, after ensureing that clean robot 2 exits base station 1, Appropriate moisture is remained with mopping part 22111, be unlikely to because of overly moist and caused by ground it is wet and slippery, be also unlikely to make moist because of overly moist It is mouldy.Also, drying unit is set in base station 1, drying course can be made to be completed in base station 1, one can not only be entered The function of the abundant base station 1 of step, can also simplify post-processing step, improve efficiency.

In addition, clean robot 2 passes in and out base station 1 for convenience, base station 1 can also include being arranged on mopping part cleaning device Guide frame on 11, the guide frame are used to guide clean robot 2 to move so as to drag relative to mopping part cleaning device 11 Wipe part 22111 and pass in and out mopping part cleaning device 11.Specifically, as shown in figure 4, in this embodiment, base station 1 includes being used as being oriented to The spigot surface 116 of structure, the spigot surface 116 is from mopping part cleaning device 11 edge of clean tank 111 (be specially) under tiltedly Side tilts and extends to ground, and so the spigot surface 116 can guide clean robot 2 to be risen to clearly along the spigot surface 116 Height where the clean edge of groove 111, is easy to mopping part 22111 to enter in clean tank 111.As shown in figure 21 and figure, the spigot surface 116 are used cooperatively with the jacking mechanism 24 of foregoing clean robot 2, and clean robot 2 can be made more easily to pass in and out base station 1, improve the operating efficiency of cleaning robot system.Certainly, guide frame is not limited to the structure type shown in the embodiment, It can also include guide plate 116 and/or directive wheel 119, after this point by the second embodiment shown in Figure 24-35 and It is further illustrated in embodiment shown in Figure 53.

Charging device 14 is used to charge for the battery 28 of clean robot 2, realizes the charge function of base station 1.As Fig. 2-4 institute Show, in this embodiment, charging device 114 is arranged on spigot surface 116, so when clean robot 2 climbs up spigot surface 116 When, charging device 114 can charge to clean robot 2.The charging modes of charging device 14 can have it is a variety of, for example, It can be contact charging modes, utilize the charge sheet 141 being arranged on base station 1 and the charging being arranged on clean robot 2 Charging process is realized in the contact of contact 252 (as shown in FIG. 28 and 29)；For another example can also be wireless charging mode, utilize The induction coil that is arranged on the chassis 202 of clean robot 2 and the charge coil that is arranged on the spigot surface 116 of base station 1 Coordinate, realize wireless charging.

Figure 24-35 shows the second embodiment of cleaning robot system.

As shown in Figure 24-35, the second embodiment and first embodiment are essentially identical, wherein, base station 1 is remained able to be clear Clean robot 2 charges and two mopping parts 22111 of clean robot 2 is cleaned, and two moppings of clean robot 2 Part 22111 remains able to rotate backward around vertical axis, and each mopping part 22111, which remains on, to be carried out relative to chassis 202 Swing, and the difference of the two essentially consists in：On the one hand, for driving two mopping parts 22111 counter-rotational around vertical axis The concrete structure of mopping drive mechanism 2212 is different；On the other hand, the tool that mopping part 22111 is swung relative to chassis 202 Body implementation is different；Another further aspect, the concrete structure of refuse collector 23 are slightly different；Another aspect, the base station of base station 1 Body 10, the first storage organization 121, the concrete structure of the second storage organization 131 and guide frame are slightly different.Therefore, below The difference of this four aspect is illustrated emphatically, being referred to first embodiment in place of other not specified (NS)s is understood.It is being situated between During the other embodiment that continues, its difference is also only highlighted.

Figure 27-Figure 34 shows the structure of the clean robot 2 in the second embodiment.

As shown in Figure 28-31, in this second embodiment, although mopping drive mechanism 2212 still uses worm-and-wheel gear Torque is transmitted to output shaft 22123, but the endless screw electric motor in worm-and-wheel gear no longer uses double-thread worm motor 22121, and It is to use two single start worm motors 22121 ', each single start worm motor 22121 ' and two worm gears in worm-and-wheel gear 22122 correspond engaged transmissions, so as to drive two mopping parts 22111 using two groups of worm and gear rotation directions are different Reversely rotated around the output shaft 22123 being vertically arranged, can both ensure the relative dynamic balancing in the head of clean robot 2, again can be with Improve mopping effect, while cleaning effect can also be played, and be easy to refuse collector 23 to collect to centre refuse collection. Moreover, the embodiment uses two motors, relative to the situation using a motor, its benefit is also resided in, is easy to two electricity Machine is arranged in the both sides of dust exhaust apparatus, it is possible to prevente effectively from stopping dust exhaust apparatus because machine shaft crosses dust exhaust apparatus Wind path, it is possible to increase the smoothness of dust exhaust apparatus wind path, reduce the air intake resistance of dust exhaust apparatus, increase the air intake of dust exhaust apparatus Amount, improve the pick-up performance of dust exhaust apparatus.

As shown in Figure 32 a- Figure 32 c, in order to realize the swingable connection of mopping unit 2211 and mopping drive mechanism 2212, And then the swingable connection of mopping unit 2211 and chassis 202 is realized, in this second embodiment, no longer in output shaft 22123 The flexible connecting structures such as flexible connection block 2216 are set between mopping unit 2211, but mopping unit 2211 and mopping are driven Matching relationship between motivation structure 2212 is arranged to gap socket.Specifically, it is in this second embodiment, defeated as shown in Figure 32 c Gap is socketed between shaft 22123 and platen 22112, because the gap between output shaft 22123 and platen 22112 causes platen 22112 can have certain gap wobble angle relative to output shaft 22123, and mopping part 22111 is arranged at platen On 22112, therefore, the fit system that gap is socketed between this mopping unit 2211 and mopping drive mechanism 2212, Neng Gouli The swingable connection of mopping unit 2211 and chassis 202 is realized with gap activity so that mopping part 22111 can be according to ground Actual conditions change the swing angle of itself, reach the purpose for adapting to ground.

Moreover, as shown in Figure 32 b, in this embodiment, in order to facilitate the dismounting of mopping unit 2211, mopping unit 2211 Platen 22112 and mopping drive mechanism 2212 output shaft 22123 between be provided with and mopping unit 2211 and mopping can be connected The magnetic absorption part 2217 that binding structure is attached together.By setting magnetic absorption part 2217, can avoid platen 22112 with it is defeated Being rigidly connected between shaft 22123, being detachably connected for the two is realized, also, connection is realized using magnetic-adsorption, needed When being dismounted to mopping unit 2211, one is only needed to pull out a button, it is very simple and convenient.Certainly, mopping unit is realized Being detachably connected between 2211 and mopping drive mechanism 2212, threaded connector, fastener and hooking part etc. can also be used One or more in other modes.

As shown in figs. 33 and 34, in this second embodiment, although refuse collector 23 still uses dust exhaust apparatus, and Suction port 236 is still arranged on the middle part in the front of two mopping parts 22111, but relative to aforementioned first embodiment, filtering knot Structure changes, and no longer using filter screen 233, but extra large pa paper 233 ' is replaced with, using extra large pa paper 233 ' to the dust in air-flow Filtered, and be correspondingly provided with being used for the extra large pa paper support 2331 ' for supporting extra large pa paper 233 ', also, in dust box 231 Filter holder 238 is provided between box body 2313 and lid 2314, extra large pa paper 233 ' is arranged on the outside of the filter holder 238, And on the path in box body 2313 with the fluid communication of dedusting fan 234；In addition, have additional handle on lid 2314 2315, handle 2315 is installed on lid 2314 by alignment pin 2316, is easy to user to take out dust box 231, is emptied ash in time Dust in dirt box 231.

In addition to the main difference in above-mentioned several places, the clean robot 2 in the second embodiment is gone back and first embodiment Other difference be present.As shown in figure 28, in this second embodiment, the structure of the housing 20 of clean robot 2 is slightly There is difference, upper shell 201 is provided with battery settling groove, for installing battery 28, correspondingly, upper casing is covered with battery settling groove Capping 2011, to cover the battery 28 of battery settling groove and its inside, battery 28 is protected, and keep overall leveling attractive in appearance, chassis 202 bottoms also have additional lower casing capping 2021, dismounting maintenance of being more convenient for；Moreover, camera 251 is set up on collision sensing plate 25 With charging contact 252, wherein camera 251 is used to coordinate with laser radar 26, realizes that more preferable Scan orientation and barrier are known Other function, charging contact 252 are then used to contact with the charge sheet 141 on base station 1, realize the charging to battery 28.

Figure 25-26 shows the structure of the base station 1 in the second embodiment.

As illustrated in figs. 25 and 26, in this second embodiment, base station body 10 includes support frame 101 and support frame bottom 102, wherein, net liquid feeding mechanism 12 and soiling solution collection device 13 are arranged on the top of support frame 101 and positioned at support frame 101 The left and right sides, support frame bottom 102 are arranged at the bottom of support frame 101；First storage organization 121 and the second storage organization 131 Include casing 1211, case lid 1212, handle 1213 and buckle 1214, wherein, case lid 1212 is covered on the top of casing 1211 Opening, handle 1213 are arranged at portable to facilitate on case lid 1212, and buckle 1214 is then arranged at casing 1211 and case lid 1212 Junction, for realizing snapping connection for casing 1211 and case lid 1212.

As illustrated in figs. 25 and 26, in this second embodiment, it is provided with the notch of clean tank 111 and scrapes block piece 117, such as It can be one and scrape catch.This is scraped block piece 117 and is arranged at the notch of clean tank 111, can increase the height of clean tank 111, This aspect can be used for preventing the cleaning fluid in clean tank 111 from carrying out clearly mopping part 22111 in mopping part cleaning device 11 Splashed in clean process outside clean tank 111 so that scrape block piece 117 and play a part of waterproof column；On the other hand, due to mopping Part 22111 is, it is necessary to which first passing through this scrapes block piece 117 before clean tank 11 is entered, and therefore, this scrapes block piece 117 can also be in mopping Part 22111 strikes off the rubbish on mopping part 22111 before entering mopping part cleaning device 11, prevent from gluing during floor cleaning The rubbish invested on mopping part 22111 enters in clean tank 111 with mopping part 22111, it is possible to reduce enters in clean tank 111 The blocking of liquid structure 113 and drainage structure 114.Wherein, it can be flexible piece or rigid member to scrape block piece 117, it is preferable that scrape block piece 117 use flexible piece, and for example with blade insert, this aspect is easy to mopping part 22111 to be pressed in and scrape when entering clean tank 111 On block piece 117, the gear of scraping that block piece 117 is scraped in enhancing acts on, and on the other hand can also reduce and scrape catch 117 to mopping part 22111 Scrape damage, another further aspect, during using flexible piece as block piece 117 is scraped, after mopping part 22111 is completely into clean tank 111, Original state can be automatically returned to by scraping block piece 117, still function as the effect for preventing cleaning fluid spluttering.Certainly, scraping block piece 117 can also It is not arranged at the notch of clean tank 111, such as can also be arranged on spigot surface 116, prevents from cleaning as long as it can be played Liquid spluttering and/or the effect for striking off rubbish in advance.

Moreover, as shown in Figure 35, enter base station 1 to further facilitate clean robot 2, in this second embodiment, The guide frame of base station 1 also includes the guide plate 115 for being arranged on the side of mopping part cleaning device 11, preferably along spigot surface 116 Incline direction extend to the bottom of spigot surface 116.The guide plate 115 can guide clean robot 2 together with spigot surface 116 Mopping part 22111 more quickly and accurately into base station 1 mopping part cleaning device 11 in.As shown in figure 35, two mopping parts 22111 rotation direction is on the contrary, when entering base station 1, if one of mopping part 22111 touches guide plate 115, Ke Yili Path deviation is corrected with the frictional force f of mopping part 22111 and guide plate 115, traction clean robot 2 enters along correct path Base station 1, it is seen then that the guide plate 115 can also play a part of correcting the disengaging path deviation of clean robot 2.

In addition, robot 2 convenient for cleaning enters the mode of base station 1, except can be such as first embodiment and second embodiment The shown cooperation by jacking mechanism 24 and the guide frame of base station 1 is come outside realizing, naturally it is also possible to which selection is not provided with pushing up Mechanism 24 is played, and clean robot 2 is only entered base station under the guide effect of guide frame.As shown in figure 53, base station 1 is led Foregoing spigot surface 116 can not only be included to structure, in addition to directive wheel 119, directive wheel 119 are arranged on spigot surface 116 And it is protruding upward, in this case, clean robot 2, can be first in the guiding function of spigot surface 116 when entering base station 1 Height where the lower hoofing part power by itself rises to directive wheel 119, then in the presence of directive wheel 119, makes cleaning The front end of robot 2 tilts, until mopping unit 2211 is crossed directive wheel 119 and entered in clean tank 111, completion enters process, And when the cleaning of mopping part 22111 finishes and needs to exit base station 1, the counter motion of clean robot 2 equally can be in directive wheel 119 and spigot surface 116 in the presence of smoothly complete the process of exiting.Also, in order to avoid directive wheel 119 protruding upward is cleaning During interference is produced to contact of the mopping part 22111 with clean surface, can also be on clean robot 2 from Figure 53 After setting the escape groove 203 being adapted to directive wheel 119, mopping unit 2211 to cross in the entrance clean tank 111 of directive wheel 119, lead Into wheel 119 just embedded escape groove 203, so as to so that mopping part 22111 and clean surface close contact, ensure cleaning effect Fruit.

Figure 37 shows the further improvement embodiment of aforementioned first embodiment and second embodiment.

As shown in figure 37, the main difference with aforementioned first embodiment and second embodiment is, the cleaning of the embodiment Robot 2, its mopping device 221 also keep off structure 2219 including being arranged at scraping for the rear of mopping unit 2211, and this scrapes gear structure 2219 can carry out scraping gear to the rubbish by dropping on mopping unit 221 and/or sewage, so as to prevent rubbish and/or dirt Water is residued on the ground crossed by 2211 moppings of mopping unit, realizes secondary cleaning.It can be scraping blade that this, which scrapes gear structure 2219, Or cloth etc., preferably flexible piece, damage is scraped to ground to reduce.Certainly, scrape gear structure 2219 and be not limited to the first implementation Clean robot 2 shown in example and second embodiment, is also suitable for other clean robots 2 of the present utility model.

Figure 38-41 shows the 3rd embodiment of cleaning robot system.

As Figure 38-41 understand, the difference of the 3rd embodiment and both of the aforesaid embodiment essentially consists in, the embodiment it is clear Clean robot 2, its mopping device 221 only include a mopping unit 2211, correspondingly, the mopping part of the base station 1 of the embodiment Cleaning device 11 also only includes a clean tank 111, and in order that structure is compacter, the He of net liquid feeding mechanism 12 of base station 1 Soiling solution collection device 13 is changed to mounted on top arrangement.The clean robot 2 of the embodiment and the specification of base station 1 are smaller, more can Adapt to the use of small apartment family.

As shown in Figure 41, in the 3rd embodiment, mopping unit 2211 turns still in relation to chassis 202 around vertical axis It is dynamic, and in order to realize rotation of the mopping unit 2211 around vertical axis, as shown in figure 40, the mopping drive mechanism of the embodiment 2212, it is still using endless screw electric motor come output torque, but difference is, the endless screw electric motor of the embodiment only includes a list A head endless screw electric motor 22121 ' and worm gear 22122, using the engagement of the single start worm motor 22121 ' and the worm gear 22122 come Drive mopping unit 2211 to be rotated around vertical axis, realize and ground is more effectively cleaned.

Based on the floor cleaning device 22 of this single mopping unit 2211, in order to realize fully refuse collection, such as Figure 41 Shown, in this embodiment, the suction port 236 of refuse collector 23 is arranged on the outside of the edge of mopping unit 2211.Due to Rubbish can be focused to the outside of the mopping unit 2211 of rotation along the edge of mopping part 2211, therefore, this setup, So that the suction port 236 as collection port is in mopping unit 2211 in the aggregation paths of rubbish, consequently facilitating rubbish is received Collection is into dust box 231.Further, the embodiment also has additional garbage blocking part 237 in the side side wall of housing 20, and Suction port 236 is arranged between the edge of mopping unit 2211 and the garbage blocking part 237, can so utilize the garbage blocking Part 237 further gathers rubbish in one less region, realization is more effectively collected to the barrier effect of rubbish.

In above three embodiment, the structure of clean tank 111 and bulge-structure is essentially identical, wherein, clean tank 111 is Section is circular deep trouth, and bulge-structure includes the multiple curved convex portions radially to arrange.But it should be recognized that at this In utility model, the concrete structure of clean tank 111 and bulge-structure is not limited to the concrete structure shown in these three embodiments, By taking the modified example shown in Figure 48 and Figure 49 as an example, clean tank 111 may be arranged as cleaning deskitte, i.e., is rectangular shallow in section Dish structure, and lug boss 112 can also be the extension road of rectilinear projection portion or broken line lug boss, the i.e. cross section of lug boss 112 Footpath is straight line or broken line, in addition, the arrangement mode of multiple lug bosses 112 can also use the other modes in addition to radial, Such as array-like, array-like can be linear array shape (i.e. rectangular), circle column-shaped or circular array column-shaped etc., wherein directly Linear array column-shaped is particularly suitable for use in mopping part 22111 and the reciprocating situation of relative level of mopping part cleaning device 11, can will Mopping part 22111 cleans more clean.In addition, in each clean tank 111, the shape of each lug boss 112 can also be different, In i.e. multiple lug bosses 112, any combination in curved convex portion, rectilinear projection portion and broken line lug boss can be included；Similarly, The arrangement mode in each protrusions portion 112 of clean tank 111 can also use appointing for a variety of arrangement modes such as radial and array-like Meaning combination；And the shape and arrangement mode of the lug boss 112 in different cleaning groove 111 can be with identical or different.

In addition, in another embodiment, lug boss 112 includes the bottom protrusion 1121 for being arranged on the bottom of clean tank 111 And formation is in the side projections 1122 of the medial surface of clean tank 111.In the mopping part cleaning device 11 to the mopping part 22111 When being cleaned, the bottom protrusion 1121 is relatively rotated with the bottom surface of the mopping part 22111 and friction and Extrusion formula contacts, institute Side relative rotation and friction and Extrusion formula of the side projections 1122 with the mopping part 22111 is stated to contact.It is convex by bottom with this The bottom surface of 1121 mop parts 22111 is played, can be with the side of mop part 22111 by side projections 1122.

Certainly, the side of mop part 22111 can also have other manner.For example, two mopping parts 22111 are set For EDGE CONTACT, so, when two mopping parts 22111 rotate in the same direction, two mopping parts 22111 are in centre contact Position relative motion, phase mutual friction carry out the cleaning of side.

In addition, in above three embodiment, soiling solution collection device 13 is the swabbing action by the second power set Realize the collection to dirty cleaning fluid.But in other embodiment of the present utility model, the second power dress can also be not provided with Put, but as shown in Figure 54 and Figure 55, the second storage organization 131 is directly arranged at the lower section of clean tank 111, and make second to deposit Storage structure 131 is in fluid communication with clean tank 111, and in this case, dirty cleaning fluid can be under gravity automatically by clean tank 111 flow into the second storage organization 111, and simple and convenient, cost is relatively low.

Moreover, in order to realize to 22111 more preferable cleaning effect of mopping part, and meet user's use demand with a greater variety and The quality of life of higher quality is pursued, and net liquid feeding mechanism 12 of the present utility model can also include auxiliary material feeding mechanism, be used for The auxiliary materials such as thimerosal, aromatic and the wax layer for waxing needed for cleaning mopping part 22111, auxiliary material supply dress are provided Putting directly can provide auxiliary material into clean tank 111；Auxiliary material can also be provided to the first storage organization 121 In, auxiliary material is first mixed with cleaning fluid, further flowed to under the driving effect of the first power set in clean tank 111.

It should be noted that in other embodiment of the present utility model, can also omit net liquid feeding mechanism 12 and/or Soiling solution collection device 13, and directly base station 1 is arranged at and is provided near the position of water supply pipe and/or drainage pipeline, this The running water that sample base station 1 directly can be supplied using water supply pipe cleans mopping part 22111, and sewage after cleaning Directly it can be drained by drainage pipeline, due to net liquid feeding mechanism 12 and/or soiling solution collection device 13 can be reduced, therefore, This mode can make that the structure of base station 1 is simpler, and cost is also lower.

In addition, though it is used to drive what mopping unit 2211 was rotated relative to chassis 202 in above three embodiment Mopping drive mechanism 2212 uses worm-and-wheel gear to the opposite torque of two direction of transfer of output shaft 22123, but actually On, can also be using gear mechanism come to two direction of transfer phases of output shaft 22123 in other embodiment of the present utility model Anti- torque.Moreover, as illustrated in the first embodiment, it is poor in order to solve the existing mopping effect of clean robot 2 The problem of, mopping unit 2211 as above three embodiment except that can be arranged with respect to chassis 202 around vertical axis Rotate, may be arranged as rotating around horizontal axis.Figure 42 and Figure 43 is shown based on the mopping list rotated around horizontal axis The cleaning robot system of the fourth embodiment of member 2211.

As shown in figure 42, in the fourth embodiment, the mopping unit 2211 of clean robot 2 includes horizontally rotating Roller and the mopping part 22111 that is arranged on outer surface of cylinder, drive of the mopping unit 2211 in mopping drive mechanism 2212 Under action is used, rotated around horizontal axis.Due to can also so increase the relative motion between mopping part 22111 and ground, increase Big mopping dynamics, increases mopping number, and plays mopping and cleaning effect simultaneously, thus, it is also possible to be effectively improved mopping part 22111 mopping effect.

For the clean robot 2 of the embodiment, the embodiment additionally provides a kind of different from foregoing three embodiments Base station 1.As shown in figure 43, the base station 1 of the embodiment, cleaning roller is provided with the clean tank 111 of its mopping part cleaning device 11 118, and realize using the cleaning roller 118 cleaning to mopping part 22111.During mop part 22111, mopping Part 22111 is squeezed on cleaning roller 118, is supported by cleaning roller 118, then utilizes cleaning roller 118 and mopping part 22111 Relative rotation, realize the cleaning to mopping part 22111.Wherein, the relative rotation of cleaning roller 118 and mopping part 22111, both It can be the active rotation of mopping part 22111 or the active rotation of cleaning roller 118, or the two equal active rotation but turn Dynamic direction and/or rotating speed are of different sizes, wherein it is preferred that the active rotation of mopping part 22111, its reason are：Mopping part 22111 Active rotation can be achieved using the mopping drive mechanism 2212 of clean robot 2 itself, be driven without being set again on base station 1 The mechanism of dynamic cleaning roller 118, therefore, it can make that the structure of base station 1 is relatively simple, and cost is relatively low, moreover, mopping part 22111 Active rotation can also play certain drying effect, and mopping part 22111 can be made to keep appropriate after cleaning is completed Humidity.Certainly, the mopping part cleaning device 11 with cleaning roller 118 is applied equally to other implementations of the present utility model Example.

In addition, in order to further improve the cleaning effect of clean robot 2, can also be on ground in the fourth embodiment Further set rubbish to strike off part on face cleaning device 22, strike off part using the rubbish and strike off and be adhered on floor cleaning device 22 Rubbish.Wherein, it can be scraping blade 2312 that rubbish, which strikes off part, or round brush 2312 ', Figure 44 and Figure 45 are respectively illustrated pair The structure for the two kinds of clean robots 2 answered.

In clean robot 2 as shown in figure 44, rubbish strikes off part and uses scraping blade 2312, and the scraping blade 2312 is arranged on clearly On the housing 20 of clean robot 2, and it can be contacted with the mopping part 22111 of rotation, so in the spin-cleaning of mopping part 22111 During face, mopping part 22111 is often contacted once with scraping blade 2312, and scraping blade 2312 will will be adhered on mopping part 22111 Rubbish scrape gear and get off, so as to make mopping part 22111 keep clean, it is ensured that floor cleaning quality.

In the clean robot 2 shown in Figure 45, rubbish strikes off part and uses round brush 2312 ', and the round brush 2312 ' is arranged on shell On body 20, and with the rotating Vortex of mopping part 22111, using the contact friction in the same direction of round brush 2312 ' and mopping part 22111, also can The rubbish on mopping part 22111 enough is scraped into gear to get off, also, in this fashion, the rotation of round brush 2312 ' also can be further Play a part of rubbish throwing to refuse collector 23, so as to refuse collection of being more convenient for.

Moreover, can also be learnt with reference to Figure 44 and Figure 45, in both clean robots 2, refuse collector 23 is equal Also include baffle plate 2311, the baffle plate 2311 is tilted down by the collection port of refuse collector 23 and extends to ground.Based on this, The baffle plate 2311 can stop to the rubbish assembled to its position, prevent the rubbish flushed out by floor cleaning device 22 Rubbish is diffused to outside the scope that collection port can collect, and so as to be more convenient for, refuse collector 23 is collected, and prevents rubbish Secondary pollution is caused to the ground cleaned.Particularly, when mopping part 22111 relative to the clean robot 2 chassis 202 around When vertical axis rotates progress cleaning operation, the baffle plate 2311 can avoid the rubbish of convergence from taking away collection by mopping part 22111 Mouthful.Moreover, the baffle plate 2311 strikes off part cooperation with foregoing rubbish, it is more conducive to refuse collector 23 and realizes that sufficient rubbish is received Collection.Certainly, the rubbish shown in Figure 44 and Figure 45 strikes off part and baffle plate 2311 may also apply to other embodiment of the present utility model.

In addition, foregoing embodiments are to the utility model so that mopping unit 2211 rotates relative to chassis 202 as an example Illustrate, but in fact, in order to improve mopping device 221 by increasing the relative motion of mopping part 22111 and ground Mopping effect, mopping unit 2211 of the present utility model may be arranged as that horizontal reciprocating fortune can be carried out relative to chassis 202 It is dynamic, that is, mopping unit 2211 not only can also pass through phase by being rotated to improve mopping effect relative to ground Horizontal reciprocating movement is carried out for ground to improve mopping effect.In the embodiment shown in Figure 46 and Figure 47, mopping unit 2211 both with respect to chassis 202 can horizontal reciprocating movement, in this case, mopping part 22111 to ground carry out pushing-type it is clear It is clean, by removing spot or rubbish to the reciprocal mopping on ground, similar to manual mopping mode, it is possible to reduce rubbish is in mopping Leave at the rear portion of device 2211.It is capable of the clean robot 2 of horizontal reciprocating movement based on this mopping unit 2211, can be more square Just coordinate with base station 1, make mopping part cleaning device 11 with being realized in the relative movement thereof of mopping part 22111 to mopping part 22111 cleaning.Also, in the utility model, the mopping unit 2211 of clean robot 2 could be arranged to can either be relative Rotated in chassis 202, and can is enough relative to the horizontal reciprocating movement of chassis 202, and during floor cleaning, is preferably first revolved Turn mopping, then carry out pushing-type mopping, the advantages of can so integrating rotary mopping mode and pushing-type mopping mode, realization more has The floor cleaning of effect.

In addition, in foregoing embodiments, floor cleaning device 22 only includes mopping device 221, but in fact, at this In the other embodiment of utility model, floor cleaning device 21 can also include being used for the clearing apparatus for cleaning ground refuse simultaneously 222, it is clear to enable clean robot 2 to be carried out using mopping device 221 and special clearing apparatus 222 to ground simultaneously It is clean, obtain cleaner floor cleaning effect.When provided with special clearing apparatus 222, clearing apparatus 222 can be arranged on and drag The front and/or rear of device 221 are wiped, wherein the front of mopping device 221 is preferably provided at, in order to realize " first sweeping rear dragging " Cleaning mode, first most of rubbish (dust and larger particles) is cleaned up using clearing apparatus 222, then is filled by mopping The rubbish (such as stain) for putting 221 pairs of remaining more difficult cleanings further cleans, and improves floor cleaning quality.Figure 47 is The one embodiment being shown in which.As shown in figure 47, in this embodiment, floor cleaning device 22 includes horizontal reciprocating movement Mopping unit 2211 and be arranged on the front of mopping unit 2211 and the side brush 2221 as clearing apparatus 222, suction port 236 It is arranged between mopping unit 2211 and side brush 2221, three coordinates, and ground is cleaned.Those skilled in the art are not difficult to manage Solution, clearing apparatus 222 is not limited to side brush 2221, and various clearing apparatus 222 can be used cooperatively with various mopping units 2211.

Moreover, the further improvement as the various embodiments described above, can also be in the mopping part of above-mentioned mopping unit 2211 22111 edge sets cleaning item (such as bristle or hairbrush), can so cause mopping unit 2211 itself becomes to sweep to drag Integrative-structure, have concurrently to sweep and drag function, even if no longer additionally setting special clearing apparatus 222, mopping unit 2211 itself also can It is enough that rubbish (the especially rubbish such as hair) more fully gathers together, realize more preferable cleaning effect；Also, it is arranged on mopping The cleaning item at the edge of part 22111, can also close proximity to ground edge, effective expansion when mopping unit 2211 cleans ground edge The cleaning scope of big mopping device 221 so that clean robot 2 can be efficiently completed the cleaning to indoor corner.

In addition, though mopping unit 2211 relative to the swing on chassis 202 is by mopping list in foregoing embodiments Member 2211 realizes with the swingable connection of mopping drive mechanism 2212, but in fact, implementation is not limited thereto, example Such as, can also be by the way that the swingable connection of mopping drive mechanism 2212 be connected on chassis 202 to realize mopping unit 2211 Swing, now mopping unit 2211 and mopping drive mechanism 2212 is non-swings connection (such as the two be fixedly connected), in fact, When mopping unit 2211 is connected with chassis 202 by mopping drive mechanism 2212, mopping unit 2211 be pivotably connected in In mopping drive mechanism 2212, and/or, mopping drive mechanism 2212 is pivotably connected on chassis 202, can be realized and be dragged Wipe swing of the unit 2211 relative to chassis 202；For another example when mopping unit 2211 relative to chassis 202 without rotate and/ Or during horizontal reciprocating movement, mopping drive mechanism 2212 may alternatively be connection mopping unit 2211 and the chassis of on-propelled 202 mopping attachment structure, at this moment to realize swing of the mopping unit 2211 relative to chassis 202, then can be by mopping unit 2211 are pivotably connected in the mopping attachment structure of the on-propelled, and/or, can by the on-propelled mopping attachment structure Swingingly it is connected on chassis 202.

It can be seen that in the utility model, connection mopping unit 2211 and the mopping attachment structure on chassis 202, both can be The mopping attachment structure (such as mopping drive mechanism 2212 in foregoing embodiments) of drive-type or on-propelled Mopping attachment structure (such as the connecting shaft being connected between mopping unit 2211 and chassis 202)；Regardless of whether mopping unit 2211 Which kind of it is connected with chassis 202 based on mopping attachment structure, mopping unit 2211 can pass through mopping attachment structure and chassis 202 Swingable connection, if mopping unit 2211 is pivotably connected in mopping attachment structure, and/or, mopping is connected and tied Structure is pivotably connected on chassis 202.

It should also be noted that, in the utility model, refuse collector 23 is except that can use the various embodiments described above Outside shown dust exhaust apparatus, other structures form can also be used, for example, dedusting fan 234 can be not provided with and blower fan is led Pipe 235 etc. so that rubbish enters only under self inertia effect and under the aggtegation of floor cleaning device 22 from collection port The inside of refuse collector 23, in this case, refuse collector 23 does not apply to rubbish further to be acted on, rubbish Rubbish collection device 23 just corresponds to dustpan use.

Exemplary embodiment of the present utility model is the foregoing is only, it is all in this reality not to limit the utility model Within new spirit and principle, any modification, equivalent substitution and improvements made etc., it should be included in of the present utility model Within protection domain.

Claims (16)

1. a kind of clean robot (2), it is characterised in that including for driving the clean robot (2) to walk on the ground Running gear (21), floor cleaning device (22) and refuse collector (23) for being cleaned to ground, it is described Floor cleaning device (22) includes mopping device (221), and the mopping device (221) includes two mopping units (2211) and dragged Drive mechanism (2212) is wiped, the mopping unit (2211) includes the mopping part (22111) for mopping floor, in the mopping Under the driving effect of drive mechanism (2212), the mopping part (22111) of described two mopping units (2211) can be relative to this The chassis (202) of clean robot (2) in the same direction or rotates backward around vertical axis, and the refuse collector (23) includes being used for The internal collection port with outside of the refuse collector (23) is connected, the collection port is arranged on described two mopping units (2211) middle part, in order to which the refuse collector (23) is collected by described in the same direction or counter-rotational two around vertical axis The rubbish that the mopping part (22111) of individual mopping unit (2211) is assembled.

2. clean robot (2) according to claim 1, it is characterised in that the mopping unit (2211) and/or walking Device (21) is pivotably connected on the chassis of the clean robot (2) (202), so that the mopping unit (2211) Mopping part (22111) can be by being swung to keep contacting with ground with the uneven of landing ground.

3. clean robot (2) according to claim 1, it is characterised in that the mopping unit (2211) also includes clear Part is swept, the cleaning item is arranged on the edge of the mopping part (22111).

4. clean robot (2) according to claim 1, it is characterised in that the clean robot (2) also includes jacking up Mechanism (24), the jacking mechanism (24) are arranged on the clean robot (2), and the jacking mechanism (24) is used to jack up institute State the front end and/or rear end of clean robot (2).

5. according to any described clean robots (2) of claim 1-4, it is characterised in that the clean robot (2) includes The suspension arrangement at road wheel (211) place of the running gear (21) is arranged on, the suspension arrangement is used to make the road wheel (211) elastic connection is kept with the chassis (202) of the clean robot (2) so that the road wheel (211) is kept and ground Contact.

6. according to any described clean robots (2) of claim 1-4, it is characterised in that the mopping drive mechanism (2212) two output shafts (22123) are included, described two output shafts (22123) and described two mopping units (2211) are one by one It is correspondingly arranged and is used for the opposite torque of described two mopping unit (2211) direction of transfer, and described two output shafts (22123) it is vertically arranged.

7. clean robot (2) according to claim 6, it is characterised in that the mopping drive mechanism (2212) is also wrapped Include the worm-and-wheel gear and/or gear mechanism being used for the opposite torque of described two output shafts (22123) direction of transfer.

8. clean robot (2) according to claim 7, it is characterised in that the mopping drive mechanism includes worm screw electricity Machine and two worm gears (22122) that drive connection is corresponded with described two output shafts (22123), the endless screw electric motor are used for Output torque, described two worm gears (22122) are engaged with the endless screw electric motor, to be passed to described two output shafts (22123) Pass torque in opposite direction.

9. clean robot (2) according to claim 8, it is characterised in that the endless screw electric motor includes two single head snails Bar motor (22121 '), each single start worm motor (22121 ') are engaged with a worm gear (22122) respectively.

10. clean robot (2) according to claim 1, it is characterised in that the refuse collector (23) includes inhaling Dirt device, the dust exhaust apparatus include dust box (231), filter screen (233), dedusting fan (234), blower fan conduit (235) and inhaled Dirt mouth (236), the collection port include the suction port (236) of the dust exhaust apparatus, and the suction port (236) is arranged on dust box (231) bottom and towards surface openings, it is internal with dust box (231) that the dedusting fan (234) passes through blower fan conduit (235) It is in fluid communication, so that rubbish can enter dust box (231) in the presence of dedusting fan (234) by suction port (236)；It is described Filter screen (233) is located in the fluid communication passageway of dedusting fan (234) and dust box (231)；

The overall fore-and-aft direction along clean robot (2) of the dust exhaust apparatus extends, and the mopping drive mechanism is arranged in described The both sides of dust exhaust apparatus.

11. according to any described clean robots (2) of claim 1-4, it is characterised in that the mopping device (221) is also Structure (2219) is kept off including being arranged at scraping for mopping unit (2211) rear, the gear structure (2219) of scraping is by rubbish And/or sewage carries out scraping gear to prevent rubbish and/or sewage from residuing in the ground crossed by mopping unit (2211) institute mopping On.

12. clean robot (2) according to claim 1, it is characterised in that the collection port is arranged on described around vertical Axis is in the same direction or the middle part of the front or behind of counter-rotational two mopping units (2211).

13. clean robot (2) according to claim 1, it is characterised in that the refuse collector (23) also includes Baffle plate (2311), the baffle plate (2311) is tilted down by the collection port and extends to ground, for preventing by the ground The rubbish that cleaning device (22) flushes out is diffused to outside the scope that the collection port can collect.

14. a kind of cleaning robot system, it is characterised in that including base station (1) and as described in claim 1-13 is any Clean robot (2), the base station (1) set independently of the clean robot (2) and can be the clean robot (2) Charge and/or clean the mopping part (22111) of the clean robot (2).

15. cleaning robot system according to claim 14, it is characterised in that the base station (1) includes base station body (10) it is used for the mopping part cleaning device (11) that is arranged on the base station body (10), the mopping part cleaning device (11) The mopping part (22111) for mopping floor of the clean robot (2) is cleaned；The mopping part cleaning device (11) bulge-structure is included, the bulge-structure includes lug boss (112), dragged in the mopping part cleaning device (11) to described When wiping part (22111) is cleaned, the lug boss (112) contacts with the mopping part (22111)；And/or the mopping part Cleaning device (11) includes cleaning roller (118), and the mopping part (22111) is carried out in the mopping part cleaning device (11) During cleaning, the cleaning roller (118) contacts with the mopping part (22111).

16. cleaning robot system according to claim 15, it is characterised in that in the mopping part cleaning device (11) During cleaning the mopping part (22111), the mopping part cleaning device (11) being capable of phase with the mopping part (22111) To rotating, and/or, the mopping part cleaning device (11) can relatively move with the mopping part (22111).