RU2785339C1 - Base station, robotic cleaning system and control method therefor - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention relates to a base station for parking a cleaning robot, wherein the cleaning robot includes a wiping platform whereto a flexible wiping material is attached replaceably to form a wiping surface for wipeing the work surface whereon the cleaning robot travels; the base station includes: a storage module intended for storage of continuous main wiping materials; a supply module, which moves the free end of the main wiping material to the tear point so that the free end would be torn from said main wiping material, thus forming said wiping material.

EFFECT: positive effects of the invention are as follows: after the cleaning robot returns to the base station, the cleaning material is automatically installed without user involvement.

15 cl, 63 dwg

Description

Technical field

The present invention relates to a base station, a robotic cleaning system and a method for controlling the same, in particular to a robotic cleaning system capable of automatically replacing a cleaning cloth.

State of the art

With the development of science and technology and the constant pursuit of people to improve the quality of life, household cleaning robots, including but not limited to sweeper, floor scrubber, window cleaner, are increasingly popular among users due to the fact that they able to help people get rid of heavy domestic work.

The cleaning robot generally uses a cleaning material (eg, a tissue, a cleaning cloth, etc.) to perform a cleaning operation. When moving along a predetermined route, the cleaning robot causes the cleaning material to move on the working surface (for example, floor or glass) to perform the cleaning operation. As cleaning continues, the stains on the cleaning cloth will inevitably increase, and the cleaning effect will deteriorate. For this reason, it is necessary to remove the dirty cleaning material and replace it with a clean one.

Known robot cleaner, which usually replace the cleaning material manually, the user must constantly pay attention to the cleaning process and replace the dirty cleaning material in a timely manner. Such a method requires the participation of users and manual replacement of the cleaning material, and the user tends to get their hands dirty during the replacement of the cleaning material, hence a bad user experience is obtained.

The essence of the invention

In order to overcome the disadvantages of known technologies, it is an object of the present invention to provide a cleaning robot capable of automatically changing the cleaning material during normal operation without user intervention.

One of the technical solutions used in the present invention to solve existing technical problems is:

A base station for parking a robot cleaner, said robot cleaner including a wiping platform to which a replacable flexible cleaning material is attached to form a cleaning surface to wipe a work surface on which said robot cleaner walks; said base station includes: a storage module for storing continuous main cleaning materials; a supply module moving the free end of said base cleaning material to a tear-off point, so that said free end is torn off from said base cleaning material, thereby forming said cleaning material.

Another technical solution used in the present invention to solve existing technical problems is:

A method for controlling a robotic cleaning system, wherein said robotic cleaning system includes a cleaning robot and a base station for parking said cleaning robot, and said cleaning robot includes a cleaning platform designed to attach a flexible cleaning material with the possibility of replacement to form wiping surface to wipe the work surface; characterized in that said method includes:

moving the free end of the continuous main wiping material to the point of separation;

tearing off said free end from said base wiping material to form a wiping material;

placing said cleaning material on said cleaning platform.

In one possible embodiment, said control method also includes: detaching said wiping material from said wiping platform.

In one possible embodiment, said control method also includes: detaching said wiping platform from said cleaning robot before detaching said wiping material from said wiping platform.

In one possible embodiment, said control method also includes: causing said wiping platform, detached from the cleaning robot, to move to a wiping material work position before detaching said wiping material from said wiping platform.

In one possible embodiment, said control method also includes: mounting said wiping platform on said cleaning robot after mounting said wiping material on said wiping platform.

In one possible embodiment, said control method also includes: moving said cleaning robot in a first direction a predetermined distance after detaching said cleaning platform from said cleaning robot.

In one possible embodiment, said control method also includes: mounting said cleaning platform on said cleaning robot after moving said cleaning robot in a first direction by a predetermined distance.

In one possible embodiment, after installing said cleaning material on said cleaning platform, said cleaning robot moves in a second direction for a predetermined distance, install said cleaning platform on said cleaning robot, said first direction opposite to said second direction.

Another technical solution used in the present invention to solve existing technical problems is:

A robotic cleaning system including a cleaning robot and a base station for parking said cleaning robot, said cleaning robot including: a body; a movable module mounted on said housing and leading the robot cleaner to move on the working surface; a wiping platform mounted on said body and designed to attach a flexible wiping material with the possibility of detachment to form a wiping surface to wipe the work surface; said wiping platform includes a loading portion for securing said wiping material; said base station includes: a storage module for storing a main cleaning material; a supply module moving the free end of said base cleaning material to a tear-off point, so that said free end is torn off from said base cleaning material to form said cleaning material; working module; mounted on said housing or said base station and acting on said wiping platform and/or wiping material so that said wiping material is connected to the loading part of said wiping platform

In one exemplary embodiment, the base station includes a wiping material station used to receive wiping material to be placed on the wiping platform.

In one possible embodiment, the tear-off point is located at the wiping material work station, or between the supply module and the wiping material work station.

In one exemplary embodiment, the base station includes a tearing module that acts on said main cleaning material between the storage module and the tearing location, and tearing off the free end from the main cleaning material to form a cleaning material.

In one possible embodiment, the free end, at least based on the main cloth, reaches to the point of separation, the feed module secures the main cloth on at least one side of the weak connection of the main cloth, so that the free end breaks away from the main cloth. material by stretching at the point of weak connection.

In one possible embodiment, the feed module intermittently picks up the main wiping material.

In one possible embodiment, the delivery module includes a transfer wheel, the outer contour of which includes at least two curvatures so that the surface of the transfer wheel intermittently touches the main wiping material.

In one possible embodiment, the delivery module is at least partially above the operating position of the cleaning material, so that the free end of the main cleaning material is moved to the operating position of the cleaning material, at least partially by gravity.

In one possible embodiment, the operating position of the wiping material extends in an approximately vertical direction so that the wiping material is stretched by gravity.

In one possible embodiment, the base station includes a restrictive device for controlling the location of the cleaning material so that the supply module moves the said cleaning material to the operating position of the cleaning material.

In one possible embodiment, the main wiping material is wound on a rotating shaft, the storage module includes a mounting stand that cooperates with the rotating shaft to mount the rotating shaft on the base station.

In one possible embodiment, the mounting post includes a first state to allow mounting of the rotating shaft and a second state to allow removal of the rotating shaft.

In one possible embodiment, the base station includes a work module that acts on the cleaning material and/or the cleaning platform, so that the cleaning material is connected to the loading part of the cleaning platform.

In one possible embodiment, the operating module acts on the cleaning material and/or the cleaning platform to release the cleaning material from the loading portion of the cleaning platform.

In one possible embodiment, the operating module is installed in a removable manner on the base station.

In one possible embodiment, the base station includes a wiping platform work station for mounting or detaching the wiping platform from the cleaning robot.

In one possible embodiment, the operating position of the wiping material is higher than the operating position of the wiping platform to provide space for parking the cleaning robot.

In one possible embodiment, the base station includes a drive module that drives the wiping platform to move between the wiping platform operating position and the wiping material operating position.

In one possible embodiment, the operating position of the wipe material includes a mounting position of the wipe material and a separating position of the wipe material to detach or install the wipe material on the wipe platform, and the drive module causes the wipe platform to move and/or rotate in an approximately horizontal direction so that the wiping platform has moved to the mounting position of the wiping material or to the separating position of the wiping material.

In one possible embodiment, the base station includes a receiving module for receiving wiping material detached from the wiping platform.

In one possible embodiment, said base station includes a separating module that acts on the wiping material and/or the wiping platform to separate the wiping material from the loading portion of the wiping platform.

In one possible embodiment, the receiving module is located in the direction of movement of the wiping platform, so that the wiping module, moving up to the separation module, compresses the cleaning material in the receiving module.

In one possible embodiment, in at least one state, the opening of the receiving module for receiving the wiping material is at least partially lower than the said working position of the wiping material, so that the wiping material is removed into the receiving module, at least partially under the action of gravity.

In one possible embodiment, the receiving module is installed in a removable manner at the base station.

In one possible embodiment, communication units are installed on the base station and the cleaning robot, respectively, through communication between the base station and the cleaning robot, the base station interacts with the cleaning robot to replace the cleaning material.

In one possible embodiment, the base station includes a charging unit to charge the cleaning robot when it is docked with said base station.

Compared with the prior art, the present invention has the following positive effects: by the base station continuously dispensing the main cleaning material and tearing off the free end of the dispensed main cleaning material to form the cleaning material to set it on the cleaning platform, the cleaning robot can realize fully automatic wiping material change at the base station. On the basis that the conventional cleaning robot automatically returns to the base station for charging, the cleaning robot of the present embodiment automatically returns to the base station to replace the cleaning cloth. Compared with the traditional cleaning robot, after wiping the surface, the cleaning robot not only does not require the user to change the cleaning cloth, but also requires a lot of user intervention in the operation of the base station and the cleaning robot, the user only needs to install the continuous main cleaning cloth on the base station and discard the used cleaning material that is detached from the Robot Cleaner.

Description of drawings

The above objects, technical solutions and positive effects of the present invention can be achieved using the following drawings:

Fig. 1-3 are schematic structural views of a first possible embodiment of a cleaning system according to a first embodiment of the present invention;

Fig. 4 is a schematic structural view of a cleaning module mounted on a cleaning robot included in the cleaning system shown in FIG. 1-3;

Fig. 5 is a plan view of the cleaning module in one operating state shown in FIG. four;

Fig. 6 is a side view of the cleaning module shown in FIG. 5;

Fig. 7-8 are partial schematic structural views of a cleaning system according to a first embodiment of the present invention;

Fig. 9 is a schematic structural view of a first possible base station;

Fig. 10 is a schematic structural view of a second possible base station;

Fig. 11-12 are schematic structural views of a third possible base station;

Fig. 13 is a schematic structural view of a fourth possible base station;

Fig. 14 is a schematic structural view of one possible embodiment of a base wiping material 500 installed in a base station;

Fig. 15 is a schematic structural view of a fifth possible base station;

Fig. 16 is a schematic structural view of a sixth possible base station;

Fig. 17 is a schematic structural view of a seventh possible base station;

Fig. 18 is a schematic structural view of an eighth possible base station;

Fig. 19 is a schematic structural view of a ninth possible base station;

Fig. 20 is a schematic structural view of a tenth possible base station;

Fig. 21 is a schematic structural view of an eleventh possible base station;

Rice. 22 is a detailed drawing of a part of a base station according to the embodiment of the present invention shown in FIG. 21;

Fig. 23 is a schematic structural view of a twelfth possible base station;

Fig. 24-26 are schematic structural views of a second exemplary cleaning system according to the first embodiment of the present invention;

Fig. 27-29 are schematic structural views of a third exemplary cleaning system according to the first embodiment of the present invention;

Fig. 30-31 are partial schematic structural views of a thirteenth possible base station;

Fig. 32 is a schematic structural view of a fourth possible embodiment of the cleaning system according to the first embodiment of the present invention;

Fig. 33 is a schematic structural view of a fifth exemplary cleaning system according to the first embodiment of the present invention;

Fig. 34-35 are partial schematic structural views of a thirteenth possible base station;

Fig. 36 is a schematic structural top view of a sixth possible cleaning system according to the first embodiment of the present invention;

Fig. 37A-37L are diagrams of a process for replacing a cleaning robot in a first embodiment of a base station according to a second embodiment of the present invention;

Fig. 38A and FIG. 38B are schematic structural views of the wiper pan in an expanded state and a folded state, respectively;

Fig. 39A and FIG. 39B are schematic structural views of the loading portion in a clamped state and in an open state, respectively;

Fig. 40 is a schematic structural view of the assembly of the working module and the cleaning module with spaced parts;

Fig. 41A-43A are diagrams of the process of placing the cleaning material on the cleaning module by the working module;

Fig. 41B-43B are side views of FIG. 41A-43A, respectively;

Fig. 41C-43C are sectional views of FIG. 41A-43A, respectively;

Fig. 44A-44I are a diagram of a process for replacing a cleaning robot in a second embodiment of a base station according to a second embodiment of the present invention;

Fig. 45 is a schematic structural view of the movement and repositioning mechanism shown in FIG. 44A-44I;

Fig. 46A-46L are a diagram of a process for replacing a cleaning robot in a third possible base station according to a second embodiment of the present invention;

Fig. 47 is a schematic structural view of a first possible embodiment of a cleaning system according to a third embodiment of the present invention;

Fig. 48 is a schematic structural view of the wiper collection mechanism of FIG. 47;

Fig. 49 is a schematic structural view of a base station of a second exemplary cleaning system according to a third embodiment of the present invention;

Fig. 50 is an exploded schematic structural view of the base station shown in FIG. 49;

Fig. 51 is a schematic spatial structural view of a base station according to a fourth embodiment of the present invention;

Fig. 52 is a schematic structural view of a cleaning robot located at the base station shown in FIG. 51;

Fig. 53 is a schematic structural view of the gripping mechanism;

Fig. 54 is a schematic structural view of the base station with the gripping mechanism in the first working state;

Fig. 55 is a schematic structural view of the base station with the gripping mechanism in the second operating state;

Fig. 56 is a schematic structural view of the base station with the gripping mechanism in the third operating state;

Fig. 57 is a schematic structural view of a base station according to a fifth embodiment of the present invention;

Fig. 58 is a schematic structural view of the main belt shown in FIG. 57;

Fig. 59 is a schematic structural view of the first roll, the second roll and the main belt of FIG. 57;

Fig. 60 is a schematic structural view when the cleaning robot is ready to enter the base station;

Fig. 61 is a schematic structural view of the main belt at the wiping station in the state shown in FIG. 60;

Fig. 62 is a schematic view of a structure in which the cleaning material removed from the cleaning robot is on the main belt;

Fig. 63 is a schematic view of a structure in which the main belt moves the new cleaning material to the operating position of the cleaning material.

Embodiments of the invention

Thanks to the technical solutions proposed in the embodiments of the present invention, the robot cleaner can perform automatic replacement of the wiping material without user intervention in the replacement process, which shows an increased level of automation and intelligence in the process of replacing the wiping material and improves the user experience.

As shown in FIG. 1-63, the automatic cleaning system 300 includes a cleaning robot 100 and a base station 200. The cleaning robot 100 includes a body 101 and a cleaning platform (122, 1201) mounted on the body 101, a flexible cleaning material attached to the cleaning platform. (122, 1201), thereby forming a wiping surface so that the wiping surface can act on the work surface to perform wiping when the robot cleaner 100 moves over the work surface.

In one possible embodiment, as shown in FIG. 1 and FIG. 14, the base station 200 includes a storage module (213, 520) for storing the main wiping material 500. The base station 200 includes a supply module (220, 421), the supply module (220, 421) moves the free end of the main wiping material material 500 to the point of separation, so that the free end is torn off from the main block of the main wiping material 500, thus forming a wiping material.

In one possible embodiment, the length and width of the cleaning material depends on the length and width of the cleaning platform (122, 1201), as a rule, the length and width of the cleaning material is greater than the cleaning platform (122, 1201). The wiping material is obtained by tearing off the free end of the main wiping material 500 from the main body of the main wiping material 500. Optionally, as shown in FIG. 19, the main wiping cloth 500 is composed of a plurality of regular length wiping cloths connected to each other, the bonding strength between the wiping cloths is small, for example: there are many holes spaced between the wiping cloths, so there is a weak connection between the wiping cloths with little bond strength, and when a weak joint is stretched by force from both sides, the cloth may come off the base cloth 500. Optionally, as shown in FIG. 23, the base cloth 500 may be comprised of flexible materials that are much longer than the wipe material, with no weak joint between the flexible materials. After the main body cloth 500 is installed on the base station 200, the tearing module 280 on the base station 200 can tear off the free end of the main body cloth 500 from the main body of the main cloth body 500, thereby forming a cleaning cloth.

In one possible embodiment, as shown in FIG. 14, one end of the base cloth 500 is fixed on the rotary shaft 510, the base cloth 500 is wound on the rotary shaft 510 with this end as the beginning. The storage unit 520 includes a mounting stand 51 mounted on the base station 200 and coupled with a rotating shaft 510 on which the main wiping material 500 is wound to allow the rotating shaft 510 to be mounted on the mounting stand 51. Optionally, the rotating shaft 510 may be rotated relative to the mounting stand. rack 51, when the free end of the main cloth 500 is subjected to forces under the influence of the supply module (220, 421), the main cloth 500 causes the rotary shaft 510 to rotate relative to the mounting post 51, thereby moving the free end of the main cloth 500 away. Optionally, the rotating shaft 510 is mounted on the mounting stand 51 and fixed with respect to the mounting stand 51, the portion of the mounting stand 51 connected to the rotating shaft 510 can be rotated by the action of the feed module (220, 421) to rotate the rotating shaft 510 and thereby move the free end of the main wiping material 500 away. In this embodiment, the supply module (220, 421) includes an electric motor that drives the mounting column 51.

In one possible embodiment, the mounting post 51 includes a first state and a second state, when the mounting post 51 is in the first state, it can support the rotating shaft 510 in the mounted state, preventing it from being detached from the mounting post 51; when it is necessary to install or remove the rotating shaft 510, the mounting post 51 is in the second state so that the rotating shaft 510 can detach from the mounting post 51. Optionally, the mounting post 51 includes a first post and a second post that are oppositely mounted and cooperate with the left end and the right end. the end of the rotating shaft 510, respectively, when the mounting post 51 is in the first state, the relative distance from the first post to the second post is small; and when the mounting post 51 is in the second state, the relative distance from the first post to the second post is large. In one possible embodiment, the first state of the mounting stand 51 is the state in which it is installed on the base station, and the second state is the removed state, when the mounting stand 51 is in the removed state, you can install the rotating shaft 510 on the mounting stand 51, or remove the rotating shaft 510 from rack 51.

The base station 200 includes a wiper station (2021, 2022, 215, 217, 218, 13, 4221, 420) where the wiper platform (122, 1201) installs or detaches the wiper. In one possible embodiment, the place of tearing includes the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material. As shown in FIG. 46I, the supply module (220, 421) moves the free end of the main cloth 500 to the working station 420 of the cloth and fixes the main cloth 500 on the weak joint side. In the process of installing the main cloth 500 on the cleaning platform (122, 1201), the free end of the main cloth 500 and the main body of the main cloth 500 are stretched, thus the main body of the main cloth 500 located on the weak joint side of the main cloth 500 , tears off the free end of the main cleaning material 500 located on the other side of the main cleaning material 500, thereby forming a cleaning material. Optionally, after the free end of the main cloth 500 reaches the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), the robot cleaner 100 places the free end of the main cloth 500 on the cleaning platform (122, 1201 ), and when the robot cleaner 100 moves, the free end of the main cloth 500 is stretched along with the wipe platform (122, 1201) and the main body of the main cloth 500, and is pulled away from the main cloth 500.

In one possible embodiment, as shown in FIG. 46I, the feed module (220, 421) moves the free end of the main cloth 500 to the cloth work station (2021, 2022, 215, 217, 218, 13, 4221, 420), then stops moving. After securing the free end of the main cloth 500 to the mounting position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cloth, the supply module (220, 421) stretches the main cloth 500 in the opposite direction, thus the main body of the main cleaning material 500, located on the weak joint side of the main cleaning material 500, separates the free end of the main cleaning material 500 located on the other side of the main cleaning material 500, thereby forming a cleaning material.

In one possible embodiment, as shown in FIG. 1, the base station 200 includes a tear module 280 that acts on the main cloth 500 to tear it off. Optionally, the tear module 280 may include devices such as a metal blade or a plastic blade that apply force to the main cloth 500 to separate it. The supply module (220, 421) moves the free end of the main wiping material 500 to the working position, then stops moving it to the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material. After securing the free end of the main cloth 500 and the main body of the main cloth 500 to the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cloth, the tearing module 280 acts on the main cloth 500 to perform tearing. , thus forming a cleaning material. Optionally, the tear module 280 may include a laser cutter and other devices to effect separation without exerting force on the base cloth 500. The feed module (220, 421) moves the free end of the base cloth 500 to the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cloth, then it stops moving. After the movement of the base cloth 500 has ceased, the tear module 280 tears the free end of the base cloth 500 away from the main body of the base cloth 500.

In one possible embodiment, the tear location includes a central location between the supply module (220, 421) and the operating position of the wiping material, before the supply module (220, 421) moves the free end of the main wiping material 500 to the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping cloth, first tear off the free end of the main wiping cloth 500 from the main block of the main wiping cloth 500 to form the wiping cloth, then the supply module (220, 421) moves the wiping cloth to the working position ( 2021, 2022, 215, 217, 218, 13, 4221, 420) cleaning cloth.

In one possible embodiment, the feed module (220, 421) includes a transfer wheel (2041, 278), optionally, two transfer wheels (2041, 278) engage each other, moving the captured main cloth 500 outward during rotation. Since the base cloth 500 is flexible, if there are wrinkles in the base cloth 500 that cannot be unfolded during the rotation of the transfer wheel (2041, 278) with the base cloth 500 permanently caught, the cloth formed after the free end of the main cloth 500 is torn off. material 500, has certain folds, as a result of which the cleaning material cannot be installed on the cleaning platform in a straight and unfolded state. In view of this, the transmission wheel (2041, 278) intermittently grips the main cloth 500 so that the main cloth 500 is not subjected to forces intermittently during movement, unfolds naturally. Optionally, the outer contour of the transfer wheel (2041, 278) includes at least two slopes, such as an ellipse, so that the transfer wheel (2041, 278) is compressed and separated during rotation. Optionally, the transfer wheel (2041, 278) intermittently separates automatically so that the transfer wheel (2041, 278) separates from the other surface in contact with it. Optionally, in order to prevent the free end of the main wiping cloth 500 from falling off during the separation of the feed module (220, 421), a damper can be installed in the storage module (213, 520), or a damper can be installed in the transfer wheel (2041, 278), etc. P.

In one possible embodiment, as shown in FIG. 1 and FIG. 37, the supply module (220, 421) is at least partially higher than the operating position of the wiping material, as the supply module (220, 421) moves the free end of the main wiping material 500 to the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping cloth, when the supply module (220, 421) is higher than the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping cloth, the main wiping cloth 500 can be partially moved by working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning cloth under the influence of gravity.

In one possible embodiment, as shown in FIG. 44, the work position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material is drawn in an approximately vertical direction, based on the fact that the feed module (220, 421) is higher than the work position (2021, 2022, 215 , 217, 218, 13, 4221, 420) of the wiping cloth, when the supply module (220, 421) moves the main wiping material 500 outward, the main wiping material 500 will be able to unfold naturally at the working position of the wiping material under the influence of gravity, without requiring additional devices to change the direction of movement of the main wiping material 500 to match the direction of drawing the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material.

In one exemplary embodiment, base station 200 includes a restrictor module 260 for controlling the location of a wipe so that the wipe breaks off at an approximately precise length and travels to an approximately precise location. Optionally, the limiter module 260 includes a sensor assembly 261 for monitoring the control of the edge of the wiping cloth, the sensor assembly 261 is installed at the edge of the mounting position of the wiping cloth, when the sensor assembly 261 detects the edge of the wiping cloth, this means that the supply module (220, 421 ) has moved the cleaning cloth to the working position of the cleaning cloth, the feed module (220, 421) stops moving outwards. Optionally, the sensor assembly 261 is used to monitor the sign of the location of the wiping material, as shown in FIG. 19, the sensor assembly 261 is installed at the other end of the operating position of the cleaning cloth, the sensor assembly 261 monitors the location mark installed in the main cleaning cloth 500, such as spaced holes provided at the weak connection of the main cleaning cloth 500, when the sensor assembly 261 detects the sign location, this means that the supply module (220, 421) has already moved the wiping material to the working position of the wiping material, in which case the supply module (220, 421) stops moving outward.

In one possible embodiment, as shown in FIG. 4-8, the wiping platform (122, 1201) includes the loading part (123, 127), the wiping material is fixed on the wiping platform (122, 1201) by connection with the loading part (123, 127). In particular, the loading part (123, 127) may include a clip structure that mechanically grasps at least part of the edge of the wiping material between the loading part (123, 127) and the cleaning platform (122, 1201), or fasten, according to at least part of the edge of the cleaning material on the cleaning platform (122, 1201) by gluing.

In one possible embodiment, the automatic cleaning system 300 includes a work module (125, 400), the work module (125, 400) is optionally mounted on the body 101 of the cleaning robot 100 or installed on the base station 200, it can also be partially installed on the body 101 cleaning robot 100 and partially mounted on the base station 200. The work unit (125, 400) corresponds to the work position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material in the base station 200 when the cleaning platform ( 122, 1201) and the wiping cloth is in the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping cloth, the working module (125, 400) can act on the wiping platform (122, 1201) and/ or cleaning material, install the cleaning material on the cleaning platform (122, 1201), interacting with the loading part (123, 127) of the cleaning platform (122, 1201). Optionally, the work module (125, 400) is detachably mounted on the cleaning robot 100 or on the base station 200 for ease of repair. Optionally, the work module (125, 400) can be used both to place the cleaning material on the cleaning platform (122, 1201) and to separate the cleaning material from the cleaning platform (122, 1201). Optionally, as shown in FIG. 46, the work module (125, 400) is only used to place the wiping material on the wiping platform (122, 1201), the base station 200 also includes a separation module 422 that acts on the wiping platform (122, 1201) and/or the wiping material so that the cleaning material is separated from the cleaning platform (122, 1201).

In one possible embodiment, as shown in FIG. 1 and FIG. 51, the base station 200 includes a receiving module (211, 15, 206, 240) for receiving a main wiping material detached from the wiping platform (122, 1201). Optionally, a hole in the Receiver Module (211, 15, 206, 240) is used to allow the user to put the Wiping Bag into the Receiver Module (211, 15, 206, 240) when the Wiping Bag is out of volume, the base station 200 can detect this and remind the user to replace it. Optionally, the receiver module (211, 15, 206, 240) is removed, after the user removes the receiver module (211, 15, 206, 240) from the base station 200, discard the cleaning materials stored in the receiver module (211, 15, 206, 240 ).

In one possible embodiment, the extraction device 270 acts on the wiping material detached from the wiping platform (122, 1201) to extract the wiping material into the receiving module (211, 15, 206, 240). A specific embodiment of the extractor 270 is described in the following exemplary embodiments.

In one possible embodiment, as shown in FIG. 37-43, the work unit 400 is installed on the base station 200. In this embodiment, the base station 200 includes a work station (215, 2021, 2022, 2023, 218, 13) of the cleaning material for the cleaning robot 100 to install or detach from the body 101 to a cleaning platform (122, 1201) with cleaning material. When the cleaning robot 100 returns to the base station 200, the cleaning robot 100 detaches the cleaning platform (122, 1201) from the body 101 with the cleaning material. The base station 200 includes a drive module (207, 205, 412) that moves the wiping platform (122, 1201) detached from the body 101 to a working position (2021, 2022, 215, 217, 218, 13, 4221, 420 ) wiping material, so that the working module (125, 400) disconnects the used wiping material from the wiping platform (122, 1201). Optionally, the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material is higher than the operating position of the wiping platform, as shown in FIG. 37, between the work position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material and the work position of the cleaning platform, a space is formed for parking the cleaning robot 100. Such an embodiment can improve the dimensions of the base station 200 in the horizontal direction. so that the base station 200 has a more compact structure.

In one possible embodiment, as shown in FIG. 46, the operating station (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning cloth includes the separation station 4221 of the cleaning cloth and the mounting station of the cleaning cloth 420, the separation station of the cleaning cloth and the mounting station of the cleaning cloth 420 are located in principle on the same horizontal plane, so that the drive module (207, 205, 412) can drive the wiping platform to move between the wiping material separating position and the wiping material mounting position 420 in the horizontal direction.

In one possible embodiment, an opening in the receiving module (211, 15, 206, 240) for receiving cleaning material, at least in one state below the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) material, in particular, below the separating position 217 wiping material. As shown in FIG. 1, in one embodiment, the robot cleaner 100 separates the cleaning material at the separation position 217 of the cleaning material, the receiving module (211, 15, 206, 240) is installed under the separation position 217 of the cleaning material, so that the cleaning material can fall into the receiving module ( 211, 15, 206, 240). In this embodiment, the wipes compress each other under their own gravity so that the receiving module (211, 15, 206, 240) can receive more wipes. As shown in FIG. 37, in one embodiment, the opening in the receiving module (211, 15, 206, 240) is in one state above the wiping material separation position 217, but in another state below the wiping material separation position 217. In this embodiment, the receiving unit 211 can move in the height direction, thereby forming a parking space for the cleaning robot 100 in the base station 200. When the cleaning robot 100 is parked in the base station 200, the distance from the receiving unit (211, 15, 206 , 240) to the bottom surface of the base station 200 is greater than the height of the cleaning robot 100. Optionally, the receiving module (211, 15, 206, 240) moves in the height direction under the action of the driving module (207, 205, 412), that is, the driving module ( 207, 205, 412) drives the wiping platform (122, 1201) and the receiving module (211, 15, 206, 240) simultaneously.

In one possible embodiment, the receiving module 211 is located in the direction of movement of the wiping platform (122, 1201). As shown in FIG. 46, the receiving module (211, 15, 206, 240) includes the extraction chamber 206, the drive module (207, 205, 412) drives the wiping platform (122, 1201) into the extraction chamber 206 so that the cleaning material is on 206. Next, when the drive module (207, 205, 412) drives the wiping platform (122, 1201) into 206, the wiping platform (122, 1201) compresses the cleaning materials in the chamber extraction chamber 206 to accommodate more cleaning materials in the extraction chamber 206.

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps:

moving the free end of the continuous base wiping material 500 to a tear-off point;

tearing off the free end of the main cleaning material 500 from the main cleaning material 500 to form a cleaning material;

installation of cleaning material on the cleaning platform (122, 1201).

At the same time, it is possible to tear off the free end of the main cleaning material 500 from the main cleaning material 500 and install the cleaning material on the cleaning platform (122, 1201) at the same time, it is also possible to first install the cleaning material on the cleaning platform (122, 1201), then tear off the free end of the main wiping material 500 from the main wiping material 500.

In particular, moving the free end of the continuous main cloth 500 to the tear-off location includes: moving the free end of the main cloth 500 stored in the storage module 213 to the tear-off point by the feed module (220, 421).

Installation of cleaning material on the cleaning platform (122, 1201) includes: installation of cleaning material in the loading part (123, 127) of the cleaning platform (122, 1201) using the working module (125, 400).

Tearing off the free end from the main cleaning material 500 to form a cleaning material includes: fixing and/or stretching said main cleaning material 500 using the feed module (220, 421), tearing off the free end from the main cleaning material 500 to form a cleaning material.

Tearing off the free end from said base cleaning material 500 to form a cleaning material includes: tearing off the free end from said base cleaning material 500 to form a cleaning material using a tearing device 280.

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps: detaching the cleaning material from the cleaning platform (122, 1201). After detaching the wiping material from the wiping platform (122, 1201), the wiping platform installs new wiping materials according to the above steps, automatically changing the wiping material.

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps: detaching the wiping platform (122, 1201) from the cleaning robot 100 to detaching the cleaning material from the wiping platform (122, 1201). After the wiping platform (122, 1201) is detached from the cleaning robot 100, the base station 200 acts only on the detached wiping platform (122, 1201) with the wiping material so that the wiping platform replaces the wiping material.

In one possible embodiment, as shown in FIG. 37-43, the method of controlling the automatic cleaning system 300 includes the following steps: bringing said wiping platform detached from the cleaning robot into movement to the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material , before detaching the cleaning material from the cleaning platform (122, 1201). In this embodiment, the removal of the cleaning platform (122, 1201) from the cleaning robot 100 is performed at the working position of the cleaning platform, and the disconnection of the cleaning material from the cleaning platform (122, 1201) is performed at the working position (2021, 2022, 215, 217, 218 , 13, 4221, 420) of cleaning cloth. Thus, after detaching the cleaning platform (122, 1201) from the cleaning robot 100, the drive module (207, 205, 412) moves the cleaning platform (122, 1201) from the working position of the cleaning platform to the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning cloth, then the cleaning cloth is replaced.

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps: installing the wiping platform (122, 1201) on said cleaning robot 100 after installing the cleaning material on the wiping platform (122, 1201).

In one exemplary embodiment, the method for controlling the automatic cleaning system 300 includes the following steps: the cleaning robot 100 moves in the first direction a predetermined distance after the cleaning platform (122, 1201) is detached from the cleaning robot 100. As shown in FIG. 37-43, since the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material is located above the operating position of the wiping platform, the drive module (207, 205, 412) moves the wiping module from the operating position of the wiping platform to the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material after the cleaning platform (122, 1201) is detached from the cleaning robot 100. If the cleaning robot 100 is stopped at the working position of the cleaning platform, then the body 101 of the robot cleaner 100 interferes with the drive unit (207, 205, 412) in moving the mop platform (122, 1201) in the vertical direction. Thus, the robot cleaner 100 moves in the first direction, the preferred first direction is the direction opposite to the direction of movement of the robot cleaner 100, freeing up space for moving the mop platform (122, 1201).

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps: as shown in FIG. 44, installing the cleaning platform (122, 1201) on said cleaning robot 100 after moving the cleaning robot 100 in the first direction a predetermined distance. In this embodiment, the base station 200 includes a cleaning platform mounting position 2022 and a cleaning platform separation station 2021, after the cleaning robot 100 detaches the cleaning platform (122, 1201) at the cleaning platform separation station 2021, the cleaning robot moves to the mounting position of the wiping platform in the first direction, the preferred first direction is the direction opposite to the moving direction of the cleaning robot 100.

According to an embodiment, as shown in FIG. 44, in which the mounting position of the cleaning platform and the separating position of the cleaning platform are provided separately, in this embodiment, the detachment and installation of the cleaning platform (122, 1201) on the cleaning robot 100 are performed on different ones. Of course, in some embodiments, the mounting position of the wiping platform and the separating position of the wiping platform can be in the same place, that is, the detachment and installation of the wiping platform (122, 1201) on the cleaning robot 100 are performed in the same place, referring to the embodiments shown in Fig. fig. 1-36, fig. 37, fig. 46, fig. 58-63. In these exemplary embodiments, the working position of the cleaning platform is used as both the mounting position of the cleaning platform and the separating position of the cleaning platform.

In one possible embodiment, the method of controlling the automatic cleaning system 300 includes the following steps: as shown in FIG. 37, in the real-time implementation, the working position of the cleaning platform in the base station 200 is used for the cleaning robot 100 to detach and install the cleaning platform (122, 1201) in the same place after the cleaning material is installed on the cleaning platform ( 122, 1201), the cleaning robot 100 moves in the second direction a predetermined distance to return to the working position of the cleaning platform, install the cleaning platform (122, 1201) on the cleaning robot 100, the first direction and the second direction are opposite.

In FIG. 1-36 are drawings related to the first embodiment of the present invention. In FIG. 1-3 are schematic structural views of a first exemplary cleaning system 300 according to the present example, the system includes a cleaning robot 100 and a base station 200. sweeper, etc. The robot cleaner 100 operates in the work area, performing tasks such as mopping and sweeping floors, when the robot cleaner needs to return to the base station 200, if it is found that the cleaning materials need to be replaced or the robot cleaner 100 needs to be recharged, then the program is started. return, wherein the robot cleaner 100 returns to the base station 200 to perform automatic replacement of cleaning materials and/or automatic charging of the robot cleaner 100.

As shown in FIG. 1, the robot cleaner 100 includes a body 101, a mobile unit mounted on the bottom of the body 101 and moving along the working surface with the body 101. The mobile unit includes running wheels 110, it is understood that the mobile unit may also include a crawler construction. The cleaning robot 100 also includes a cleaning mechanism, in this embodiment, the cleaning mechanism is using the cleaning module 120, and the cleaning robot 100 performs the task of mopping the floors on the work surface using the cleaning module 120. In other embodiments, the cleaning mechanism of the robot The cleaner 100 may also include a roller brush and a side brush that are used to clean debris such as dust on the floor, in corners, etc., the side brush sweeps fine dirt to the roller brush, which removes all dirt into the dust bin. .

The cleaning robot 100 also includes a power mechanism, a power supply, and a sensor system. The power mechanism includes an electric motor and a transmission mechanism connected to it, which is connected to the movable block, the electric motor drives the transmission mechanism, under the action of the transmission mechanism the movable block moves. in this case, the transmission mechanism can be a worm, bevel gear mechanism, etc.

The power supply of the robot cleaner 100 is configured to power the robot cleaner 100 and power the power mechanism so that the robot cleaner 100 can move and perform work. A battery pack is usually used as a power source. When the power consumption of the battery pack reaches the threshold value, the robot cleaner 100 automatically returns to the base station 200 to replenish power, and continues to operate after charging.

The sensor system of the cleaning robot 100 includes a cliff sensor, when detecting the edge of the abyss, you can change the route of movement; side sensor, when a side edge of the working area is detected, commands can be generated to move along the edge; tilt sensor, when the tilt of the cleaning robot is detected, you can change the operation strategy and issue instructions to the user; and other common sensors, they will not be repeated here.

The robot cleaner 100 also includes a control unit, which may be an embedded digital signal processor, a microprocessor, an ASIC, a CPU, or a field programmable gate array, etc. The control unit may control the robot cleaner 100 according to predetermined conditions or command received by the cleaning robot 100. In particular, the control unit can control the movement of the mobile unit in the working area of the robot cleaner 100 according to a predetermined route, while the mobile unit of the cleaning robot 100 is driven, the cleaning mechanism is triggered, thus , removing stains and dust from the surface of the work area.

In this exemplary embodiment, the cleaning module 120 is equipped with a cleaning cloth to remove dust from the work surface or clean the work surface from contamination. The main cleaning material 500 can be divided into at least two cleaning materials. The cleaning material is sheet-shaped and less than 0.5 cm thick, includes natural fabrics such as cotton, linen, or chemical fabrics such as polyester fiber, nylon fiber, or sponge products such as rubber, wood pulp sponges, or paper products such as raw wood pulp, absorbent cotton, as well as other disposable products such as synthetic products from the above materials. In one embodiment, the wiping material can generate static electricity by rubbing against a work surface, such as static paper, thereby adsorbing hair and dust from the work surface. In one embodiment, the wiping material has the function of absorbing moisture and can maintain the integrity of the wiping material for a certain time.

In this embodiment, the base station 200 includes a storage device for storing a main cleaning cloth 500. The storage device includes a receiving module 211 and a storage module 213, the receiving module 211 is used for storing used cleaning materials, and the storage module 213 is used for storage of the main cleaning materials 500 to be used.

As shown in FIG. 2, the base station 200 includes a spacer position 217 of a cleaning material and a mounting position 215 of a cleaning material. When the robot cleaner 100 returns to the base station 200, it moves up to the wiper separation position 217, the cleaning cloth installed on the cleaning robot 100 is above the cleaning cloth separator position 217, thus it is possible to detach the used cleaning cloth and the detached cleaning material enters the receiving module 211.

As shown in FIG. 3, the robot cleaner 100, having detached the cleaning cloth at the separation cloth position 217, retreats to the mounting position 215 of the cleaning cloth. In this exemplary embodiment, the base station 200 includes a supply module 220 for withdrawing the cleaning material from the storage module 213 to the cleaning material mounting position 215 to be installed on the cleaning robot 100. The operation of the supply module 220 drives the cleaning material out of the storage module 213 and moves up to the wiping material mounting position 215 in a direction approximately parallel to the wiping material mounting position 215, ensuring that the wiping material is as even as possible.

Since the main cloth 500 in the storage module 213 is continuous, when the length of the cloth at the cloth mounting position 215 meets a predetermined value, the supply module 220 stops operation. The base station 200 also includes a limiter module 260 for controlling the length of the wiping material at the wiping position 215, the control unit controls the supply module 220 according to the results of the control performed by the limiter module 260. In this embodiment, the separation position 217 of the wiping material and the mounting the wiper position 215 is located at different locations in the base station 200. In other embodiments, the separation wiper position 217 and the mounting position 215 of the wiper may be partially or fully aligned.

Optionally, the base station 200 includes a spreader module 250. Due to the fact that the cloth is soft, it is easy to wrinkle, after the feed module 220 brings out the free end of the main cloth 500, for the convenience of normal installation of the cloth on the cleaning robot 100, the wiping material should be in a relatively flat condition. The spreader module 250 flattens the wiping material using gas flow, pressure bar, and other methods.

Optionally, the base station 200 includes a tear-off module 280 for detaching the free end of the main tissue 500, located at the tissue mounting position 215, from the main tissue 500 in the storage module 213. To ensure that the main tissue 500 is in storage module 213, after being installed by the user, continued to be output under the action of the supply module 220, the main cleaning materials 500 stored in the storage module 213 must be continuous. In the event that the restrictor module 260 detects that the length of the wiping material is within the specified value, detach the free end of the main wiping material 500 at the wiping material mounting position 215 from the main wiping material 500 in the storage module 213.

In one case, the continuous main wipe 500 in the storage module 213 consists of a plurality of standard length wipes bonded to each other with low bond strength, which can be naturally detached during installation of the wipe on the cleaning robot 100. In another case, when the wiping material at the wiping material mounting position 215 matches the predetermined length, the tear module 280 operates and detaches the free end of the main wiping material 500 from the main body of the main wiping material.

In this exemplary embodiment, the wiping material mounting position 215 includes a first position located away from the storage module 213 and a second position located close to the storage module 213. When the wiping material reaches the second position, this means that the length of the wiping material at the mounting position 215 wiping material corresponds to the set value, the control unit can control the supply module 220 to stop the latter. The storage module 213 includes an exit 2111, the width of the exit 2111 is greater than the width of the wiping material. The supply module 220 is used to bring the base wiping material 500 out of the outlet 2111 to the wiping material mounting position 215. Optionally, the storage module 213 includes a hinged cover 2113 for a user to open and replace the main cleaning cloth 500. The receiving module 211 includes an outlet for the user to open and dilute the used cleaning materials stored in the receiving module 211 Optionally, the receiving module 211 includes a garbage bag storage structure. The user can place the trash bag in the receiving module 211, store the used cleaning material directly in the trash bag, and retrieve the trash bag directly through the outlet.

In one embodiment, the storage module 213 is equipped with a mounting post 51 parallel to the floor, the mounting post 51 being supported on two sides by bearings. Accordingly, the storage module 213 can store the body cloth 500 in the form of a rolled body cloth 500 including a cylindrical hollow rolling element wrapped with a body cloth 500 that is much longer than would be needed for a single use. The user can install the hollow rolling element in the storage module 213 through the mounting column 51 so that the hollow rolling element can rotate around the mounting column 51.

In one embodiment, the mobile unit includes an auxiliary wheel 102. When the robot cleaner 100 returns to the base station 200, the cleaning module 120 is raised and the auxiliary wheel 102 is lowered, the mobile unit moves the robot cleaner 100 inside the base station 200. Before the cleaning robot 100 will start the cleaning material setting procedure, the cleaning module 120 is maintained in the raised state. And when the robot cleaner 100 starts the cleaning material setting procedure, the auxiliary wheel 102 is raised and the cleaning unit 120 is lowered to the cleaning material mounting position 215 to perform the installation of the cleaning material.

As shown in FIG. 4, the cleaning module 120 includes a receiving unit 121 for obtaining a new cleaning material or detaching an old cleaning material, thereby effecting replacement of the cleaning material without user intervention. As shown in FIG. 4, in this exemplary embodiment, the receiving unit 121 includes a wiping platform 122 and a gripper assembly 123. The gripper assembly 123 includes an outer gripper 1231 and an inner gripper 1233, and is mounted on the wiper bed 122 by a transfer assembly 125.

The transmission assembly 125 includes a first horizontal gear 1251, a second horizontal gear 1253, and an intermediate gear 1255. There are two outer grip members 1231 that are located on opposite sides of the wiping platform 122, respectively. The first horizontal gear 1251 and the second horizontal gear 1253 are fixed in two outer grip members 1231, respectively, so that the first horizontal gear 1251, the second horizontal gear 1253, and both outer grip members 1231 can move simultaneously. The first horizontal gear 1251 and the second horizontal gear 1253 are engaged with each other by the intermediate gear 1255 and constantly reciprocate in opposite directions. The first horizontal gear 1251 is connected to the outer gripper 1231 so that the first horizontal gear 1251 and the outer gripper 1231 can reciprocate at the same time. The intermediate gear 1255 is driven by an electric motor. When the idler gear 1255 rotates in the first direction, the first horizontal gear 1251 and the second horizontal gear 1253 are compressed inward at the same time, causing both outer grip members 1231 to be compressed inward. When the outer gripper 1231 is compressed inward, the inner gripper 1233 is also compressed inward. A spring element (not shown in the figure) is connected to the internal grip element 1233 and is in a compressed state when the internal grip element 1233 is compressed inward. When the electric motor drives the intermediate gear 1255 to rotate in the second direction, the compression force of the spring member pushes it outward, and the inner gripping member 1233 connected thereto is detached outwardly at the same time.

In one embodiment, the end of the second horizontal gear 1253 is provided with a spring (not shown in the figure), and when the first horizontal gear 1251 reciprocates, the spring is repeatedly compressed and weakened. When the idler gear 1255 drives the first horizontal gear 1251 inward, the spring is compressed and the outer gripper 1231 grips the wiping material. And when the idler gear 1255 drives the first horizontal gear 1251 outwardly, the outer gripper member 1231 is disengaged outwardly by the compression force of the compressed spring, thereby releasing the wiping material between the inner gripper member 1233 and the outer gripper member 1231. In other embodiments, a spring may also be provided at the end of the second horizontal gear 1251 to generate a double compression force.

As shown in FIG. 5 and FIG. 6, when the robot cleaner 100 moves to the base station 200 to obtain a cleaning cloth, the cleaning cloth can be removably connected to the cleaning robot 100 by the operation of the receiving unit 121. When the idler gear 1255 rotates in the first direction (clockwise shown in 5), the outer gripper 1231 moves inward in a horizontal direction, the ratchet of the outer gripper 1231 causes both sides of the cloth to move inward so that the part of the cloth adjacent to the ratchet protrudes upward. When the outer gripper element 1231 contacts the inner gripper element 1233, the upwardly protruding wiping material is caught between the two elements. The inner gripper 1233 has an inclined plane on the inside. When, under the action of the outer gripper 1231, the inner gripper 1233 continues to move inward, the inclined plane of the inner gripper 1233 comes into contact with the wiping platform 122, causing the inner gripper 1233 to move on the inclined plane, and thus the outer gripper 1231 also moves on the inclined plane. planes. Accordingly, the cleaning material between the outer gripper 1231 and the inner gripper 1233 also moves upward, and the cleaning material under the wiper platform 122 is stretched. When the idler gear 1255 cannot continue to rotate, the outer gripper 1231 and the inner gripper 1233 reach the tension position. In this case, the wiping material is maximally stretched and caught between the outer grip member 1231 and the inner grip member 1233, and is not subjected to fall out during operation.

As shown in FIG. 7 and FIG. 8, in one embodiment, the receiving unit 121 on the cleaning robot 100 includes a wiping platform 122 and a gluing unit 127, with the gluing unit 127 mounted on both sides of the wiping platform 122. When in contact with the gluing unit 127, the wiping material can relatively stably adhere to the bonding assembly 127, which allows the cleaning material to be installed on the cleaning platform 122. In particular, the bonding assembly 127 may be a textile fastener or other devices removably connected to the cleaning material.

The base station 200 includes a work module 290 for facilitating the installation of a wipe on the robot cleaner 100. The work module 290 is provided below the wipe mounting position 215 and includes a first pressure plate and a second pressure plate. When the robot cleaner 100 reaches the wiper mounting position 215, the first pressure plate and the second pressure plate rotate upward, gluing the wiper above them to the glue unit 127.

As shown in FIG. 8, in this embodiment, the first pressure plate and the second pressure plate are mounted on the first gear and the second gear respectively, the first gear is matched with the first rack, the second gear is matched with the second rack, the first rack and the first rack are connected to each other and move in the same direction. . In particular, the tooth core of the first gear is relatively stably mounted on the base station 200, the first gear can rotate relative to the tooth core. The same goes for the second gear. The first gear is installed above the first rack, the second gear is installed under the second rack. When the first rack and second rack move towards the first rack, the first gear rotates clockwise, causing the first pressure plate to rotate clockwise. In this case, the second gear rotates counterclockwise, causing the second pressure plate to rotate counterclockwise. In order to match the action surfaces of the first pressure plate and the second pressure plate, the respective side surfaces of the wipe platform 122 are inclined, that is, the bonding unit 127 is mounted on two inclined planes of the wipe platform 122, attaching to the first pressure plate and the second pressure plate.

As shown in FIG. 9, the feed module 220 includes a roller assembly 221. In this embodiment, the roller assembly 221 includes a driving roller and a driven roller, under the action of a motor, the driving roller rotates in the first direction, causing the driven roller to rotate in the second direction. The free end of the base cloth 500 is engaged between the roller assembly 221, the pressure between the drive roller and the driven roller creates a frictional force against the base cloth 500, driving the base cloth 500 from the hollow rolling element to the pad mounting position 215. In other embodiments, the roller assembly 221 may include more than two rollers, such as two groups of rollers cooperating with each other, the action of the two groups of rollers pulls out the main wiping material 500, providing more traction. In other embodiments, the roller assembly 221 may include a single roller that acts on one surface of the base station 200, due to frictional force against the main wiping material 500, the free end of the main wiping material 500 is withdrawn simultaneously with the rotation of the roller.

As shown in FIG. 10, the expansion module 250 includes a fan 251. When the supply module 220 is operating, the control unit controls the operation of the fan 251, the air outlet of the fan 251 faces the first position, so that the air flow from the air outlet of the fan 251 is directed approximately from the second position to the first position. , under the influence of the air flow, the cleaning material moves to the first position. Further, by causing the airflow from the air outlet of the blower 251 to act on the cleaning cloth in a direction parallel to the cleaning cloth, it is possible to maintain the cleaning cloth in an unfolded state in the horizontal direction.

In one embodiment, the cavity in which the air intake of the fan 251 is located communicates with the wiper mounting position 215, the air outlet facing the outside of the base station 200. inside the fan 251, creating a vacuum at the wiping material mounting position 215, thereby drawing the wiping material towards the wiping material mounting position 215. Thus, the cleaning cloth is unaffected, can remain at the mounting position 215 of the cleaning cloth in a relatively stable state, waiting to be installed on the cleaning robot 100.

As shown in FIG. 11, the fan 251 has two inlets, the first inlet directly communicates with the outside of the base station 200 without affecting the other modules of the base station 200, the second inlet communicates with the wiper mounting position 215. Valves, such as three-way valves, are installed between the two supply ducts and the air intake of the fan 251. The air outlet of the fan 251 acts on the cleaning material along the discharge direction of the cleaning material. During the removal of the cleaning material, the air intake of the fan 251 communicates with the first supply channel, under the control of the control unit, the valve closes the second supply channel, under the action of the fan 251, the cleaning material will be brought to the mounting position 215 of the cleaning material. As shown in FIG. 12, after the wiping material reaches the wiping material mounting position 215, the air intake of the fan 251 communicates with the second inlet duct, under the control of the control unit, the valve closes the first inlet duct. Under the action of the fan 251, a vacuum is created at the wiping material mounting position 215, drawing the wiping material towards the wiping material mounting position 215.

As shown in FIG. 13, the spreader module 250 includes a synchronous belt assembly 253, specifically includes a front wheel and a rear wheel, and a synchronous belt mounted on the front wheel and rear wheel, the front wheel or rear wheel drives the synchronous belt to move. After the feed module 220 has brought the cleaning material to the location of the front wheel, the synchronous belt drives the cleaning material to the first position. In this exemplary embodiment, in order for the synchronous belt to have more impact on the cloth, felt is provided on the synchronous belt to create a greater frictional force after contact with the cloth, facilitating the movement of the cloth to the first position. In addition, after reaching the installation position 215 of the cleaning cloth, the cleaning cloth is not subjected to free movement under the action of the felt, which can prevent the cleaning cloth from being wrinkled.

As shown in FIG. 15, the spreader module 250 includes a press bar 255, the press bar 255 acts on the cloth and moves to the second position, the cloth is stretched with the movement of the press bar 255. In this embodiment, the press bar 255 is connected to the parallelogram assembly 257. Parallelogram the assembly 257 includes a frame, a connecting rod, and a crank, including the frame being fixed to the base station 200 and coinciding with the second point of the wiping material mounting position 215 in the height direction. Under the action of the crank, the connecting rod is moved in the height direction and in the horizontal direction, the press rod 255 is connected to the connecting rod through a torsion spring. When the connecting rod is in position A, the presser bar 255 is at its highest point in the height direction without touching the wiper mounting position 215. When the connecting rod is in position B, the pressure bar 255 contacts the wiper mounting position 215. When the connecting rod is located in position C, under the action of the connecting rod, the pressure bar 255 reaches its lowest point, the torsion spring exerts a pressure force on the pressure bar 255, thereby creating a pressure force on the cleaning cloth at the installation position 215 of the cleaning cloth. When the connecting rod is located in the D position, the press bar 255 moves to the second position, thereby pulling the cleaning cloth located between the press bar 255 and the cleaning cloth mounting position 215 to move to the second position. In this exemplary embodiment, a groove 2150 is provided at the second position of the wiper mounting position 215 so that the press bar 255 is pressed down into the groove 2150 by a torsion spring to pull the wiper down. When the robot cleaner 100 performs installation, the crank moves upward to position E under control, and the pressure bar 255 leaves the installation position 215 of the cleaning material.

As shown in FIG. 16, the presser bar 255 is mounted on the synchronous belt assembly 253 and moves in synchronism with the synchronous belt assembly 253. When the free end of the main cloth 500 is withdrawn from the storage unit 213 to the first position, the synchronous belt assembly 253 rotates counterclockwise to move the presser bar 255 down to position a. When the press bar 255 is at its lowest position, the press bar 255 pressurizes the main cloth 500 and moves to position b under the action of the synchronous belt assembly 253, thereby moving the main cloth 500. When the press bar 255 reaches position c, the main cloth the wiping cloth 500 also reaches the second installation position on the robot cleaner 100, while the action of the pressure bar 255 causes the main wiping cloth 500 to be taut. Once installed on the robot cleaner 100, the synchronous belt assembly 253 continues to move, raising the pressure bar 255.

As shown in FIG. 17, the restrictor module 260 includes a sensor assembly 261 for monitoring the length of the wiping material brought out to the wiping position 215, in particular, may include a photoelectric sensor or a Hall sensor, etc. In this embodiment, the sensor assembly 261 is installed in the second the position of the mounting position 215 of the cleaning material. When the sensor assembly 261 detects the wiping material in the second position, which means that the length of the withdrawn wiping material reaches the predetermined length, the control unit controls the feed module 220 to stop the latter.

As shown in FIG. 18, the sensor assembly 261 is installed on the roller assembly 221 and is designed to control the rotation angle of the roller assembly 221. The sensor assembly 261 may include an angular displacement sensor, etc. Due to the fact that the free end of the main wiping material 500 is brought to the mounting position 215 of the wiping material under the action of the roller unit 221, in the absence of slip, the perimeter of the circle per rotation of the roller unit 221 corresponds to the length of the corresponding removed wiping material. Therefore, it is possible to calculate the length of the output wiping material by controlling the rotation angle of the roller assembly 221. If the rotation angle of the roller monitored by the sensor assembly 261 reaches the predetermined value, it means that the length of the output wiping material reaches the predetermined value, in which case the control unit controls the roller assembly 221 to make the latter stop working.

As shown in FIG. 19, the main cleaning cloth 500 stored in the storage unit 213 may be composed of a plurality of regular length cleaning cloths connected to each other, and the bonding strength between the cleaning cloths is small, which is convenient for tearing off. In this exemplary embodiment, there are a plurality of light holes between the cleaning materials. Thus, it is possible to check the length of the withdrawn free end of the main wiping material 500 by checking the light holes. The sensor assembly 261 is installed in the second position. If the sensor assembly 261 detects light holes, which means that the length of the withdrawn free end of the main wiping material 500 reaches a predetermined value, the control unit controls the feed module 220 to stop working. In this exemplary embodiment, sensor assembly 261 includes an optical transmitter and an optical receiver. When the optical receiver detects light from the optical transmitter through the light holes between the wipes, the sensor assembly 261 issues a signal, the control unit, according to the signal issued by the sensor assembly 261, controls the supply module 220 to stop working.

As shown in FIG. 20, the limiter module 260 includes a sensor assembly 263 for monitoring the remaining stock of the main wiping cloth 500 in the storage module 213. cleaning material after robot cleaner 100 returns to base station 200. Sensor assembly 263 may include a microswitch or Hall element or optical coupler element, etc. In this embodiment, sensor assembly 263 is installed between mounting post 51 and cleaning cloth mounting position 215. Because base cloth 500 is output continuously with sufficient stock remaining, if sensor assembly 263 does not detect base cloth 500, this means that the length of the remaining base cloth 500 is less than the usable length or recommended length. In this case, you need to remind the user about the replacement. In this embodiment, the base station 200 is equipped with an indicator light or buzzer, etc., the control unit controls the operation of the indicator light or buzzer to remind the user. In other embodiments, base station 200 may communicate with a user device. If the sensor assembly 263 does not detect the main wiping material 500, then the control unit provides information to the user device.

As shown in FIG. 21, the sensor assembly 263 is used to monitor the height of the base cloth 500, thereby monitoring the stock balance of the base cloth 500. With respect to the roll base cloth 500, the greater the number of wraps of the base cloth 500 around the hollow rolling element, the higher the height. Therefore, the main wiping material 500 with a predetermined stock balance corresponds to a predetermined height. If the height of the main cloth 500 is lower than the predetermined height, then the length of the remaining main cloth 500 is less than the recommended length, in which case the user should be reminded to change.

In one embodiment, the sensor assembly 263 is used to monitor the weight of the roll base cloth 500, thereby monitoring the stock balance of the base cloth 500. In this embodiment, the sensor assembly 263 is mounted on a mounting post 51 of the roll base cloth 500. Therefore that the mass of the rolled main cloth 500 in the storage unit 213 decreases with the decrease in the main cloth 500, so when the mass of the main cloth 500 is less than the specified value, or the ratio of the mass of the main cloth 500 to the original mass is less than the specified value, then the length of the rest of the main wiping material 500 is less than the recommended value, and the user must be reminded to replace

In one embodiment, the control unit counts the signal from the sensor 261, in each case when the length of the removed wiping material reaches the set value, then the counter is incremented by 1. When the value of the counter is equal to or greater than the set value, this means that the remaining stock in the storage module 213 is less than the set value, the control unit reminds of the replacement.

As shown in FIG. 21, in one embodiment, the restriction module 260 includes a sensor assembly 265 that is installed in the receiver module 211. In this embodiment, the sensor assembly 265 is mounted above the receiver module 211 in the height direction, used to monitor the achievement of the wiping material in the receiver module 211 of the mounting provisions. It is clear that the greater the number of cleaning materials in the receiving module 211, the higher the height. Thus, when the sensor assembly 265 detects that the wiping material has reached the mounting position, a signal is issued to remind the user to dispose of the wiping materials in the receiver module 211. In other embodiments, the sensor assembly 265 may be used to monitor the weight and other parameters of the receiver module 211, reminding the user to get rid of by setting a threshold value.

As shown in FIG. 2, in one embodiment, the wiping module 280 includes a cutting device 281 and a driving device 283. contacted and acted on the main cloth 500, thereby detaching the main cloth 500. In this embodiment, the cutting device 281 includes a blade mounted on the blade holder, the drive device 283 includes a cam, the lower part of the blade holder comes into contact with the cam, wherein the cam is rotated by the motor to move the blade holder in the height direction. The top of the blade holder is connected to a spring that applies force to move the blade holder down, keeping the blade holder pressed against the cam. The control unit motor drives the cam around the output shaft of the motor, the variable diameter of the cam generates an upward pull of the blade holder, while moving the blade holder in the height direction, resulting in the blade in contact or not in contact with the main wiping material 500.

As shown in FIG. 22, in one embodiment, the cutter 281 is installed inside the storage module 213. Because the cutter 281 includes sharp cutting tools, such as a blade, for user safety, the width of the exit 2111 of the storage module 213 is less than or equal to 3 cm. to prevent the user from entering the storage module 213 to the cutter 281. In one embodiment, the cutter 281 is installed outside the storage module 213, an additional protective cap must be installed to ensure user safety, including an exit no wider than 3 cm.

As shown in FIG. 23, the cutter 281 moves in the horizontal direction, the bottom of the cutter 281 can come into contact with the wiper mounting position 215. In this exemplary embodiment, the driving device 283 includes a horizontal guide, and the cutter 281 is mounted on the slider, the cutter 281 can move in the horizontal direction with the slider moving along the guide. When the feed module 250 is operating, the cutter 281 is shifted to the side. When the length of the retracted free end of the main cloth 500 reaches a predetermined value, under the control of the control unit, the cutter 281 moves in a horizontal direction to the other side of the width of the main cloth 500, thereby detaching the main cloth 500. In this embodiment, the blade has a round shape and can be installed on the slider with the possibility of rotation, during the movement of the slider, the blade and the main cloth 500 create friction, thereby causing rotation. In other embodiments, other blade shapes can also cut the base wiping material 500 under the action of the slider.

As shown in FIG. 1, in one embodiment, the receiving module 211 has an opening facing upwards, the cloth separation station 217 is located above the receiving module 211. When the robot cleaner 100 reaches the cleaning material separation position 217, the cleaning module 120 detaches the cleaning material so that the cleaning material falls out. directly into the receiving module 211. In this embodiment, the spacer position 217 of the cleaning material does not coincide with the mounting position of the cleaning material 215, and the spacer position 217 of the cleaning material is located in front of the cleaning robot 100 in its direction of movement. After detaching the cleaning cloth, the robot cleaner 100 may return to the cleaning cloth mounting position 215 to install the cleaning cloth, and then leave the base station 200 to perform the cleaning operation.

As shown in FIG. 24-26, in one embodiment, the base station 200 includes a wiping retrieval module 270 for retrieving wiping material from a wiping material separating position 217 into a receiving module 211. In this embodiment, a wiping material retrieval module 270 is installed in the receiving module 211. The wiper removal module 270 includes a receiving member 271, as well as a rotating shaft 273 connected to the receiving member 271, the rotating shaft 273 is rotatably mounted on the side of the receiving module 211. When the rotating shaft 273 rotates downward, the first surface of the receiving member 271 is guided up. In this case, the receiving element 271 is in the first extraction position, the first surface of the receiving element 271 is used to receive the used old cleaning material. The first extraction position is aligned or partially aligned with the separation position 217 wiping material. When the cleaning module 120 of the robot cleaner 100 reaches the wiper separation position 217, it releases the cleaning cloth so that the cleaning cloth falls onto the first surface of the receiving member 271. under the control of the control unit, the rotating shaft 273 rotates upward, and the receiving member 271 and the rotating shaft 273 make a synchronous rotation. When the angle of rotation of the rotary shaft 273 reaches its maximum, the first surface of the receiving member 271 is directed downward. In this case, the receiving member 271 is at the second extraction position, the wiping material descends from the receiving member 271 and enters the receiving module 211. It will be understood that in this embodiment, the opening in the receiving module 211 is higher than the separation position 217 of the cleaning material due to by turning the wiper extraction module 270 in the height direction, the wiper is removed.

In one embodiment, the separation position 217 of the cleaning material and the mounting position 215 of the cleaning material are aligned or partially aligned, and during operation, the removal module 270 is offset in the height direction, then the robot cleaner 100 returns to the base station 200 to replace the cleaning material, taking the following steps:

S1: the robot cleaner 100 moves to the wiping cloth mounting position 215 so that the receiving unit 121 is guided to the wiping cloth separating position 217;

S2: the cleaning robot 100 releases the cleaning material;

S3: the robot cleaner 100 moves from the separation position 217 of the cleaning material;

S4: base station 200 removes cleaning material;

S5: the base station 200 outputs a new cleaning material to the installation position 215 cleaning material;

S6: the cleaning robot 100 moves to the wiper mounting position 215;

S7: The cleaning robot 100 sets the cleaning material.

As shown in FIG. 27-29, in one exemplary embodiment, the wiper removal module 270 includes a receiving member 271 and a trip assembly 275, with the receiving member 271 mounted in the trip assembly 275 to move in a height direction along with the running assembly 275. When the receiving element 271 is at the lowest point of the trip assembly 275, the receiving element 271 is located at the first extraction position. In this exemplary embodiment, the first extraction position is aligned or partially aligned with the separation position 217 of the wiping material. When the cleaning module 120 of the robot cleaner 100 reaches the separation position 217 of the cleaning material, it detaches the cleaning material so that the cleaning material falls into the receiving member 271. -lifting node 275 causes the receiving element 271 to rise and rotate towards the receiving module 211, so that the first surface of the receiving element 271 is directed downward. In this case, the take-up member 271 is in the second extraction position and the wiping material enters the take-up module 211. In this exemplary embodiment, the hoist assembly 275 includes a synchronous belt. When the receiving element 271 reaches the highest point under the action of the synchronous belt, the synchronous belt continues to move, while the receiving element 271 rotates with the synchronous belt and reaches the second extraction position. In other embodiments, the hoist assembly 275 may be devices such as a guide rod.

As shown in FIG. 30-31, the wiper removal module 270 includes an actuating arm 277 that is mounted on the wiper's separation position 217 and rotates in a horizontal direction. When the robot cleaner 100 detaches the used cleaning cloth, the drive arm 277 rotates towards the receiving module 211 so that the drive arm 277 forces the cleaning material from the wipe separation position 217 into the receiving module 211. In this embodiment, the opening in the receiving module 211 has the same height as the separation position 217 wiping material, or the hole in the receiving module 211 is lower than the separation position 217 wiping material; however, the cloth ejection module 270 is adjacent to the receiving module 211, when the drive lever 277 is rotated towards the receiving module 211, the cleaning cloth is deposited into the receiving module 211. In this embodiment, the mounting position 215 of the cleaning cloth may be aligned with the separating position 217 cleaning material, and the robot cleaner 100 can remain in place after detaching the cleaning material. After the base station 200 removes the used cleaning material and ejects the new cleaning material, the cleaning robot performs installation and then leaves the base station 200.

As shown in FIG. 32, the wiper removal module 270 includes a fan 279, the fan 279 is installed in the receiver module 211. The receiver module 211 includes an inlet 2701 facing the wiper separation position 217, when the fan 279 operates, the airflow around the wiper mounting position 215 material enters the fan 279 through the input 2701. The receiving module 211 includes an output 2703, air exits through the output 2703 during the operation of the fan 279. The output 2703 can be provided above the receiving module 211, or in other directions that do not affect the operation of the base station 200. When the fan 279 operates, air is expelled from the receiving module 211 by the action of the fan 279, a vacuum is created inside the receiving module 211 so that the cleaning material from the separation position 217 of the cleaning material enters the receiving module 211 through the inlet 2701. The cleaning material extraction module 270 also includes includes a filter device 274 installed between the fan 279 and the inlet 2701, and allowing the air to be cleaned of large particles in order to avoid damage to the fan 279. At the same time, under the action of the fan 279, the cleaning material can move up inside the receiving module 211, the filter device 274 avoids closing fan air intake cleaning cloth 279.

In one embodiment, the separation position 217 wiping material coincides with the mounting position 215 wiping material, and the removal module 270 wiping material does not move in the direction of height during operation. This means that when the robot cleaner 100 is at the cloth separating position 217, the base station 200 and the robot cleaner 100 do not interact with each other during operation of the cloth ejector 270. After the cleaning cloth is detached, the robot cleaner 100 may remain in place without moving and wait until the cleaning cloth removal module 270 removes the cleaning cloth, the feed module 250 ejects the cleaning cloth, only after that the cleaning robot performs the installation of the cleaning cloth. The cleaning robot 100 returns to the base station 200 to replace the cleaning material by performing the following steps:

S10: the robot cleaner 100 moves to the base station 200 so that the receiving unit 121 is directed to the separation position 217 of the cleaning material;

S20: the cleaning robot 100 releases the cleaning material;

S30: base station 200 removes cleaning material;

S40: the base station 200 outputs the cleaning cloth to the mounting position 215 of the cleaning cloth;

S50: The cleaning robot 100 sets the cleaning material.

As shown in FIG. 33, the receiving module 211 is installed under the separation position 217 of the wipe material, and the module for extracting the wipe material 270 includes a roller assembly 278 composed of a drive roller driven by a motor and a driven roller rotated by the drive roller. In this exemplary embodiment, the drive roller rotates clockwise and the driven roller rotates counterclockwise. When the wiping material is at the wiping material separating position 217, the driving roller and the driven roller are in direct contact with the wiping material, which is folded in the middle under the action of the roller 278 and moves down. As roller 278 continues to rotate, the cloth continues to descend and enters the receiving module 211. In one embodiment, due to the fact that the receiving module 211 is located under the separation position 217 of the cleaning material, if the bottom surface of the base station 200 and the working surface of the cleaning robot 100 are on the same horizontal plane, then the separation position 217 of the cleaning material will be higher than the working surface of the robot cleaner 100. Thus, the surface on which the separation position 217 of the cleaning material is located is inclined, which allows the cleaning robot 100 to move from the working surface to the separating position 217 of the cleaning material. In this embodiment, the separation position 217 of the cleaning material and the installation position of the cleaning material 215 are in the same place, that is, after moving to the installation position 215 of the cleaning material/separation position of the cleaning material 217, the robot cleaner 100 can perform the detachment and installation of the cleaning material in the same place.

As shown in FIG. 34-35, the base station 200 includes a fitting 201 for installing a suspension of a handheld vacuum cleaner, the fitting 201 integrates a handheld vacuum cleaner to the base station 200. For users who use a handheld vacuum cleaner or other portable devices along with the robot cleaner 100, installation fitting 201 allows you to expand the storage space in height and increase the utilization of space.

As shown in FIG. 36, the running direction of the robot cleaner 100 is the length direction; the direction perpendicular to the work surface is the height direction; the direction perpendicular to the length and height directions is the width direction. In one embodiment, the width of the wiping platform 122 is smaller than the width of the wiping material, so that both sides of the wiping material in the width direction can be secured to the wiping platform 122, thereby enabling the installation of the wiping material. In other embodiments, the width of the body 101 of the robot cleaner 100 is equal to or slightly larger than the width of the wiping platform 122, so that the width of the robot cleaner 100 is less than the width of the wiping material, which allows the robot cleaner 100 to be more compact.

In one embodiment, the width of the receiving module 211 is greater than the width of the cleaning material, which allows the cleaning material to lie flat in the receiving module 211. This means that the width of the base station 200 is greater than the width of the cleaning material. In one embodiment, the width of the cleaning robot 100 is less than the width of the base station 200.

In FIG. 37A-46L are drawings related to the second embodiment of the present invention. Based on the technical essence of said second embodiment, three different technical options can be distinguished, namely: the first option, as shown in FIG. 37A-37L, the second embodiment, as shown in FIG. 44A-44I and the third option as shown in FIG. 46A-46L.

According to said second exemplary embodiment, a cleaning module 120 is provided to be mounted or carried by a cleaning robot 100, a work module 400 is designed to interact with said cleaning module 120 to replace the wipes of a cleaning module 120, a base station 200 including or equipped with said work module 400, as well as a cleaning system 300 operating or equipped with said base station 200. In one possible embodiment, the robot cleaner 100 may be exactly the same as the cleaner robot shown in the aforementioned first embodiment, which will not be repeated here.

As shown in FIG. 37A, in the first embodiment, at the bottom of the body 101 of the cleaning robot 100, a coupling mechanism can be provided located between the running wheels 110 and the auxiliary wheel 102 and designed to be connected to the cleaning module 120 (not shown). A lifting mechanism can also be provided inside the housing 101 to move the connecting mechanism up and down and drive the cleaning module 120 up or down, and a known cam structure can be used as this lifting mechanism. At the top of the body 101, a detection element connected to a control unit, such as a laser scanning module, can be provided to detect the presence of an obstacle on the front side in the direction of movement of the cleaning robot 100. When the detection element detects an obstacle on the front side in the direction of movement of the cleaning robot 100, under the control of the control unit, the lifting mechanism lifts the cleaning module 120 and releases the auxiliary wheel 102. In this case, the robot cleaner 100 is in the obstacle avoidance mode. After the robot-cleaner 100 overcomes an obstacle, under the control of the control unit, the lifting mechanism lowers the cleaning module 120, the auxiliary wheel 102 is folded. In this case, the robot cleaner 100 is in the operating mode, that is, it can perform cleaning operations.

The connecting mechanism and the cleaning module 120 are connected in a removable manner. After some time of operation, the cleaning material on the robot cleaner 100 becomes dirty. Under the control of the control unit, the robot cleaner 100 moves to the base station 200, then the robot cleaner 100 releases the cleaning module 120 on the base station 200. Thereafter, the base station 200 replaces the cleaning material for the cleaning module 120 detached from the robot cleaner 100, in particular , performs the following operations: removes dirty cleaning material from the cleaning module 120, installs a new or clean cleaning material on the cleaning module 120.

As shown in FIG. 39A and 39B, in one exemplary embodiment of the present invention, the cleaning module 120 may include a wipe platform 1201 and a boot portion 1202 rotatably connected to the wipe platform 1201, wherein the wipe material can be grasped between the wipe platform 1201 and the boot portion 1202. 1201 has a generally plate shape, including but not limited to a rectangular plate shape as shown in FIG. 39A and 39B, the bottom surface of which may be in the form of an arc with a smooth transition, or in the form of a plane.

The wiping platform 1201 has a first gripping surface 1211, the boot portion 1202 has a second gripping surface 1212 opposite the first gripping surface 1211. In one embodiment, the first gripping surface 1211 is part of an area on the top surface of the wiping platform 1201, proximate the edge of the wiping platform top surface 1201 extends along the length direction of the wiping platform 1201 and has an approximately long shape. Accordingly, the second gripping surface 1212 is the lower surface of the loading portion 1202, preferably has the same shape or matches the shape of the first gripping surface 1211, that is, a long shape.

The loading portion 1202 may include a main grip portion 1213 and a pivot portion 1215 coupled to the grip main portion 1213. In particular, the grip main portion 1213 may be generally in the form of a long rod, the lower surface of which forms the second grip surface 1212. 1215 is rotatably connected to the wiping platform 1201, that is, the loading part 1202 is rotatably connected to the wiping platform 1201 through the rotary part 1215.

In order to increase the stability of the rotary connection of the loading part 1202 with the wiper platform 1201, more than 1 rotary part 1215 can preferably be attached to the main part of the gripper 1213, for example, there can be 2 or more. Two or more pivot portions 1215 are disposed on the same side along the axial direction of the grip body 1213, with all pivot portions 1215 approximately perpendicular to the grip main portion 1213. As shown in FIG. 39A and 39B, in one schematic embodiment, there are two pivot portions 1215 that are located at two ends of the grip body 1213, respectively. Preferably, the pivot portion 1215 may be formed by bending both ends of the grip body 1213 to the same side (a bending angle of about 90°). In this exemplary embodiment, the pivot portion 1215 and the grip body 1213 are integrally formed, but are not limited to this in practice.

Because the loading portion 1202 is rotatably connected to the cleaning platform 1201, therefore, the loading portion 1202 has a clamped state to allow the cleaning material to be clamped, and an open state to release the clamp and release the cleaning material.

As shown in FIG. 39A, when the loading portion 1202 is in the clamped state, the first gripping surface 1211 is attached to the second gripping surface 1212, thereby grabbing the cleaning material therebetween. At this time, the wiping material may wrap or cover the bottom surface of the wiping platform 1201, its end being caught between two gripping surfaces attached to each other. As shown in FIG. 39B, when the loading portion 1202 is in the open state, the first gripping surface 1211 detaches from the second gripping surface 1212, thereby releasing the cleaning material.

To increase the strength of the clamp to the wipe and prevent the wipe from falling out of the cleaning module 120 during a cleaning operation by the robot cleaner 100 having or equipped with a cleaning module 120, the cleaning module 120 may further include a clamp support assembly for applying a clamping force. to the boot portion 1202 to maintain the boot portion in the clamped state or switch it to the clamped state. Having said clamping force allows the boot portion 1202 to always tend to be in the clamped state, or always to switch to the clamped state. Thus, in the absence of an external force opposing the clamping force, the boot portion 1202 is generally in a clamped state.

In one possible embodiment, the clamping force is applied by the elastic force applied by the elastic element. In particular, the clamp support assembly may include an elastic member positioned between the wiping platform 1201 and the loading portion 1202. Here, in this embodiment, the clamp force is an elastic force generated by the elastic member.

One solution to the above exemplary embodiment may be that the rotary portion 1215 is rotatably connected to the wipe platform 1201 via a pin, the elastic member may be a torsion spring fitted on the pin, the ends of the torsion spring abut against the wipe platform 1201 and the loading portion 1202, respectively, by applying this elastic force to the boot portion 1202 so that the boot portion always has a force to rotate towards the first gripping surface 1211 of the wiper platform 1201. Specifically, as shown in FIG. 39A and 39B, the torsion spring applies an elastic force to the boot portion 1202 to cause the latter to rotate downward or be held in a clamped state.

Alternatively, another feasible solution may be that the elastic element may be an extension spring, both ends of which are connected to the first gripping surface 1211 and the second gripping surface 1212, respectively. In this case, the tension spring must always be in a stretched state. Thus, the extension spring can always apply a spring extension force to the boot portion 1202. To reduce the filling of the two gripping surfaces with the extension spring, and to the extent possible avoid obstructing or interfering with the wiping material, the extension spring may be located in the main grip portion 1213 near its end. .

Alternatively, yet another feasible solution may be that the elastic element may be an elastic plate that is fixed on the wipe platform 1201, the end of the rotary part 1215 abuts against the elastic plate. In particular, as shown in FIG. 39A and 39B, the wiper bed 1201 is provided with a prevention groove 1203 corresponding to the turntable 1215, the rotary joint of the turntable 1215 to the wiper bed 1201 is located between the two ends of the turntable 1215, that is, the rotary joint of the turntable 1215 to the wiper bed 1201 is located approximately in the center of the rotary part 1215. In this case, the main part of the gripper 1213 and the end of the rotary part 1215 facing away from the main part of the gripper 1213 (the so-called actuation end 1214) can form a lever structure, the reference point of which is the pivot point of the rotary part 1215 with the wiper platform 1201. The elastic plate is installed in the prevention groove 1203, the lower surface of the actuation end 1214 of the rotary part 1215 abuts against the elastic plate, so that the elastic plate constantly applies an upward elastic force to the actuation end 1214. Thus, according to the principle of leverage, the main body of the gripper 1213 always tends to rotate downward or grip the body 101.

In the above exemplary embodiments, the clamping force is applied by means of an elastic element (torsion spring, extension spring, elastic plate). It is worth noting that in practice any of the above three solutions can be used, and a combination of any two or all three of the above solutions can also be used.

Of course, the clamping force applied is not limited to the resilient force in the above embodiments. In another possible embodiment, the clamping force is applied by the strength of the magnetic field. Specifically, the clamp support assembly may include a support member (not shown in the drawing) mounted on the first gripping surface 1211 and a matching member (not shown in the drawing) mounted on the second gripping surface 1212 and corresponding to the holding member. Here, among the supporting element and the matching element, one of them is a magnetic element, the other is a magnetizable element or a magnetic element. In this case, in this exemplary embodiment, the clamping force is the magnetic attraction force generated by the support element to the matching element.

The application of the clamping force due to the force of the magnetic field is carried out without physical connecting elements, which allows to simplify the design.

In this embodiment, the magnetic element may be an element capable of generating a magnetic field, for example, it may be a magnet with magnetism (for example, a permanent magnet or a hard magnet), or it may be an electromagnetic element capable of generating magnetism after power is turned on (for example, an electromagnet). The magnetizable element can be made of magnetizable materials such as iron, cobalt, nickel, which can be attracted by magnetic force.

Among the support element and the matching element, one of them is a magnetic element, the other is a magnetizable element or a magnetic element, including: among the support element and the matching element, one of them is a magnetic element, the other is a magnetizable element; or, both the support element and the matching element are magnetic elements. When both the maintaining element and the matching element are magnetic elements, the polarity of the maintaining element facing the matching element and the polarity of the matching element facing the maintaining element are different.

More preferably, in order to reduce the weight of the cleaning module 120 as a whole, the loading part 1202 as a whole or the main part of the gripper 1213 can be made of a magnetizable material. Thus, the loading part 1202 alone or the gripping main part 1213 form a matching member, thereby avoiding the case that the mass increases due to the additional mounting of the matching member on the loading part 1202.

The holding member may be a magnet, and there are a plurality of magnets that are evenly spaced along the length direction of the first gripping surface 1211. Therefore, the holding member can uniformly pull the gripping body 1213 in the length direction, and the clamping effect of the loading portion 1202 is good. The specific positioning method may be that the first gripping surface 1211 is bent inwards to form a plurality of accommodating grooves, the support elements are placed in the respective accommodating grooves, respectively. However, the support elements are preferably no higher than the gripping surface 1211 after being placed in the accommodating grooves. Thus, the second gripping surface 1212 can attach well to the first gripping surface 1211, avoiding a gap between the two gripping surfaces, thereby increasing the gripping force of the wiping material and providing a gripping effect.

The above are exemplary embodiments in which the clamping force is applied by means of a magnetic field. It should be noted that both of the above examples of clamping force application can be configured in the cleaning module 120 at the same time, or either of these two examples can be selected and used. In other words, the clamping force may be any of the elastic force generated by the elastic element, or the magnetic attraction force generated by the matching element, or may be a combination of these two forces.

To further improve the clamping strength of the boot portion 1202 on the wiping material, two boot portions 1202 can be provided, these two boot portions 1202 are respectively located on two opposite sides of the wiping platform 1201 (for example, on the left and right sides as shown in Fig.39A and 39B). Thus, both ends of the wiping material are clamped between the first gripping surface 1211 and the second gripping surface 1212, respectively, providing increased grip strength of the wiping material.

If two boot portions 1202 are provided, when the boot portions 1202 are in the clamped state, then the cleaning module 120 is in a generally flat state in which the top surface is flat (as shown in FIG. 39A). However, when the boot parts 1202 are in the open state, the outer ends of both boot parts 1202 (grip main part 1213) are folded or lifted up, respectively, so that the cleaning unit 120 is generally in a state where the upper surface is bent inward (as shown in FIG. 39B).

With the above exemplary embodiment in which the clamping force is applied and the two loading portions 1202 are arranged symmetrically, the clamping force of the cleaning cloth can be greatly increased so as to prevent the cleaning cloth from falling out of the cleaning module 120 as much as possible during the cleaning operation of the cleaning robot 100 having or equipped with cleaning module 120.

Due to the constant presence of the clamping force applied by the clamp maintaining assembly to the boot portion 1202, therefore, in the absence of external influence, the boot portion 1202 is generally in a clamped state. Therefore, in order to effect the transition of the boot portion 1202 from the clamped state to the open state, an external force is required to resist the clamping force. In particular, following the above description, the actuation end 1214 of the rotary portion 1215, facing the back of the grip body 1213, can be configured to receive an external force. When the impact force is greater than a predetermined threshold, the boot portion 1202 can rotate around the rotational connection of the rotary portion with the wiper platform 1201, thereby switching from the clamped state to the open state.

In this exemplary embodiment, the predetermined threshold is set depending on the magnitude of the arm of the force. According to the lever principle F1S1=F2S2, given the value of the distance S1 from the end of actuation 1214 to the pivot point, the distance S2 from the gripper body 1213 to the pivot pivot point, and the clamping force F2 applied to the gripper body 1213, the force is F1 =F2S2/S1. So, in practice, when the external force applied at the end of operation 1214 reaches or exceeds the predetermined threshold F2S2/S1, the boot portion 1202 opens.

Further, in order to ensure successful opening when the actuation end 1214 is subjected to an external force, the wiper bed 1201 is provided with a prevention groove 1203 corresponding to the pivot portion 1215. As shown in FIG. 39A, when the gripping assembly is in the clamped state, the actuation end 1214 is at least partially outside the prevention groove 1203 to facilitate interaction of the external assembly (in particular, the upper lip 404, mentioned below) with the actuation end 1214. When the force of the external force exceeds a predetermined threshold, the boot portion 1202 opens, and the actuation end 1214 rotates downward to enter the prevention groove 1203. In this way, the wiper bed 1201 can be avoided from obstructing or interfering with the actuation end 1214, ensuring that the boot portion 1202 opens successfully. The preventive groove 1203 allows the rotary portion 1215 to be at least partially contained therein when the loading portion 1202 is clamped, therefore ensuring that the top surface of the cleaning module 120 is as flat as possible, facilitating the installation of the cleaning module 120 and the cleaning robot 100 .

As shown in FIG. 40-43C, the installation 400 proposed in the exemplary embodiment of the present invention for replacing the cleaning material in the cleaning module 120 may include: a support frame 401 removably attached to the cleaning platform 1201 of the cleaning module 120, the first mobile mechanism 402 installed on the base frame 401, and a power mechanism 410 driving the first slide mechanism 402 to move along the base frame 401 inward or outward along the first direction L1.

When the wiping platform 1201 of the cleaning module 120 is attached to the support frame 401, the loading portion 1202 is in the open state, under the action of the power mechanism 410, the first movable mechanism 402 can move in the first direction L1 inward, pushing the wiping material to the first gripping surface 1211 of the wiping platform 1201. When the cleaning module 120 is detached from the base frame 401, the boot portion 1202 switches to a clamped state.

In this embodiment, the support frame 401 may have a generally similar plate shape to the wiper deck 1201 of the cleaning module 120, and likewise includes, but is not limited to, a rectangular plate shape as shown in FIG. 40. The first movable mechanism 402 is mounted on the base frame 401, can move along the base frame 401 inward or outward along the first direction L1 under the action of the force mechanism 410. Here, the first direction L1 is the direction indicated by the arrow L1 as shown in FIG. 40, or the horizontal direction (left-right) as shown in FIG. 41A, FIG. 41C, FIG. 42A, FIG. 42C, FIG. 43A and FIG. 43C. "Move in" means that the first mover 402 moves towards the inside or center of the base frame 401, and "move out" means that the first mover 402 moves away from the inside or center of the base frame 401. The above explanation is similar. similarly applicable to the second trolley 403.

When the first slider 402 is driven inwardly, it can push new or clean wiping material to the first gripping surface 1211 of the wiping platform 1201, and therefore, the number of first sliders must match or be equal to the number of loading parts 1202. In the above case, when there are preferably two loading parts 1202, the number of first slides 402 is also preferably two, and the two first slides 402 are located on two opposite sides of the base frame 401 along the first direction L1, which is in particular the left and right sides shown in fig. 40, fig. 41A, FIG. 41C, FIG. 42A, FIG. 42C, FIG. 43A and FIG. 43C. In addition, the first two sliders 402 are preferably arranged symmetrically.

As shown in FIG. 40, in one possible embodiment, the first travel mechanism 402 may include a movement element 4021 and a raking element 4022 rotatably coupled to the movement element 4021. move the rake element 4022. The move element 4021 and the rake element 4022 may be generally in the form of a strip rod and arranged in parallel, both ends of the rake element 4022 have connecting lugs leading to the move element 4021, and the rake element 4022 is rotatably connected to the two ends of the move element 4021 with two connecting lugs. The outer end of the raking element 4022 is provided with a hook-like design that curves inward to provide better contact with the wiping material, pushing the wiping material against the wiping platform 1201.

The first movable mechanism 402 can be driven either under the direct action of the power mechanism 410, or under indirect or passive action due to interaction with the second movable mechanism 403, indicated below. Indirect or passive action due to interaction with the second mobile mechanism 403 is described below, here is a method of direct action of the power mechanism.

When there is one first slider 402, the power mechanism 410 may directly drive the first slider 402 to move in or out. In this case, in this embodiment, the power mechanism 410 may be a pneumatic cylinder, a hydraulic cylinder, or the like, or the power mechanism 410 drives a gear with a motor to engage a rack provided on the first movable mechanism 402.

However, when there are two first sliders 402, both first sliders 402 must move outward or inward at the same time. Therefore, the two actuators can drive the first two sliders 402 to move simultaneously outward or inward, respectively, the specific embodiment refers to the above embodiments. Alternatively, one actuator may drive the first two sliders 402 simultaneously outward or inward. Specifically, the first two vanes 402 are provided with racks respectively, two racks engage with the same gear, and two racks are located on two opposite sides of the gear.

Further, in order for the boot portion 1202 to switch from the clamped state to the open state when the wiper bed 1201 of the cleaning unit 120 is attached to the support frame 401 as shown in FIG. 43C, an upper ledge 404 may be provided on the base frame 401, the upper ledge 404 may be formed by downward bulging of the lower portion of the base frame 401. When the cleaning module 120 is attached to the base frame 401, the upper ledge 404 may abut the actuation end 1214 of the rotary portion 1215. Therefore, the loading portion 1202 opens, releasing the dirty cleaning material.

In fact, after the upper protrusion 404 is mated with the actuation end 1214, an external force must still be applied to the cleaning module 120 to open the boot portion 1202, the specific process is described below. After opening the loading section 1202, the cleaning module 120 must still be attached to the support frame 401 in order to install a new cleaning material on the cleaning module 120.

To achieve this, the cleaning module 120 can be similarly attached to the base frame 401 using the strength of the magnetic field. In particular, on the wiping platform 1201 of the cleaning module 120, the first connecting element (not shown in the drawing) can be installed, on the support frame 401, the second connecting element (not shown) corresponding to the first connecting element can be installed. Specifically, the first connection member is mounted on the top surface of the wiping platform 1201, the second attachment member is mounted on the bottom surface of the support frame 401. Among the first attachment member and the second attachment member, one is a magnetic member and the other is a magnetizable member or a magnetic member. In this case, for the magnetizable element and the magnetic element, reference can be made to the above explanations, which will not be repeated here. The first attachment member may generate a magnetic attraction force to the second attachment member so that the cleaning module 120 maintains attachment between the cleaning pattern and the support frame 401.

After the cleaning unit 120 completes the replacement of the cleaning material, it is necessary to detach the cleaning unit 120 from the base frame 401. For this reason, the separating member 405 can be rotatably mounted on the base frame 401. The separating member 405 has a receiving state in which it is installed on the base frame 401, and a protrusion state in which the outer end of the separating member protrudes from the base frame 401. When the separating member 405 is in the receiving state, the cleaning unit 120 is attached to the base frame 401; and when the separating member 405 is switched to the protrusion state, the separating member 405 joins with the cleaning platform 1201 of the cleaning unit 120, detaching the cleaning platform from the support frame 401.

As shown in FIG. 40, fig. 41B, FIG. 42B and FIG. 43B, the support frame 401 is provided with a through hole 406 at a position close to the end of the support frame, the upper end of the separating member 405 can be rotatably attached to the inner wall of the through hole 406 via a pin. The lower end surface of the separating member 405 may be in the shape of an arc with a smooth transition, and when the separating member 405 is gradually switched from the receiving state to the protrusion state, the distance that the lower end surface of the separating member 405 protrudes from the support frame 401 is gradually increased, thereby gradually by increasing the force applied to the wiper bed 1201 of the cleaning module 120, and finally by pushing the wiper bed 1201 away.

Further, between the separating member 405 and the base frame 401, a reset member can be provided that applies a reset force to the separating member 405 to cause the separating member to maintain the receiving state or switch to the receiving state. In this exemplary embodiment, the reset member may be a torsion spring fitted on a pin and exerting a force on the separating member 405 to force the separating member inward so that the separating member 405 enters the support frame 401 without external force.

In order to cause the separating member 405 to switch to the protrusion state, a second slide mechanism 403 is provided on the base frame 401. the second direction L2 is perpendicular to the first direction L1. Specifically, when the first slider 402 moves inward along the first direction L1, the second slider 403 moves outwardly along the second direction L2, respectively. Similarly, when the first slider 402 moves outward along the first direction L1, the second slider 403 moves inward along the second direction L2, respectively. Meanwhile, the second direction L2 is the direction indicated by the arrow L2 as shown in FIG. 40, or a vertical up-down direction as shown in FIG. 41A, FIG. 41B, FIG. 42A, FIG. 42B, FIG. 43A and FIG. 43B.

The separating member 405 is disposed on the outer side of the second sliding mechanism 403 along the second direction L2. As shown in FIG. 42B and FIG. 43B, when the second slider 403 moves outward along the second direction L2, the second slider 403 pushes the separating member 405 so that the separating member switches from the receiving state to the projection state. In particular, when moving outward, the second slider 403 gradually approaches the separating member 405 and eventually comes into contact with the separating member 405. As the second slider 403 continues to move outward, it causes the separating member 405 to rotate, causing the lower end of the separating element is gradually pulled out of the support frame 401. The extended lower end of the separating element 405 is joined to the wiping platform 1201 of the cleaning module 120, as the length of the elongated lower end of the separating element 405 increases, the force of docking of the separating element 405 with the wiping platform 1201 increases, and finally , overcoming the force of magnetic attraction between the first attachment and the second attachment, detaching the wiping platform 1201 from the support frame 401.

Of course, the embodiments of attaching and detaching the wiping platform 1201 from the support frame 401 are not limited to the above embodiment. In another possible embodiment, it is possible not to install the separating element 405 and the second sliding mechanism 403, the aforementioned goal can only be achieved by changing the first connecting element and the second connecting element.

In particular, among the first connecting element and the second connecting element, one of them is an electromagnetic element, the other is a magnetic element or a magnetizable element. For example, the first connecting element is an electromagnetic element, the second connecting element is a magnetic element or a magnetizable element. Or vice versa. When the electromagnetic member is energized, a magnetic field can be generated, thereby adsorbing the second attachment member to cause the cleaning platform 1201 to attach to the support frame 401, and subsequently, replacement of the cleaning material can be performed. After changing the wiping material, the electromagnetic element is turned off, the magnetic field disappears, and the wiping platform 1201 falls under the force of gravity, naturally detaching from the support frame 401.

In this embodiment, the second trolley 403 is formed from a plate structure. Further, it is also preferable to have two second sliders 403 which are located on other two opposite sides of the base frame 401 along the second direction L2. Namely, on the top and bottom sides, as shown in FIG. 40, fig. 41A, FIG. 41B, FIG. 42A, FIG. 42B, FIG. 43A and FIG. 43b. In addition, the first two sliders 402 are preferably arranged symmetrically.

In order for one actuator 410 to be able to drive two trolleys simultaneously, referring to FIG. 41A, FIG. 42A and FIG. 43A, the first slider 402 is provided with a first path tracking part 4023, the second slider 403 is provided with a second path tracking part 4032, while the second path tracking part 4032 cooperates with the first path tracking part 4023. Interaction between the first path tracking part 4023 and the second tracking part circuit 4032 is used to transfer driving force from one trolley to another trolley. When one of the two sliders moves in or out in the direction corresponding to that slide, the other slide moves out or in in the direction corresponding to that slide under the action of the interaction of the first path tracking part 4023 with the second path tracking part 4032.

In one embodiment, among the first contour tracking part 4023 and the second contour tracking part 4032, one of them is a sliding groove, the other is a protrusion inserted into the sliding groove. In the embodiment shown in FIG. 40, the first contour tracking portion 4023 is a protrusion, the second contour tracking portion 4032 is a sliding groove. The specific placement method is that the first slider 402 is located between the base frame 401 and the second slider 403, that is, the first slider 402 is located on the lower tier, the second slider 403 is located on the upper tier. On the movement element 4021 of the first sliding mechanism 402 are two support arms 4024, each of the support arms 4024 has one protrusion. Accordingly, two sliding grooves are provided on the second movable mechanism 403. When one of the movable mechanisms is driven by the power mechanism, the interaction of the protrusion with the sliding groove causes the other movable mechanism to move.

As shown in FIG. 41A, FIG. 42A and FIG. 43A, the sliding groove is segmented and includes two portions: an inclined portion and a straight portion, the straight portion being connected to an inner end of the inclined portion. The sloping section slopes outward along the second direction L2, the straight section is parallel to the second direction L2.

In one embodiment, the power mechanism 410 may include a gear 407 driven by a motor, a rack 408 in engagement with the gear 407, the rack 408 is located on the first trolley 402 or the second trolley 403. In the case where there are two first sliders 402 and two second sliders 403, one power mechanism 410 can be used to make the two sliders move in or out simultaneously, there are two rails 408 which are located respectively on the first two sliders 402 or the two second sliders 403. two racks 408 are located on both sides of the gear 407.

The power mechanism can actuate two movable mechanisms simultaneously according to two methods, namely:

First way. The power mechanism directly drives the first slider 402 to move in the first direction L1, and by moving the first slider 402, the second slider 403 is driven to move in the second direction L2 due to the interaction of the first path following part 4023 with the second path following part 4032. That is, the first slide the mechanism 402 is directly driven by the actuator 410 to move, and the second movable mechanism 403 is indirectly driven by the actuator 410 due to the interaction of the first path tracking portion 4023 with the second path tracking portion 4032.

The second way. The power mechanism 410 directly drives the second slider 403 to move along the second direction L2, and by moving the second slider 403, the first slider 402 moves along the first direction L1 due to the interaction of the first path tracking part 4023 with the second path tracking part 4032. That is, the second the trolley 403 is directly driven by the actuator 410, and the first trolley 402 is indirectly driven by the actuator 410 due to the interaction of the first path tracking portion 4023 with the second path tracking portion 4032.

The embodiment shown in FIG. 40, fig. 41A, FIG. 42A and FIG. 43A is the above second method, and the process in which the power mechanism 410 simultaneously drives two trolleys is shown below with reference to FIG. 40, fig. 41A, FIG. 42A and FIG. 43A.

In this schematic embodiment, the first slider 402 is located on the base frame 401, the second slider 403 is located on the first slider 402, that is, the first slider 402 and the second slider 403 are located in series on the base frame 401 from the bottom up. There are two first movable mechanisms 402 and two second movable mechanisms 403, the first contour tracking part 4023 is a protrusion and the second contour tracking part 4032 is a sliding groove. One rack 408 is provided on each second trolley 403, the gear 407 is engaged with two racks 408, with the two racks 408 located on two opposite sides of the gear 407. thus causing the second sliders 403 to move towards each other (in) or away from each other (out). Due to the interaction of the protrusion with the sliding groove, the first sliders 402 are respectively driven away from each other (outward) or toward each other (inward).

In order to realize the above first drive method, based on the above schematic embodiment, the location of the first movable mechanism 402 and the second movable mechanism 403 may be reversed, the first path tracking part 4023 and the second path tracking part 4032 may be as in the above exemplary embodiment, or opposite, the rack 408 may be positioned on the first trolley 402. Accordingly, when the motor drives the gear 407, the gear drives the two opposing racks 408, thereby causing the first trolleys 402 to move toward each other. (inside) or apart (outside). Due to the interaction of the protrusion with the sliding groove, the second movable mechanisms 403 are respectively driven away from each other (outward) or towards each other (inward).

Further, the top cover 409 can also be mounted on the base frame 401, the top cover 409 covers two sliding mechanisms. A long hole is provided on the top cover 409, in this hole a rack 408 is placed to guide and align the movement of the rack 408. In addition, a motor driving the gear 407 can be placed on the top cover 409.

The process in which the work module 400 according to an exemplary embodiment of the present invention replaces a new or clean wiping material 600 for the cleaning module 120 is described below with reference to FIG. 41A-43C.

As shown in FIG. 41A-41C, by magnetic attraction between the first attachment member and the second attachment member, the wiper platform 1201 of the cleaning module 120 is attached to the bottom of the support frame 401. the rotary part 1215 rotates upward, the loading part 1202 opens. The gear 407 is driven forward, namely clockwise, as shown in FIG. 41A, the left rail 408 is driven upward and the right rail 408 is driven downward. Accordingly, the lower second slider 403 moves up and the upper second slider 403 moves down. That is, both second sliders 403 move inward. Meanwhile, due to the interactions of the protrusion with the inclined portion of the sliding groove, the left first slide mechanism 402 moves to the left, and the right first slide mechanism 402 moves to the right. That is, both second sliders 403 move outward.

As shown in FIG. 42A-42C, the gear 407 is driven in the opposite direction, namely counterclockwise, as shown in FIG. 42A, the left rail 408 is driven downward and the right rail 408 is driven upward. Accordingly, the lower second slider 403 moves down and the upper second slider 403 moves up. That is, both second sliders 403 move outward. Meanwhile, due to the interactions of the protrusion with the inclined portion of the sliding groove, the left first slide mechanism 402 moves to the right, and the right first slide mechanism 402 moves to the left. That is, both second sliders 403 move inward. Therefore, the two ends of the cloth 600 are pushed against the first gripping surface 1211 of the wiping platform 1201, and the lower end of the second sliding mechanism 403 presses the end portion of the wiping material 600 against the first gripping surface 1211 of the wiping platform 1201 until the protrusion moves to the junction of the sloped section and the straight section. sliding grooves.

As shown in FIG. 43A-43C, gear 407 is driven by an electric motor to continue rotating in the reverse direction. In this case, the protrusion enters the straight section of the sliding groove and joins with the lower wall of the straight section. In this case, the second slider 403 continues to move outward, and the first slider 402 no longer continues to move inward. Further, the second slider 403 docks with the separating member 405, the separating member 405 comes out of the base frame 401 and pushes the wiper platform 1201 away. Therefore, the cleaning unit 120 is detached from the base frame 401 and falls under its own gravity. Under the action of the support element and the matching element, the boot portion 1202 of the cleaning module 120 rotates down and switches to the clamped state, clamping the cleaning material 600.

Referring to the above, the process in which the work module 400 detaches the dirty cleaning material from the cleaning module 120 is the opposite of the above process, which will not be repeated here.

The work unit 400 according to an embodiment of the present invention is located on the base station 200, this base station 200 is used to park the cleaning robot 100 and to change cleaning for the cleaning module 120 detached from the cleaning robot 100.

As shown in FIG. 37A-37L, according to an exemplary embodiment of the present invention, the base station 200 may include a shroud 202, the shroud 202 may be provided with an entrance (not shown) for the robot cleaner 100 to pass. 203 wiping platform is located on the working position 2023 wiping material. The cleaning robot 100 enters the base station 200 through the entrance, detaching the dirty cleaning module 120 onto the wiping platform tray 203 located at the wiping material station 2023. After the work unit 400 completes the replacement of the cleaning material, and when the new cleaning unit 120 falls into the work station 2023 of the cleaning material, the robot cleaner 100 installs a new cleaning unit.

The work module 400 is located inside the housing 202 at a predetermined height in the housing 202. In addition, inside the housing 202 there is also a wiping platform tray 203 designed to accommodate the cleaning module 120 and located below the work module 400, a supply module 204 designed to provide the cleaning module 120 cleaning materials, as well as a traction mechanism 205 designed to attract cleaning material coming from the supply module 204 to the cleaning module 120.

The supply module 204 is generally positioned above or at an angle above the operating module 400 and may include a winding shaft and a wiping material wound around the winding shaft, the winding shaft being rotatably positioned on the inner wall of the housing 202. In addition, the supply module 204 may further include at least one pair of push rollers 2041. These two push rollers 2041 are oppositely spaced with a gap between them for the passage of the wiping material. The two rollers are driven by an electric motor in counter-rotation, pushing the wiping material forward or backward. "Forward" is the direction away from the winding shaft, and "backward" is the direction pointing towards the winding shaft.

The traction mechanism 205 may include a transmission element 2051 and a friction element 2052 located on the transmission element 2051. As shown in FIG. 37A-37L, the transmission element 2051 may be a synchronous belt wound in a generally horizontal direction and generally located at the same height as the operation module 400. In the housing 202, at locations near the left and right ends, one transmission wheel, the synchronous belt is wound on two transmission wheels, and one of the transmission wheels is driven by an electric motor into active rotation, further driving the synchronous belt. The synchronous belt may generally include two parallel sections, an upper and a lower section, the friction element 2052 being located on the lower section of the synchronous belt. In particular, the friction element 2052 may be a brush structure including a block-shaped housing located on the synchronous belt, and brushes located on the upper and lower surfaces of the block-shaped housing. Thus, it is possible to increase the contact friction between the cleaning materials, thereby driving the cleaning materials.

The transmission element 2051 may cause the friction element 2052 to reciprocate between the first position and the second position. In this case, the first position and the second position are the two limit positions of movement of the friction element 2052, in particular, positions close to the positions of the left and right transmission wheels, respectively. In particular, the first position may be the position of the friction element 2052 shown in FIG. 37A, the first position may be the position of the friction element 2052 shown in FIG. 37G.

In addition, the operation module 400 is located between the first position and the second position, in particular, the projection of the operation module 400 on the transmission element 2051 is located between the first position and the second position. Thus, during movement between the first position and the second position, the friction element 2052 can pass through the work module 400 to remove the dirty wiping material detached from the cleaning module 120 and adsorbed on the work module 400, also pull the new or clean wiping material provided by the module supply 204, to the cleaning module 120, for installation on the cleaning module 120.

Specifically, when the transmission member 2051 causes the friction member 2052 to move from the first position to the second position, that is, move from left to right, as shown in FIG. 37A-37L, the friction member 2052 can contact the dirty cleaning material caught on the cleaning platform pan 203 and pull the dirty cleaning material to the second position. In particular, as shown in FIG. 37F, in this case the swipe tray 203 is positioned below the work unit 400 and slightly lower than the friction element 2052. with the dirty cleaning material caught on the cleaning platform pan 203, thereby sweeping the dirty cleaning material to the second position, and finally moving the dirty cleaning material out of the cleaning platform tray 203 .

Accordingly, when the transmission member 2051 causes the friction member 2052 to move from the second position to the first position, that is, move from right to left, as shown in FIG. 37A-37L, the friction element 2052 may contact new or clean wiping provided by supply module 204 and pull the wiping to the first position. Referring to FIG. 37H, when the friction element 2052 moves to the first position, the brushes located on the top surface of the friction element 2052 may contact the cleaning material provided by the supply module 204, thereby pulling the cleaning material to the first position.

Further, inside the case 202, an extraction chamber 206 is provided for collecting dirty cleaning materials, the extraction chamber 206 is located in the second position. In particular, as shown in FIG. 37A-37L, the extraction chamber 206 is essentially located within the casing 202 and corresponds to the right transfer wheel. The extraction chamber 206 is essentially a casing with a top opening, includes a box 2061 and a sole 2062 located on the bottom of the box 2061.

in one exemplary embodiment, the extraction chamber 206 is fixed in the casing 202 along the vertical direction, i.e. the position of the extraction chamber 206 in the casing 202, at least in the vertical direction, is fixed.

However, it must be ensured that the robot cleaner 100 can enter or exit the case 202. Therefore, in order not to obstruct or obstruct the robot cleaner 100 during entry and exit from the case 202, the height of the extraction chamber 206 fixed inside the case 202 is vertical direction, at least, should not be lower than the height of the cleaning robot 100. As a result, the height of the body 202 increases, and therefore the base station 200 is large in volume and poor in portability.

In view of this, in another possible embodiment, the retrieval chamber 206 can be configured to be raised and lowered in the housing 202 in a vertical direction. When the cleaning robot 100 enters the case 202, the extraction chamber rises to prevent the cleaning robot 100 from being obstructed or interfered with; and when the robot cleaner 100 exits the case 202, the extraction chamber may be lowered. In this way, full utilization of the height space of the case 202 can be ensured. The specific implementation solution will be detailed below.

A lifting mechanism 207 can be installed in the housing 202, the lifting mechanism 207 is connected to the sweeping platform tray 203 to drive the sweeping platform tray 203 to or away from the work unit 400, that is, to drive the sweeping platform tray 203 to move up and down. In one possible embodiment, the lifting mechanism 207 may be similar in design to the traction mechanism 205, includes upper and lower transmission wheels and a synchronous belt wound around two transmission wheels, the wiper pan 203 may be connected to the synchronous belt.

In order to raise and lower the extraction chamber 206 in the housing 202, the extraction chamber 206 may be driven by another lifting mechanism; and, of course, may alternatively be driven by a lift mechanism 207. That is, a single lift mechanism 207 is used to move the wiper pan 203 and the extraction chamber 206 up and down. In particular, the lifting mechanism 207 includes at least four transmission wheels to determine at least four corner points. Therefore, the lifting mechanism 207 includes at least a first lifting section 2071 and a second lifting section 2072, these two lifting sections are connected to two horizontal sections, respectively. The two risers are generally parallel so that when the synchronous belt rotates, the two risers move in exactly the opposite direction. The sweeping platform pan 203 and the extraction chamber 206 are connected to the first lifting section 2071 and the second lifting section 2072, respectively, so the lifting and lowering situations of the sweeping platform tray 203 and the extraction chamber 206 are reversed when the lifting mechanism 207 is operated. That is, when the first lift portion 2071 moves upward, the second lift portion 2072 moves downward, causing the wiper pan 203 and the extraction chamber 206 to move up and down, respectively, and vice versa.

Referring to FIG. 37A-37C, the wiper pan 203 is initially located at the bottom of the shroud 202. Accordingly, in this case, the extraction chamber 206 is located at the highest point of the shroud 202. Thus, the extraction chamber 206 will not block the entrance to the shroud 202, and therefore , the robot cleaner 100 can enter the case 202 freely and reach the position of the pan 203 of the cleaning platform. Next, the robot cleaner 100 releases the cleaning module 120 onto the wiper pan 203 and exits the housing 202. The lift mechanism 207 moves to cause the first lift section 2071 to move up and, accordingly, the second lift section 2072 to move down. Therefore, the wiping platform pan 203 is driven upward carrying the cleaning module 120 until the cleaning module 120 and the operating module 400 are attached to perform the wiping cloth change operation, and the extraction chamber 206 moves downward to collect dirty wiping materials. Thus, a single lift mechanism 207 can be used to simultaneously raise or lower the wiping platform pan 203 and the extraction chamber 206 so that the extraction chamber 206 can be positioned relatively low when the extraction chamber collects soiled cleaning material and at a relatively high the position where the robot cleaner 100 is to enter or leave the case 202, and may also take into account the need to assemble the cleaning module 120 with the work module 400 and the robot cleaner 100. Therefore, the base station 200 can be made relatively compact, with a low height, relatively small volume and relatively good portability.

When the lift mechanism 207 lifts the cleaning module 120 upwards with the wiper tray 203 until the cleaning platform 1201 of the cleaning module 120 is attached to the support frame 401 of the work module 400, the top projection 404 on the bottom of the support frame 401 mates with the top surface of the actuation end 1214 of the turntable. 1215, the rotary portion 1215 is thus rotated, causing the boot portion 1202 of the cleaning module 120 to switch from the clamped state to the open state.

In this exemplary embodiment, the wiping platform tray 203 is used to accommodate the cleaning module 120 or to accommodate the wiping material. In one possible embodiment, the wiper tray 203 may be in the form of a plate-like structure as a whole and positioned generally horizontally. As shown in FIG. 38A and FIG. 38B, in yet another exemplary embodiment, the wiper tray 203 is foldable and includes a main body 2031 and positioning elements 2032 rotated on opposite sides of the main body 2031. The body 101 is a flat plate structure, both ends of which are provided projections 2033 extending vertically upwards, the outer sides of the two projections 2033 are bent inward to form connecting grooves 2034, sliders 2035 are located in the connecting grooves 2034, sliders 2035 are connected to the synchronous belt of the hoist 207, thereby connecting the hoist 207 to the wiper tray 203 . Referring to FIG. 37A and FIG. 37L, further, between the slider 2035 and the connecting groove 2034, there is a buffer element (eg, a spring) to dampen vibrations of the sweeping pan 203 during lifting and lowering.

Similarly, the method of connecting the extraction chamber 206 to the synchronous belt of the hoist 207 may refer to the above construction, i.e. the box 2061 may be connected to the synchronous belt via another slider 2053, which will not be repeated here.

The positioning member 2032 generally has a long structure, the cross section of which may have a curved shape such as a "7" shape, and has an outer end located outside the main body 2031 and an inner end located under the body 101, wherein the pivot point of the positioning member 2032 with the main body 2031 is located between the inner end and the outer end. Similarly, the positioning element 2032 also forms a lever structure, the anchor point of this lever structure is the pivot point of the positioning element 2032 to the main body 2031.

The pan 203 of the wiping platform has an expanded state and a folded state. When the pallet is in the expanded state, the top surfaces of the two positioning members 2032 and the top surface of the body 2031 are approximately flush. In this case, the inner end of the positioning member 2032 is mated with the lower surface of the main body 2031, and the pan 203 of the wiping platform is in a generally flat state in which the upper surface is even (as shown in Fig. 38A). However, when the wipe pan is in the folded state, the upper ends of the two positioning members 2032 are folded upward so that the cleaning module 120 is in a state in which the top surface is folded inward as a whole (as shown in FIG. 39B). In this case, the inner end of the positioning member 2032 is detached from the lower surface of the main body 2031, and the pan 203 of the wiping platform as a whole is in a state in which the upper surface is bent inwards (as shown in Fig. 38B).

Further, when the cleaning module 120 and the working module 400 are not in contact, the pan 203 of the wiping platform is in a flattened state. And when the cleaning module 120 comes into contact with the working module 400, the pan 203 of the wiping platform switches to the folded state, the two positioning elements 2032 are mated with two opposite sides of the cleaning module 120, thereby clamping the cleaning module 120 between the two positioning elements and correcting the position of the cleaning module 120 so that the cleaning module is connected to the base frame 401 in the best way.

As shown in FIG. 37E, after the loading portion 1202 of the cleaning module 120 is switched to the open state, the lifting mechanism 207 subsequently causes the sweep deck tray 203 to move down to the area, and the released dirty cleaning material falls onto the sweep deck tray 203. Subsequently, after the traction mechanism 205 pulls the wiping cloth to a predetermined position, the lifting mechanism 207 drives the wiping platform tray 203 upwardly, causing the wiping platform tray 203 and the cleaning module 120 to come into contact, in which case the wiping platform tray 203 switches from unfolded state to folded state. Therefore, the positioning member 2032 of the wiper tray 203 folds the wiper material upward, thereby assisting the first slide mechanism 402 of the work unit 400 to push the cloth toward the first gripping surface 1211 of the wiper platform 1201.

If the positioning element 2032 is not exposed to external influences, then the pan 203 of the wiping platform is in the expanded state, the specific embodiment is the same as in the previous description, it is possible to install a reset element between the positioning element 2032 and the main body 2031. Alternatively, the outer end of the positioning element 2032 made relatively large in mass or long in length. Therefore, under the action of the principle of leverage, the inner end of the positioning member 2032 naturally mates with the lower surface of the body 2031, and the pan 203 of the wiping platform is in the expanded state.

In order for the wiper tray 203 to switch from the expanded state to the collapsed state, as shown in FIG. 38A and FIG. 38B, the inner end of the positioning member 2032 is provided with a locking member 2036, and the outer end extends from the main body 2031. In the housing 202, there are locking bars 208 cooperating with the locking member 2036, there are two locking bars 208, which are located on both sides of the first lifting section 2071 As shown in FIG. 37D, in a process in which the lifting mechanism 207 lifts the cleaning module 120 up with the wiper tray 203, when the cleaning module 120 comes into contact with the work module 400, the locking bar 208 also simply mates with the outer end of the locking member 2036, thereby causing the pan 203 of the wiping platform to switch from the flattened state to the folded state.

The entire process in which the base station 200 according to an embodiment of the present invention replaces the cleaning cloth for the cleaning robot 100 is shown below with reference to FIG. 37A-37L.

As shown in FIG. 37A, the cleaning robot 100 carrying the cleaning module 120 is preparing to enter the base station 200. In this case, the sweeping tray 203 is located on the bottom of the base station 200, and the extraction chamber 206 is suspended at a height by a synchronous belt, thereby opening the entrance in the housing 202 so that the cleaning robot 100 can easily enter the base station 200.

As shown in FIG. 37B, the cleaning robot 100 enters the base station 200, releasing the cleaning module 120 onto the wiper tray 203. In this case, the pan 203 of the wiping platform is in the expanded state.

As shown in FIG. 37C, the cleaning robot 100 leaves the base station 200.

As shown in FIG. 37D, the lifting mechanism 207 operates, in particular, the synchronous belt of the lifting mechanism 207 rotates clockwise to cause the wiper pan 203 to move upward, and at the same time, the extraction chamber 206 moves downward. The wiper tray 203 carries the wiper module 120 and moves upward until the wiper module 120 comes into contact with the base frame 401. An upper lug 404 on the bottom of the support frame 401 mates with the top surface of the actuation end 1214, thereby opening the wiper platform 1201 and releasing dirty cleaning material. At this time, the locking bar 208 is mated with the outer end of the locking member 2036, the positioning member 2032 is rotated, the wiper pan 203 is switched to the folded state, the positioning member 2032 is joined to the two sides of the wiper deck 1201 of the cleaning module 120 to adjust the position of the wiper deck 1201 and clamp cleaning platform 1201.

As shown in FIG. 37E, the hoist 207 moves in the reverse direction. Specifically, the synchronous belt of the lifting mechanism 207 rotates counterclockwise to cause the sweeping platform tray 203 to move downward a certain distance, along with this, the released dirty cleaning material falls onto the sweeping platform tray 203. Under the action of the first attachment member and the second attachment member, the cleaning module 120 is adsorbed to the base frame 401, causing the cleaning module 120 to continue to maintain the state of being attached to the base frame 401.

As shown in FIG. 37F, the traction mechanism 205 is in operation. In particular, the synchronous belt of the traction mechanism 205 rotates counterclockwise, causing the friction element 2052 to move to the right (toward the second position), the bottom surface of the friction element 2052 will come into contact with the dirty cleaning material that has fallen on the cleaning platform tray 203, and pushing the dirty cleaning material to the right.

As shown in FIG. 37G, the synchronous belt of the traction mechanism 205 continues to rotate counterclockwise, the friction element 2052 continues to drive the dirty cleaning material to the right, and finally, the dirty cleaning material leaves the cleaning platform tray 203 and falls into the extraction chamber 206.

As shown in FIG. 37H, the push roller 2041 of the supply module 204 is driven by an electric motor to push the new or clean wiping material wound around the winding shaft forward a certain distance. Then, the synchronous belt of the traction mechanism 205 rotates clockwise, the friction element 2052 is driven to the left (in the direction of the first position), the upper surface of the friction element 2052 comes into contact with a new or clean cleaning cloth, thereby scratching and pulling the cleaning cloth to the left. Meanwhile, the push roller 2041 also works synchronously to continuously push the wiping material forward. When the friction element 2052 reaches the first position, the push roller 2041 stops rotating.

As shown in FIG. 37I, the push roller 2041 rotates in the opposite direction, pulling the wiping material back for some distance. After the detection element 209 (for example, may be a photoelectric sensor) located above the traction mechanism 205 detects that the wiping material has moved back a predetermined distance, the push roller stops.

As shown in FIG. 37J, the synchronous belt of the hoist 207 rotates clockwise, the swabbing pan 203 moves upward until the cleaning unit 120 is attached to the base frame 401. platform to switch to the folded state again, the outer end of the positioning member 2032 is folded upward to fold the cleaning material upward. Thereafter, the push roller 2041 continues to rotate in the reverse direction, tearing off the wiping material at the breaking point.

As shown in FIG. 37K, the power mechanism 410 of the work unit 400 operates to actuate the first sliding mechanism 402 to push the first gripping surface 1211 of the cleaning platform 1201. At the same time, the second sliding mechanism 403 pushes the separating element 405 so that the separating element extends and pushes the cleaning platform away. 1201, and the loading portion 1202 switches to the clamped state, while clamping the cleaning material on the cleaning module 120. Then, the synchronous belt of the lifting mechanism 207 rotates counterclockwise, and the pan 203 of the cleaning platform moves down. With this, the extraction chamber 206 rises until the wiper tray 203 reaches the bottom of the casing 202, at which time the extraction chamber 206 rises to the highest position and stops.

As shown in FIG. 37L, the robot cleaner 100 re-enters the base station 200 and leaves the base station 200 with the cleaning module 120 installed on its bottom after changing the cleaning material. After that, cleaning operations can be carried out.

From the above replacement process, it can be seen that in the above embodiment, in order to avoid interference caused to the wiping platform tray 203, the cleaning robot 100 must enter and exit the base station 200 twice to replace the wiping material, so it is necessary to improve the measurement efficiency. cleaning material. Based on this, in the second embodiment of the present invention, the following solution is proposed for further improvement.

As shown in FIG. 44A-44I, in the housing 202 of the base station 200, a wiping platform operating station is provided, which includes a wiping platform separating station 2021 and a wiping platform mounting station 2022. The wiping platform separating position 2021 is used to accommodate the wiping platform tray 203, and the wiping platform mounting position 2022 is located between the housing inlet 202 and the wiping platform separating position 2021 and is used to accommodate the cleaning module 120 to replace with new wiping material.

Base station 200 also includes a movement and repositioning mechanism 212 located in housing 202. As shown in FIG. 45, this movement and repositioning mechanism 212 includes: a swing arm 2121 rotatably located on the inside wall of the housing 202 facing the inlet. Swivel arm 2121 is approximately rod-shaped, has a connecting end (left end, as shown in Fig. 45) rotatably connected to the inner wall of the housing 202, and a free end (right end, as shown in Fig. 45) located opposite the connecting end. The connecting end and the free end are provided with the possibility of rotation of the first synchronous wheel and the second synchronous wheel (not shown), respectively, around the first synchronous wheel and the second synchronous wheel, a synchronous belt 2122 is wound, a pusher cracker 2123 is attached to the synchronous belt 2122. The first synchronous wheel is connected to an electric motor which drives the first synchronous wheel, driving the synchronous belt 2122 and its pusher 2123 into action. In particular, the swing arm 2121 is rotatably mounted on the inner wall of the case 202 by the support 2124, and the transmission shaft 2125 mounted on the connecting end is connected to the motor output shaft through the lug on the support 2124.

The pusher 2123 can be made of magnetizable materials such as iron, cobalt, nickel, can be attracted by magnetic force, alternatively, a magnetic element 2127, such as a magnet, is mounted on the pusher 2123. The pivot arm 2121 is provided with a first magnet 2126 and a second magnet (not shown in the drawing) at locations close to the connecting end and the free end, respectively. When the pusher 2123 moves under the action of the synchronous belt 2122 and approaches the connecting end or free end, the first magnet 2126 or the second magnet can respectively create a magnetic attraction force for the pusher 2123, giving the pusher 2123 a stable tendency to be at the connecting end or free end. .

The operating principle of the present exemplary embodiment is as follows: the swing arm 2121 is initially in the vertical state, the pusher 2123 approaches the connecting end and is attracted by the first magnet 2126, and the synchronous belt 2122 is in the locked state. The rotation of the swing arm 2121 in the direction from the separation position 2021 of the cleaning platform and the installation position 2022 of the cleaning platform is limited by the inner wall of the casing 202. Therefore, when the motor drives the transmission shaft 2125 to rotate, the swing arm 2121 can only rotate in the direction towards the separation position of the cleaning platform 2021 and mounting position 2022 of the wiping platform, and causing the rotary arm 2121 to switch eventually from the vertical state to the horizontal state. Subsequently, the motor output torque is increased, and when the impact force applied by the motor to the first synchronous wheel overcomes the magnetic attraction force of the pusher 2123 to the first magnet 2126, the first synchronous wheel is driven and the synchronous belt 2122 rotates accordingly, causing the pusher 2123 move. The pusher rudder 2123 moves in the direction from the sweeping platform separating position 2021 to the cleaning platform mounting position 2022, thereby pushing the wiper platform that has completed the replacement of the cleaning material and held on the wiper platform tray 203 located in the sweeping platform separating position 2021 to the wiper platform mounting position 2022 . In this case, the pusher nut 2123 is attracted by the second magnet. Then, the motor rotates in the reverse direction, and the rotary arm 2121 rotates to the vertical position.

The entire process in which the base station 200 according to an embodiment of the present invention replaces the cleaning cloth for the cleaning robot 100 is shown below with reference to FIG. 44A-44I.

As shown in FIG. 44A, the robot cleaner 100 is ready to enter the base station 200 to change the cleaning material. In this case, the swing arm 2121 is in the vertical state, the pusher 2123 is attracted by the first magnet 2126, and the synchronous belt 2122 is in the locked state.

As shown in FIG. 44B, the robot cleaner 100 enters the base station 200 through the entrance, detaching the cleaning module 120 onto the wiper tray 203 located at the wiper separation position 2021.

As shown in FIG. 44C, the robot cleaner 100 returns to the wiping platform mounting position 2022 and installs the cleaning module 120 provided in the previous work cycle and completed the replacement with the new wiping material.

As shown in FIG. 44D, the cleaning robot vehicle 100 leaves the base station 200.

As shown in FIG. 44E according to the process shown in FIG. 37A-37L, the base station 200 performs a wipe change on the wiper module 120 detached from the robot cleaner 100 in this work cycle, subsequently the wiper tray 203 lowers the wiper module 120 after the change of clean wiper to the wiper bed separating position 2021.

As shown in FIG. 44F, the motor drives the movement and repositioning mechanism 212 to cause the pivot arm 2121 to rotate from an initially vertical position to a horizontal position.

As shown in FIG. 44G and FIG. 44H, under the action of the electric motor, the first synchronous wheel overcomes the magnetic attraction of the pusher 2123 to the first magnet 2126, causing the pusher 2123 to move to the right, and then pushes the cleaning module 120 with clean wiping material placed on the pan 203 of the wiping platform to the mounting position 2022 of the wiping platform. platforms.

As shown in FIG. 44I, thereafter, the motor rotates in the reverse direction, and the rotary arm 2121 rotates to the vertical position.

It follows that with the help of the above technical solution to improve the exemplary embodiment, and due to the fact that additionally install on the base station 200 the mechanism for moving and changing the position 212 and the mounting position 2022 of the wiping platform, designed for temporary storage of the cleaning module 120 with a replaced new wiping material, the movement and repositioning mechanism 120 can push the cleaning module 120, on which the work module 400 has completed the replacement of the cleaning material, from the tray 203 of the cleaning platform to the mounting position 2022 of the cleaning platform. Thus, when the cleaning robot 100 replaces the cleaning module 120, it first detaches the dirty cleaning module 120 to the wiper tray 203, then installs the new cleaning module 120 to the cleaning platform mounting position 2022. Therefore, the replacement of the cleaning module 120 is completed in only one visit to the base station 200, which greatly improves the efficiency of the replacement.

It should be noted that the base station 200 indicated in the second option is different from the base station 200 indicated in the first solution of FIG. 37A-3737L, with only the additional installation of the moving and repositioning mechanism 212 and the wiping platform mounting position 2022 (in fact, the base station 200 in the first solution includes the wiping platform separating position 2021), the other structures are essentially the same. You can make reference to the above description, which will not be repeated here.

In FIG. 46A-46L show a diagram of a process for replacing a cleaning cloth of a cleaning robot 100 in a third possible embodiment of a base station 200 according to a second embodiment of the present invention. The base station 200 in this embodiment is slightly different from the base stations 200 indicated in the first embodiment shown in FIG. 37A-3737L, and in the second embodiment shown in FIG. 44A-44I. The difference is that the device 400 used to replace the cleaning material for the cleaning module 120 and the extraction chamber 206 in the base station 200 in this embodiment are different from the operating modules 400 in the above two embodiments. As for other similarities, reference may be made to the preceding description, which will not be repeated here.

In addition, the pan 203 wiper platform in this embodiment may be the same as in the previous embodiment, or different from it. When the wiper tray 203 has the same structure as the previous embodiment, the lock bar 208 can be installed in the casing 202, respectively. However, when the wiper tray 203 is of a different structure from the previous embodiment, the wiper tray 203 may include only one carrier plate, similar to the main body 2031 indicated in the previous embodiment, but does not include the positioning member 2032. In this case, the wiper pan 203 has only an unfolded state, but does not include a folded state.

The wiper pan 203 is located on the lift mechanism 207 and is driven up and down by the lift mechanism 207. Likewise, in the present embodiment, the lifting mechanism 207 may be the same as in the aforementioned first and second embodiments, or may use other replacement methods. For example, in this exemplary embodiment, the hoist 207 may be a synchronous belt, a transmission belt, and other belt-shaped structure that are vertically disposed in the housing 202, in the housing 202, at locations near the top end and the bottom of the housing, one running wheel is located. , the synchronous belt and the transmission belt are wound around two running wheels, the wiper pan 203 is fixed in a vertical portion on either side of the synchronous belt and the transmission belt.

As shown in FIG. 46A, in this embodiment, the operation module 400 may include only one adsorption plate 411 and a magnetic element (not shown in the drawing) mounted on the bottom of the adsorption plate 411, the adsorption plate 411 is the same as the support frame 401 in the above embodiment. At a location near the upper end of the case 202 is the trolley 412, the trolley 412 may also be a belt-shaped structure such as a synchronous belt, transmission belt, etc., wound around a plurality of belt pulleys and forming at least horizontal link section 4121.

With reference to FIG. 46E, the adsorption plate 411 is fixedly fixed in the horizontal link section 4121 of the trolley 412 by a single joint, and the adsorption plate 411 is rotatably connected to the joint. Specifically, the inner wall of the case 202 of the base station 200 near the upper end of the case is provided with a first sliding groove 413 and a second sliding groove 414, which are arranged horizontally. The first sliding groove 413 is smaller in size than the second sliding groove 414, both sliding grooves are located in the same horizontal position. The inner wall of the casing 202 is further provided with a third slide groove 419, and the third slide groove 419 is formed in the form of a mountain peak and is connected to the second slide groove 414 with a smooth transition. In addition, the third sliding groove 419 corresponds to the position of the hoist 207.

The coupling assembly includes a first roller 415 mounted in the first sliding groove 413 and moving in a horizontal direction along the first sliding groove 413, a first connecting piece 416 and a second connecting piece 417 rotatably connected to the first roller 415. The first connecting part 416 is fixedly connected to the horizontal link section 4121 of the trolley 412, the second connecting part 417 is connected to the adsorption plate 411 on one side and is provided with a second roller 418 on the other side to rotate, the second roller 418 can slide in the second sliding groove 414 and the third sliding groove 419. The method of rotational connection of the first fitting 416 and the second connecting part 417 with the first roller 415 may be as follows: the second connecting part 417 is made in the form of a sheet or plate, on one of its sides facing the first sliding groove 413 is provided with, and the first roller 415 is rotatably mounted thereon. This end can extend to the side of the first roller 415 that is not facing the first sliding groove 413. The first connecting piece 416 is also made in the form of a sheet or plate and is fixedly connected to the end.

Alternatively, the second connecting piece 417 is provided with a circular hole that matches the shape and size of the first roller 415, part of the first roller 415 is inserted into this circular hole and can rotate in it, the other part of the first roller is outside this circular hole, but is inserted into the first the sliding groove 413. At the center of the circumference of the first roller 415, which extends in the direction from the first sliding groove 413, the first connecting piece 416 can be provided with a shaft hole into which it passes.

The adsorption plate 411 has a horizontal position and a vertical position. Specifically, when the lifting mechanism 207 moves the cleaning module 120 upward to a position adjacent to the adsorption plate 411, the cleaning module 120 is adsorbed to the lower end of the adsorption plate 411 under the influence of the magnetic attraction force. In this case, the second roller 418 is located in the third sliding groove 419, and the adsorption plate 411 is in a generally horizontal position. When the trolley 412 is moved, the adsorption plate 411 connected to the horizontal link section 4121 of the trolley 412 through the connection assembly is overturned.

Specifically, when the horizontal link section 4121 moves to the left, the second roller 418 initially in the vertical state in the third slide groove 419 enters the left section of the horizontal second slide groove 414. Therefore, under the effect of the limitation of the second roller 418 and the second slide groove 414, the adsorption plate 411 rotates upward in a clockwise direction, which is the process shown in FIG. 46D-46E.

Accordingly, when the horizontal link section 4121 moves to the left, the second roller 418 initially in the vertical state in the third sliding groove 419 enters the right section of the horizontal second sliding groove 414, the adsorption plate 411 rotates upward counterclockwise, which is the process shown in fig. 46G-46H.

In this embodiment, the retrieval chamber 206 is located at one end of the horizontal link section 4121 (left side shown in FIGS. 46A-46L), a wiper mounting position 420 may be provided on the outside of the other end of the horizontal link section 4121. The extraction chamber 206 has an opening facing the horizontal link section 4121, the upper and lower ends in the opening of the extraction chamber are provided with separator modules 422, and the separator module 422 is a reverse hook-shaped design and is used to engage the cleaning cloth to remove the cleaning cloth from the wiper. platform 1201 cleaning module 120. Therefore, the location of the separation module 422 corresponds to the separation position 4221 wiping material. Wiping material mounting position 420 is approximately in the form of a groove open inwards, the shape of the groove matches the shape of the bottom of the cleaning platform 1201 of the cleaning module 120. The end portion of the cleaning material provided by the supply module 204 can be lowered to the cleaning material mounting position 420. Between the supply module 204 and the wiper mounting position 420, a feeder module 421 is further provided, which includes at least two transfer wheels, the two transfer wheels moving in and out intermittently to nip the wipe. As shown in FIG. 46A, one of the transmission wheels is a round roller, the other transmission wheel is a cam. The entire process in which the base station 200 according to an embodiment of the present invention replaces the cleaning cloth for the cleaning robot 100 is shown below with reference to FIG. 46A-46L.

As shown in FIG. 46A, the robot cleaner 100 is ready to enter the base station 200 to change the cleaning material. In this case, the wiper tray 203 is located at the bottom of the case 202, the second roller 418 is located in the third slide groove 419, and the adsorption plate 411 is in a horizontal position.

As shown in FIG. 46B, the cleaning robot 100 enters the base station 200 through the entrance, releasing the cleaning module 120 onto the wiper tray 203, and retreats a distance.

As shown in FIG. 46C, the lifting mechanism 207 drives the wiper pan 203 upwardly moving the pan-carried cleaning module 120 towards the adsorption plate 411.

As shown in FIG. 46D, under the influence of the magnetic attraction force, the cleaning module 120 is attracted to the adsorption plate 411. The lifting mechanism 207 is lowered, thereby returning the pan 203 of the cleaning platform to the bottom of the base station 200.

As shown in FIG. 46E, the travel mechanism 412 rotates clockwise, the horizontal link section 4121 moves to the left. The second roller 418 enters the left portion of the second slide groove 414 from the third slide groove 419, the adsorption plate 411 rotates 90 degrees to the left to switch to the vertical position. After that, the mobile mechanism 412 continues to operate, the adsorption plate 411 with the fixed cleaning module 120 continues to move towards the extraction chamber 206.

As shown in FIG. 46F, the adsorption plate 411 and the cleaning module 120 enter the extraction chamber 206 through the opening.

As shown in FIG. 46G, the sliding mechanism 412 rotates counterclockwise in the reverse direction, causing the adsorption plate 411 and the cleaning unit 120 to move back. As the cleaning module 120 passes through the separation module 422, the dirty wiping material on the separation module is caught and scraped off and then falls into the extraction chamber 206.

As shown in FIG. 46H, the movable mechanism 412 continues to rotate in the reverse direction, the adsorption plate 411 and the cleaning unit 120 continue to move backward (to the right). When moved to the position corresponding to the third slide groove 419, the second roller 418 enters the third slide groove again, and the adsorption plate 411 switches to the horizontal state. Immediately thereafter, with the rotation of the movable mechanism 412, the second roller 418 again moves to the right portion of the second slide groove 414. The adsorption plate 411 rotates to the right by 90 degrees, switching to a vertical position.

As shown in FIG. 46I, the movable mechanism 412 continues to move the adsorption plate 411 and the cleaning module 120 to the right until the cleaning platform 1201 of the cleaning module 120 is in the wiper mounting position 420. In this case, the two transfer wheels of the supply module 421 grip the new cleaning material provided by the supply module 204. When the cleaning platform 1201 of the cleaning module 120 is installed in the cleaning material mounting position 420, a tensile force is applied to the cleaning material to break off the cleaning material and pinch it.

As shown in FIG. 46J, the sliding mechanism 412 drives the adsorption plate 411 and the cleaning module 120 back to the left and stops when the second roller 418 enters the third sliding groove 419 from the second sliding groove 414 again, and the adsorption plate 411 together with the cleaning module 120 is restored. to a horizontal state.

As shown in FIG. 46K, the lifting mechanism 207 drives the wiper tray 203 upward to remove the cleaning unit 120 from the adsorption plate 411; thereafter drives the wiper tray 203 together with the cleaning module 120 down to the bottom.

As shown in FIG. 46L, the cleaning robot 100 enters the base station 200, installs the cleaning unit 120, then leaves the base station 200 and starts cleaning operations.

In this exemplary embodiment, the method in which the adsorption plate 411 and the cleaning unit 120 has removable magnetism may be that the magnetic element located on the adsorption plate 411 may be an electromagnet. When it is necessary to adsorb the cleaning module 120 on the adsorption plate 411, the power of the electromagnet must be turned on to create a magnetic field. If it is necessary to remove the cleaning module 120 from the adsorption plate 411 (the step shown in Fig. 46K), the power of the electromagnet must be turned off, after the disappearance of the magnetic field, the cleaning module 120 falls on the pan 203 of the cleaning platform by gravity.

In addition, the cleaning module 120 is also slightly different from the cleaning modules in the above two options. In this exemplary embodiment, the cleaning module 120 may include only one wiping platform 1201, which may be attached to the cleaning module with a textile or Velcro fastener. Thus, in the step shown in FIG. 46I, when the movable mechanism 412 drives the adsorption plate 411 and the cleaning unit 120 to move to the right until the wiping platform 1201 is installed on the wiping material mounting position 420, the wiping platform 1201 can not only apply force to the wiping material, pointing downwards to tear off the cloth at the weak connection, but can also apply force to the cloth so that the cloth adheres firmly to the textile fastener or Velcro fastener located at the bottom of the 1201 wipe platform.

In FIG. 47-50 are drawings related to the third embodiment of the present invention. Specifically, the third embodiment provides a base station 200 for parking the cleaning robot 100 and a cleaning system 300 using or equipped with the base station 200. In this embodiment, the robot cleaner 100 may be exactly the same as the robot cleaner indicated in the above first and/or second embodiment, which will not be repeated here. This embodiment describes the process of removing soiled cleaning material, and the base station 200 mainly includes a receiving module and a receiving frame 240 for withdrawing soiled cleaning material into the receiving module.

As shown in FIG. 47, fig. 49 and FIG. 50, in this exemplary embodiment, the base station 200 may include a bottom 230 designed to be placed on a supporting surface (e.g., floor) and a receiving frame 240 mounted on the bottom 230 to receive soiled cleaning material removed from the cleaning robot. 100. At the same time, the area of the bottom 230 is larger than the area of the projection of the receiving frame 240 on the bottom 230. Thus, when placed on the bottom 230, the receiving frame 240 occupies part of the area of the upper surface of the bottom 230, and therefore, on the bottom 230, outside the receiving frame 240, a free a parking area for the cleaning robot 100 (as shown in FIG. 47).

The receiving frame 240 may be of a semi-open design and includes a back plate 240a, two opposing side plates 240b connected to the back plate 240a, and a pressure plate 240c slidably positioned between the two side plates 240b and opposite the back plate 240a. The back plate 240a and two side plates 240b are arranged vertically on the bottom 230, the two side plates 240b are parallel, the pressure plate 240c is sandwiched between the two side plates 240b, the pressure plate 240c is preferably parallel to the back plate 240a. In addition, the push plate 240c can slide up and down relative to the two side plates 240b, thereby opening or closing the receiving frame 240.

As shown in FIG. 50, in order to guide and limit the up and down sliding of the pressure plate 240c, two horizontal ends of the pressure plate 240c are provided with convex structures 240d, two side plates 240b are provided with band-like restriction and guide holes 240e that extend vertically. The convex structures 240d are inserted into the stop and guide holes 240e on the two side plates 240b and can move up and down in the stop and guide holes 240e, thereby restricting the pressure plate 240c and guiding up and down sliding.

In order to retrieve the soiled cleaning material removed from the robot cleaner 100 into the receiving frame 240, the base station 200 further includes a cleaning material collection mechanism. The wiping material collection mechanism includes a drive assembly mounted in the receiving frame 240 and a raking assembly driven by the drive assembly. The raking assembly is driven by the drive assembly so that the lower end of the raking assembly has a working stroke, i.e. moving towards the receiving frame 240, and a reverse movement, i.e. moving away from the receiving frame 240. When in the working stroke, the lower end of the node the raking arm comes into contact with the bottom 230, pressing the dirty cloth and drawing the dirty cloth to move on the bottom 230 to the receiving frame 240. And when in the reverse stroke, the lower end of the raking unit is disconnected from the bottom 230.

As shown in FIG. 47, fig. 49 and FIG. 50, the rake assembly may include a rocker 231. The drive assembly may include a motor 232, an actuator that is rotated by a motor 232. The actuator cooperates with the rocker 231 to cause the lower end of the rocker 231 to move along the working move or reverse.

The drive assembly also includes an input shaft 233 rotatably driven by a motor 232, the input shaft 233 extending through two side plates 240b of the receiving frame 240 to the outside of the side plates, with one drive member each at the two ends of the input shaft, respectively. With reference to FIG. 47, the motor 232 can drive the input shaft 233 by engaging between the drive gear and the driven gear. There are two swinging elements 231, which are located on the outer side of the receiving frame 240 and interact with two actuating elements, respectively.

In one possible embodiment, the raking assembly may include only the oscillating element 231, or the oscillating element 231 individually forms a raking assembly. While in the stroke, the lower end of the oscillating member 231 may mate with the bottom 230, pressing the dirty wiping material and drawing the dirty wiping material against the receiving frame 240. In this case, the lower end of the oscillating member 231 forms the lower end of the raking assembly.

In another possible embodiment, the raking assembly may further include a connecting piece 234 and a push plate 235, the two ends of the connecting piece 234 are rotatably connected to the lower ends of the two oscillating elements 231, respectively, the push plate 235 is mounted on the lower end of the connecting piece 234 with possibility of rotation. In this case, the lower end of the oscillating member 235 forms the lower end of the rake assembly.

Connecting piece 234 is approximately horizontally elongated, both ends of which are respectively connected to two side plates 240b of receiving frame 240. Pusher plate 235 is approximately horizontally elongated, and to increase contact friction between the bottom surface of the pusher plate and dirty cleaning material the bottom surface of the push plate 235 may have concave-convex textures extending along the length direction of the push plate.

The push plate 235 and the connecting piece 234 may be rotatably connected with a pin. In particular, as shown in FIG. 50, the lower end of the push plate 235 may be provided with one or more grooves, the upper end of the push plate 235 may be suitably provided with one or more connecting protrusions. On both sides of the groove and in the connecting ledge, there are pin holes into which the pins are inserted, and the connecting ledge is stuck in the corresponding groove.

The connecting piece 234 can move up and down relative to the rocker 231, causing the push plate 235 to move up and down. In particular, as shown in FIG. 48, connecting shafts 236 are installed at two ends of the connecting piece 234, shaft holes 237 are provided at the lower ends of the two oscillating members 231, extending in the vertical direction, two connecting shafts 236 are inserted into two shaft holes 237, respectively. The connecting shaft 236 can move up and down in the shaft bore 237, causing the push plate 235 to move.

When the stroke begins, the push plate 235 presses the soiled cloth against the bottom 230. As the stroke continues, the force of the push plate 235 against the dirty cloth and the bottom 230 gradually increases, causing the connecting piece 234 to move upward. Subsequently, the pressing force of the pusher plate 235 against the dirty wiping material and the bottom 230 gradually decreases, and the connecting piece 234 falls back. Therefore, the thrust plate 235 can be kept pressed against the dirty wiping cloth and bottom 230 throughout the entire stroke.

Between the two oscillating members 231, a guide member 238 located above the connecting piece 234 can be installed, a guide hole 238a is formed in the guide member 238, and a guide pin 239 is movably inserted into the guide hole 238a, the lower end of the guide pin 239 is fixedly connected to the connecting piece. 234. When the push plate 235 moves along the bottom 230, pushing the connecting piece 234 to move up and down relative to the rocker 231, the guide pin 239 can move up and down in the guide hole 238a, thereby guiding and adjusting the movement of the connecting piece 234 and the push plate. 235 up and down.

To increase the pressing force against the dirty wipe and bottom 230, in another embodiment, an elastic element 241 can be installed to push the connecting piece 234 and the push plate 235. Between the guide element 238 and the connecting piece 234, an elastic element 241 is installed, which is in a compressed state . Thus, during the power stroke, as the connecting piece 234 moves up and down relative to the oscillating member 231, the offset mounted elastic member 241 can apply downward elastic forces to varying degrees on the connecting piece 234 to further increase the force with which the push plate 235 presses against the dirty cloth and bottom 230, thereby avoiding the case where the dirty cloth was not attracted by the push plate 235 due to the low pressing force applied by the push plate 235, and ensuring that the collection of dirty cloth can move unhindered towards the receiving frame. 240.

A torsion spring may be installed between the push plate 235 and the connecting piece 234, the torsion force applied by the torsion spring to the push plate 235 causes the end of the push plate 235 near the receiving frame 240 to tend to rotate toward the bottom 230. Thus, under the torsion force applied by a torsion spring, the end of the push plate 235 next to the receiving frame 240 always tends to rotate downward. Therefore, when the push plate 235 starts to switch from the downward stroke to the working stroke, the left end of the push plate 235 first comes into contact with the dirty wiping material and the bottom 230, and as the push plate 235 continues to descend, the push plate 235 rotates using its end in contact with the bottom 230 as a reference point, until the bottom surface of the pusher plate is completely in contact with the dirty wiping material and the bottom 230. Thus, due to the fact that the pusher plate 235 gradually comes into contact and to the dirty wiping cloth and the bottom 230, the pressing effect of the push plate 235 to the dirty wiping cloth can be improved.

The push plate 240c of the receiving frame 240 has been configured to open when the push plate 235 is moved to the end of the stroke. The lower end of the push plate 240c may form a wedge-shaped sloping surface facing the pushing plate 235, and the end of the pushing plate 235 facing the wedge-shaped sloping surface is the wedge-shaped end. The wedge-shaped ramp may be formed by tilting a partial lower end surface of the pressure plate 240c toward the push plate 235, and the wedge-shaped end may be a sharp end whose cross-sectional area gradually decreases in the direction of the power stroke. When the push plate 235 moves to the wedge end along the power stroke and meets the wedge sloping surface, the push plate 240c can be pushed by the wedge end and slide upward, thereby opening the receiving frame 240, and the dirty cleaning material adhered to the lower end of the push plate 235 enters into the receiving frame 240 through the open hole. When the work stroke is completed, the push plate 235 moves upward to reach the reverse stroke. In this case, the pressure plate 240c may fall under its own gravity so that the lower end of the pressure plate abuts the bottom 230, thereby pressing the dirty cleaning cloth and causing the dirty cleaning cloth to remain in its current position, so as to avoid the dirty cleaning cloth being dislodged due to external factors (for example, wind or air flow).

As shown in FIG. 48, in one embodiment, a pivot portion 242 is located on the oscillator 231, and a matching portion 243 is located on the side plate 240b of the receiving frame 240. The pivot portion 242 may be a long sliding groove mounted on the oscillator 231 and extending in the direction of the length of the oscillator 231, the matching portion 243 may be a guide assembly fixed to the side plate 240b of the receiving frame 240. The guide assembly is inserted into the long slide groove and can rotate and slide in the long slide groove. The actuating member includes an eccentric structure that is rotatably connected to the upper end of the oscillating member 231.

The eccentric structure may be an eccentric wheel 244, the eccentric wheel 244 and the input shaft 233 are mounted eccentrically. A wheel ring 245 may be mounted on the upper end of the rocker 231, the eccentric wheel 244 is mounted in the wheel ring 245. Alternatively, the eccentric structure can also be a connecting rod, the projection direction of the connecting rod is vertical to the axial direction of the input shaft 233, the upper end of the rocker 231 and the connecting rod are connected to possibility of rotation.

As shown in FIG. 49, the input shaft 233 rotates the eccentric structure, which can rotate the upper end of the oscillating member 231 rotatably connected to the eccentric structure around the axis of the input shaft 233, the rotation path of the upper end of the oscillating member 231 is a circle. Because the position in the oscillating member 231 close to its middle is limited by the pivot portion and 242 and the matching portion 243, the oscillating member 231 rotates with the junction of the pivot portion 242 and the matching portion 243 as a reference point, so that the lower end of the oscillating member can swing. Therefore, the connecting piece 234 at the lower end of the swing member 231 and the push plate 235 are driven accordingly.

The operation of the present exemplary embodiment is described below:

The push plate 235 of the raking unit is initially in the raised position, after operation, the cleaning robot enters the base station 200, releasing dirty cleaning material on the bottom 230 of the base station 200.

Then, the motor 232 drives the input shaft 233 to rotate clockwise, and under the action of the eccentric structure, the push plate 235 gradually moves down until the dirty cleaning material is pressed.

The motor 232 continues to drive the input shaft 233 in clockwise rotation, the push plate 235 is driven in the direction of the power stroke, dragging the dirty wiping material until the wedge-shaped end of the push plate 235 meets the wedge-shaped sloping surface of the push plate 240c of the take-up frame 240 As the push plate 235 moves, the push plate 240c is repelled, the dirty wiping material is fed into the take-up frame 240.

The push plate 235 moves to the end of the stroke, under the action of the electric motor 232, the input shaft 233 continues to rotate clockwise, the push plate 235 begins to rise and move back until the wedge-shaped end is disconnected from the wedge-shaped inclined surface. The pressure plate 240c moves down by gravity, pushing the dirty cleaning cloth, and part of the dirty cleaning cloth falls into the receiving frame 240.

Under the action of the electric motor 232, the input shaft 233 continues to rotate clockwise, the push plate 235 moves in reverse. The above process is repeated until the soiled wiping material has completely entered the receiving frame 240.

As shown in FIG. 49 and FIG. 50, in another embodiment, a sliding member 246 is mounted on the side plate 240b of the receiving frame 240, moving in the power stroke direction or in the reverse direction, the first reset member 247 is mounted between the sliding member 246 and the side plate 240b, and the reset force applied by the first reset element 247 to the slider 246 causes the slider to tend to move in the reverse direction. Mounted on the side plate 240b of the receiving frame 240 is a guide collar 248, the slider 246 is inserted into the guide collar 248 and is limited by the guide collar 248 in the vertical direction, so that the slider 246 can move horizontally on the side plate 240b.

A groove 246a is formed on the sliding member 246, and the first suspension member 246b is received in the groove 246a. On the outer wall of the side plate 240b, the second suspension member 240f may be mounted. The first reset member 247 may be a spring, and the first suspension member 246b and the second suspension member 240f may be mounted at the two ends of the spring. The first suspension member 246b may be a pin structure mounted vertically in the slot 246a, the second suspension member 240f may be a protrusion structure mounted on the outer wall of the side plate 240b. The first reset member 247 is in an extended state, applying a tensile force to the sliding member 246 in the reverse direction.

The oscillating member 231 is slidably mounted on the side plate 240b, the oscillating member 231 and the sliding member 246 are fixed to each other in the power stroke direction or the reverse direction. A second reset element 249 is provided between the rocker 231 and the slider 246, and the reset force applied by the second reset member 249 to the rocker 231 causes the rocker to tend to move away from the bottom 230.

As shown in FIG. 50, the third suspension member 231a is installed on the outer wall of the upper end of the swing member 231, the fourth suspension member 246c is mounted on the outer wall of the lower end of the sliding member 246, the second reset member 249 is a spring, at the two ends of which the third suspension member 231a and the fourth suspension member are suspended. 246c respectively. Meanwhile, the third suspension member 231a may be a raised structure located on the outer wall of the swing member 231, the fourth suspension member 246c may be a hook structure located on the outer wall of the sliding member 246. The second drop member 249 is in a stretched state, applying a tensile force to pumping element 231 up.

On the inner side wall of the sliding member 246, there is a sliding guide groove 246d extending vertically, the oscillating member 231 is inserted into the sliding guide groove 246d and is limited by the sliding guide groove 246d in the horizontal direction.

The rocker 231 has a first contour tracking groove 231c, and the actuator includes a first cam 224 located in the first contour tracking groove 231c. Under the action of the input shaft 233, the first cam 224 rotates in the first tracking groove of the contour 231c. It is possible to drive the oscillating member 231 by mating with the surface of the first tracking groove of the contour 231c, and by the action of the first reset member 247 and the second reset member 249, reset the oscillating member 231, thereby making the oscillating member 231 circulate.

The oscillating member 231 is generally shaped like an inverted "F" and includes a shaft 231d, a first trailing portion 231e mounted on the shaft 231d. The right surface of the stem 231d and the bottom surface of the first trailing portion 231e define the first contour tracking groove 231c. The rod 231d is inserted into the sliding guide groove 246d, the first pulling part 231e is located under the sliding member 246. The swinging member 231 further includes a second pulling part 231b located at the lower end of the rod 231d, the connecting piece 234 is rotatably located at the end of the second pulling part 231b.

The first cam 224 includes two flat contour following surfaces located opposite and two arcuate contour following surfaces smoothly transitioning with two flat contour following surfaces, the junction of the first cam 224 with the input shaft 233 is located in the center of the circle of one of the arcuate contour following surfaces . The first contour tracking groove 231c includes an arcuate gradation surface connecting the right surface of the rod 231d to the lower surface of the first trailing portion 231e, the slope of the arcuate gradation surface matches that of the arcuate contour tracking surface. The arcuate contour following surface near the connection point of the first cam 224 to the input shaft 233 forms the location of the lowest potential energy of the first cam 224. Accordingly, the arcuate contour tracking surface located away from the connection point of the first cam 224 to the input shaft 233 forms the location of the highest potential energy. energy of the first cam 224.

When the push plate 235 is in its stroke, the lowest potential energy position of the first cam 224 rotates on the arcuate surface with a smooth transition, the highest potential energy position of the first cam 224 slides on the right surface of the rod 231d. The lower surface of the first trailing portion 231e contacts the lowest potential energy location of the first cam 224 so that the oscillating member 231 is located in the lowest position. Thus, the connecting part 234 at the lower end of the rocker 231 and the push plate 235 can be pressed against the bottom 230. Meanwhile, the highest potential energy place of the first cam 224 slides on the right surface of the shaft 231d, the distance between the connection points of the rocker 231 with the input shaft 233 is gradually increasing. Because the input shaft 233 is fixed relative to the receiving frame 240, so that the oscillating member 231 gradually moves away from the input shaft 233. Thus, the connecting piece 234 at the lower end of the oscillating member 231 and the push plate 235 move towards the receiving frame 240. Therefore, , the push plate 235 presses the dirty cloth against the bottom 230, the rocker 231 is pushed by the first cam 224, causing the push plate 235 to move towards the receiving frame 240, thereby removing the dirty cloth.

When the push plate 235 is in reverse, the lowest potential energy position of the first cam 224 slides on the right surface of the rod 231d, the highest potential energy position of the first cam 224 slides on the lower surface of the first pulling portion 231e. The lower surface of the first trailing portion 231e contacts the highest potential energy location of the first cam 224 so that the oscillating member 231 is located at the highest position. Thus, the connecting piece 234 at the lower end of the oscillating member 231 and the pushing plate 235 rise away from the bottom 230. the member 246 and the rocker member 231 are attracted and move in the reverse direction, and the connecting piece 234 and the push plate 235 located at the lower end of the rocker member 231 also move in the reverse direction. Therefore, the push plate 235 rises higher than the bottom 230, and under the action of the first reset member 247, the oscillating member 231, the connecting piece 234, and the pushing plate 235 located at the lower end of the oscillating member 231 are driven in the reverse direction to return the oscillating member. 231.

On the surface of the pressure plate 240c facing the reverse direction, a second contour tracking groove 240g is formed. On the input shaft 233, a second cam 225 is located on the second contour tracking groove 240g, with the highest potential energy location of the second cam 225 and the highest potential energy location of the first cam 224 located on two sides of the input shaft 233.

The second contour tracking groove 240g includes a surface facing the reverse direction (hereinafter referred to as the front side surface) and a bottom surface. Because the highest potential energy location of the second cam 225 and the highest potential energy location of the first cam 224 are located on the two sides of the input shaft 233, when the push plate 235 is in its stroke, the highest potential energy location of the first cam 224 is located at the bottom , while the place with the highest potential energy of the second cam 225 is located at the top, mating with the bottom surface of the second contour tracking groove 240g, under the action of the second cam 225, the pressure plate 240c opens and is in the open state, therefore, the dirty wiping material is attracted by the push plate 235 and enters into the receiving frame 240.

When the push plate 235 is in reverse, the highest potential energy location of the first cam 224 is located at the top, while the highest potential energy location of the second cam 225 is located at the bottom, that is, the location of the lowest potential energy of the second cam 225 mates with the bottom surface of the second tracking groove contour 240g and, therefore, the pressure plate 240c falls under its own gravity, while pressing the dirty cleaning material.

In FIG. 51-56 are drawings related to the fourth embodiment of the present invention. Specifically, the fourth embodiment provides a base station 200 capable of automatically ejecting a dirty cleaning cloth detached from the robot cleaner 100, and including: a frame 11, a cleaning cloth separating station 13 located on the frame 11 and for detaching the cleaning cloth from robot-cleaner 100, the receiving module 15, located on the frame 11 and designed to receive cleaning material, the transmission device 17, located on the frame 11, the gripping mechanism 19, located on the transmission device 17, and the drive mechanism designed to drive the transmission device 17. The gripping mechanism 19 has a first operating state in which the gripping mechanism moves between the receiving module 15 and the wiping cloth separating position 13, a second operating state in which the gripping mechanism grips the wiping material in the wiping material separating position 13, and a third operating state in which the gripping mechanism releases the cleaning material on the receiving module 15. The drive mechanism drives the transmission device 17 to cause the gripping mechanism 19 to move between the separation position of the cleaning material 13 and the receiving module 15, and then switch between the first operating state, a second operating state and a third operating state.

During operation, after the cleaning material completes mopping, the robot cleaner 100 may park on the separation position 13 of the cleaning material and release the cleaning material on the separation position 13 of the cleaning material. The drive mechanism drives the transmission device 17 to cause the gripping mechanism 19 to move between the wiping cloth separating position 13 and the receiving module 15, and then to switch between the first operating state, the second operating state, and the third operating state. The gripping mechanism 19 grasps the cleaning cloth at the separation position 13 of the cleaning cloth and moves the cleaning cloth up to the receiving module 15, opens towards the receiving module 15, releasing the cleaning cloth onto the receiving module 15. In this way, the automatic removal of the cleaning cloth is carried out, this process does not require manual removal of cleaning material by the user, avoiding manual intervention.

The bed 11 includes a first frame 41 and a second frame 43 arranged vertically, the first frame 41 and the second frame 43 are generally rectangular and form a first hole and a second hole, respectively, the robot cleaner 100 can cross the first hole and the bed 11, enters the second hole.

The separation position 13 of the cleaning material and the receiving module 15 are located between the first frame 41 and the second frame 43, the separation position 13 of the cleaning material is located on the bottom of the bed 11 and is a place for parking the cleaning robot 100 and receiving the released cleaning material. The receiving module 15 is located above the separation position 13 wiping material, with an open top end to collect dirty wiping materials.

The transmission device 17 includes a first transmission portion 37 and a second transmission portion 39, and the first transmission portion 37 includes a plurality of first synchronous wheels 45 disposed on a first frame 41 and a first synchronous belt 49 surrounding a plurality of first synchronous wheels 45. the mechanism is connected to the first synchronous wheels 45 to drive the first synchronous wheels 45. The drive mechanism may be an electric motor.

Mounted on the frame 11 is a controller connected to the drive mechanism for receiving a signal from the robot cleaner 100 and controlling the drive mechanism in accordance with the signal from the robot cleaner 100. The signal sent by the robot cleaner 100 may be a signal to replace the cleaning material, and when the robot cleaner 100 sends a wiper replacement signal to the controller, the controller controls the drive mechanism so that the drive mechanism drives the transmission device. In other embodiments, a controller is connected to the gripper 19 to control the gripper to perform detachment and attachment. The controller is a control electromagnet.

Mounted on the first frame 41 are a plurality of third rotary shafts 53 corresponding to a plurality of first synchronous wheels 45, each first synchronous wheel 45 is fixedly mounted on a corresponding third rotary shaft 53, thus rotating the third rotary shaft 53 causes the first synchronous wheel 45 to rotate, thereby thereby driving the first synchronous belt 49.

Similarly, with reference to the above description of the first transmission portion 37, the second transmission portion 39 includes a plurality of second synchronous wheels 47 located on the second frame 43 and a second synchronous belt 51 surrounding the plurality of second synchronous wheels 47. The drive mechanism is connected to second synchronous wheels 47 to drive the second synchronous wheels 47.

Mounted on the second frame 43 are a plurality of fourth rotary shafts 55 corresponding to a plurality of second synchronous wheels 47, each second synchronous wheel 47 is fixedly mounted on a corresponding fourth rotary shaft 55. Thus, by rotating the fourth rotary shaft 55, the second synchronous wheel 47 is driven, thereby driving the second synchronous belt 51.

The gripping mechanism 19 includes a first rotating shaft 31 and a second rotating shaft 33 mounted oppositely, a first grip 21 and a second grip 23 mounted respectively on the first rotating shaft 31 and the second rotating shaft 33, the first grip 21 and the second grip 23 can respectively rotate around the direction of passage of the first rotary shaft 31 and the second rotary shaft 33, the two ends of the first rotary shaft 31 and the two ends of the second rotary shaft 33 are connected to the first synchronous belt and the second synchronous belt of the transmission device 17, respectively. torsion spring 35, under the action of the torsion spring 35, the first grip 21 and the second grip 23 are separated from each other, causing the grip mechanism 19 to be in the open state.

At one end of the first gripper 21, remote from the first rotating shaft 31, is mounted to be coupled with the second gripper 23. When the gripper mechanism 19 is in the open state, the distance between the magnets of the first gripper 21 and the second gripper 23 is large, the force of the torsion spring 35 is greater than the strength of the magnetic field between the first grip 21 and the second grip 23, and the grip mechanism 19 can remain in the open state. When the gripper 19 is in the closed state, the distance between the magnets of the first gripper 21 and the second gripper 23 is large, the magnetic field strength between the first gripper 21 and the second gripper 23 is greater than the force of the torsion spring 35, and the gripper 19 can remain in the closed state and provides clamping force.

As shown in FIG. 54, a first guide portion 27 is mounted on the frame 11, located on the side of the separation position 13 of the cleaning material and for applying force to the second jaw 23 so that the second jaw 23 can rotate relative to the first jaw 21 and attach to the first jaw 21, clamping the cleaning material. After the robot cleaner 100 has parked at the separation position 13 of the cleaning cloth and released the cleaning cloth, the first synchronous wheel 45 and the second synchronous wheel 47, respectively, drive the first synchronous belt 49 and the second synchronous belt 51 in counterclockwise rotation, and the gripping mechanism 19 moves down. And when the second jaw 23 moves and comes into contact with the first guide portion 27, the first guide portion 27 exerts force on the second jaw 23, and the second jaw 23 rotates counterclockwise, then attaches to the magnet on the first jaw 21, grabbing the cleaning material.

The first guide portion 27 is the first groove facing upwards, when the second jaw 23 moves and comes into contact with the inner wall of the first groove, the inner wall of the first groove applies a resistance force to the second jaw 23. As the transmission device 17 rotates, the resistance force the second gripper 23 rotates around the second rotating shaft 33, then attaches to the magnet on the first gripper 21, gripping the cleaning material.

Mounted on the frame 11 is a second guide portion 29 located on the side of the receiving module 15 and designed to apply force to the second grip 23 so that the second grip 23 can rotate relative to the first grip 21 and disengage from the first grip 21, releasing the cleaning material. Specifically, after the first gripper 21 is attached to the second gripper 23 and grips the cleaning material, the drive mechanism rotates the transmission device 17 clockwise to cause the gripper mechanism 19 to move upward. When the grip mechanism moves directly against the second guide portion 29, the second guide portion 29 applies force to the second grip 23 and the second grip 23 rotates clockwise to disengage from the magnet on the first grip 21, releasing the wiping material.

The second guide part 29 is a rod capable of being inserted between the first grip 21 and the second grip 23 and intended to be mated with the second grip 23. When the grip mechanism 19 is moved towards the rod under the action of the transfer device 17, the rod is pushed between the first grip 21 and the second grip 23 , exerting force on the second grip 23. As the transfer device 17 continues to rotate, under the action of the rod, the second grip 23 rotates around the second rotating shaft 33, then disengages from the magnet on the first grip 21 so that the wiping material can fall onto the receiving module 15 under the action gravity.

On the first grip 21 there is a second groove for the passage of the rod, the second groove faces the second grip 23. The second groove can guide the rod to the second grip 23, ensuring that the second grip 23 is disconnected from the first grip 21.

In FIG. 57-63 are drawings related to the fifth embodiment of the present invention. The fifth embodiment provides for a base station 200 for parking the cleaning robot 100 and a cleaning system 300 equipped with the base station 200. The base station 200 can automatically change a cleaning material such as a cleaning cloth or cleaning cloth for the cleaning robot 100, thereby reducing user intervention and improving user experience.

The base station 200 includes: a main belt 216, a plurality of wipes distributed along the main belt 216 and separably located on the main belt 216, a trolley for causing the main belt 216 to move, a wipe work station 218 for changing the cleaning cloth of the robot cleaner 100. On the main belt 216 located at the working position 218 of the cleaning cloth, a free zone 222 is formed after the cleaning robot 100 of the cleaning robot carries away the cleaning cloth located in the main lane. After the free area 222 receives the cleaning cloth 21b released from the robot cleaner 100, the movable mechanism may move the main belt 216 to place another cleaning cloth 21a at the cleaning cloth working station 218 .

The base station 200 provided in this exemplary embodiment is equipped with a main belt 216 driven by a traveling mechanism and a cleaning cloth operating station 218 for changing the cleaning cloth for the cleaning robot 100, so that the cleaning robot 100 enters the operating station 218 21b in the free area 222 on the main belt 216, the main belt 216 is driven by a sliding mechanism, switching the used wiping 21a to the wiping work position 218, the robot cleaner 100 will change to the used cleaning cloth 21a, then the automatic replacement of the cleaning cloth is completed. Therefore, the base station 200 provided in this embodiment can facilitate the automatic replacement of the cleaning material, thereby reducing user intervention in changing the cleaning material and improving the user experience.

Attached to the surface of the main belt 216 are a plurality of cleaning materials that are placed along the running direction of the main belt 216. The main belt 216 is flat and made of a cloth material or a paper material. The main belt 216 passes through the work station 218 of the cleaning material, transferring the cleaning material to the work station 218 of the cleaning material in the form facing the cleaning robot 100. The cleaning robot 100 enters the work station 218 of the cleaning material without interfering with the movement of the main belt 216. Main belt 216 can carry and transfer the cleaning material, and in the process of transferring the cleaning material can stop at the operating position 218 of the cleaning material for the cleaning robot 100 to perform the replacement.

On the main belt 216, wiping materials can be continuously disposed, and adjacent wiping materials are not connected to each other. Two adjacent cleaning materials are separated by a certain distance or close to each other. Preferably, a plurality of cleaning materials are spaced on the main belt 216 and distributed in the form of a break point. A plurality of cleaning materials are attached to the surface of the main belt 216 at intervals along the length direction of the main belt 216, adjacent cleaning materials having equal intervals. The predetermined spacing between adjacent wipes ensures that only one wipe is attached to the main belt 216 at the wipe station 218 for the robot cleaner 100 to replace the wipe. As shown in FIG. 61, after the removal of the cleaning material, the main belt 216 located at the operating station 218 of the cleaning material is in an empty state, there is no cleaning material in the free zone 222. The free zone 222, located at the working station 218 of the cleaning material, is stationary until it receives the used cleaning material 21b, and the other used cleaning material 21a is still wound on the second roll 227 and stored there to avoid the pre-deployment of the used cloth 21a in air, which may have a negative effect on the cleaning effect. Accordingly, the used wiping material 21b is wound on the first roll 226 for collection.

A plurality of wiping materials sequentially move to the wiping material station 218 along the direction of movement of the main belt 216, switching and moving to the wiping material station 218 without repetition. Thus, the replacement of the cleaning cloth with the unused cleaning cloth for the robot cleaner 100 is ensured for effective cleaning of the floors.

The base station 200 has a special storage space where used cleaning materials 21a can be stacked, while passing through this storage space, the main belt 216 carries the cleaning material away in succession. Alternatively, the main belt 216 may be folded and stored in the storage space, by pulling the first roll 226 the main belt 216 carries the cleaning material out of the storage space.

The base station 200 has a first storage portion for storing a used cleaning cloth 21a and a second storage portion for storing a cleaning cloth detached from the cleaning robot 100. The cleaning cloth moves from the first storage portion to the cleaning cloth working station 218 via the main belt. 216 is carried by and detached from the cleaning robot 100 at the cleaning station 218, and then moved to the second storage part. By installing the second storage part, the used cleaning materials 21b are automatically collected.

The movable mechanism includes a first roll 226 rotatable to wind the main belt 216, thereby causing the main belt 216 to move. The first roll 226 is wound with the main belt 216, and thereby causing the main belt 216 to move, by moving the main belt 216, the used wiping material 21b can be transferred to the designated area or designated storage space.

By wrapping the used wiping material 21b on the first roll 226, the aforementioned second storage part is formed, the used wiping materials 21b are automatically collected, thereby reducing user intervention. Along with winding up the main belt 216, the first roll 226 also winds up the cleaning material located on the main belt 216, thereby collecting the used cleaning material 21b. By having the first roll 226 and combining the winding of the main belt 216 with the collection of the used wiping cloth 21b, the used wiping cloth 21b is automatically collected, which is simple and convenient to manufacture.

The base station 200 further includes a second roll 227 that can wrap around the main belt 216 and the used cleaning material 21a. The first roll 226 wraps around the main belt 216, causing the second roll 227 to release the main belt 216 in synchronous release. cleaning material. Thus, it is possible to combine the function of collecting the used cleaning material 21b with the function of supplying the used cleaning material 21a, ensuring that the cleaning robot 100 automatically replaces the cleaning material successfully. The second roll 227 wraps around itself the used cleaning material 21a to form the above first storage part.

During use, part of the main belt 216 is wound on the first roll 226, part of the main belt 216 may be wound on the second roll 227. In the initial state, most or all of the cleaning materials were wound on the second roll 227, only part of the length of the main belt was wound on the first roll 226. of the main belt 216 or the first roll 226 has only one end of the main belt 216 fixed, the main belt 216 has not been wound on the first roll. -cleaner 100 replaces the cleaning material, the cleaning materials located on the main belt 216 are fed sequentially to the cleaning robot 100.

The main belt 216 is wound on the first roll 226 or the second roll 227 layer by layer, a space is formed between adjacent layers of the main belt 216 for attaching a cleaning material. Thus, the main belt 216 can be used as a transfer member to drive the second roll 227 into rotation, releasing the used cleaning cloth 21a to the cleaning station 218, and the used cleaning cloths 21b can also be collected automatically.

One end of the main belt 216 is fixed to the first roll 226, the other end is fixed to the second roll 227. The first roll 226 is driven to rotate the second roll 227 by the main belt 216. The base station 200 is provided with a drive mechanism such as a motor to drive the first roll 226 into rotation.

The base station 200 includes a casing in which the first roll 226 and the second roll 227 are installed so that their rotating shafts are parallel, and the operating position 218 of the wiping material is located inside the casing, the first roll 226 and the second roll 227 are located outside the operating position 218 of the wiping material. The shroud has a bottom 219, and located on the bottom 219 are a front plate 228 and a back plate 229. The front plate 228 is provided with a passageway 2881 leading to the cleaning station 218 for the robot cleaner 100 to enter or leave the cleaning station 218.

The front plate 228 and the back plate 229 cause the first roll 226 and the second roll 227 to be suspended so that the first roll 226 and the second roll 227 can be conveniently rotated. 227 is located above the operating position 218 of the cleaning material, the main belt 216 passes through the steering shaft 223 from the second roll 227, after a change of direction reaches the first roll 226.

The main belt 216, located at the working position 218 of the cleaning material, is located near the bottom 219, the cleaning material is attached to the main belt 216, facing the bottom 219 back. To ensure that the main belt 216 and bottom 219 are parallel, the steering shafts 223 located on both sides of the wiping station 218 in the horizontal direction are at the same height relative to the bottom 219, when passing through the steering shafts 223, the main belt 216 changes the direction of pulling. The main belt 216 is in an extended state or in a taut state between the first roll 226 and the second roll 227, and therefore it can be ensured that at the wiper operating station 218, the wiper faces the cleaning robot 100 in an extended state, facilitating replacement by the cleaning robot 100 cleaning material.

The base station 200 is further equipped with a positioning mechanism for positioning the cleaning cloth on the cleaning station 218 . The positioning mechanism may be a structure positioning unit, such as a lifting retaining plate, the main belt 216 has a restrictive groove acting with the main belt. When the main belt 216 is to be restrained at rest, the retard plate is raised or unfolded, pulled into the restriction groove to stop the main belt 216 and prevent the movement of the main belt 216. To release the restriction, the retard plate is lowered and leaves the restriction groove, the main belt 216 moves normally.

In order to realize automatic control and reduce user operations, the positioning mechanism includes a controller, as well as a measuring unit used to measure the number of turns of the steering shaft 223, the controller determines the location of the wiping material in accordance with the number of turns measured by the measuring unit. The measuring unit can measure the number of turns of either of the two steering shafts 223. After the main belt 216 carries the used wiping cloth 21b, the original number of turns of each steering shaft 223 is reset and the number of turns starts to be measured again. The main belt 216 stops when the designated number of turns is reached, the next used wiping material 21a is moved to the wiping material operating position 218. In addition, the controller may further determine the location of the wiping material carried by the main belt 216 according to the number of turns increased each time, and determine the amount of the remaining used wiping materials 21a according to the final accumulated number of turns.

The cleaning robot 100 is provided with a gimbal wheel and a cleaning platform that can move up and down, and the gimbal wheel and the cleaning platform are folded and lowered by moving up and down. The cleaning robot 100 has a cleaning mode and an obstacle crossing mode, in the cleaning mode, the wiping platform moves down to support the cleaning robot 100, and the gimbal wheel is folded. In the obstacle crossing mode, the cleaning platform is folded and the gimbal wheel is lowered to support the robot cleaner 100. In the obstacle crossing mode, the robot cleaner 100 enters the cleaning station 218. The wiping platform is provided with a clamping mechanism that has a clamping position in which the wiping material is secured to the bottom surface of the wiping platform and a release position in which the wiping material can be released from the wiping platform.

After the robot cleaner 100 carries the cleaning cloth located at the cleaning cloth working station 218 in the base station 200 and moves it out of the cleaning cloth working station 218, the main belt 216 at the cleaning cloth working station 218 is in a position free from the cleaning cloth. , forming a free zone 222. When the robot cleaner 100 is to replace the cleaning material, the robot cleaner 100 switches from the cleaning mode to the obstacle crossing mode.

In cleaning mode, the cleaning cloth is caught by the clamp mechanism and fixed on the cleaning platform to clean the floors along with the cleaning platform. The wiping platform is lowered, the wiping material comes into contact with the floor. In the obstacle crossing mode, the robot cleaner 100 is supported by a gimbal wheel, and the cleaning platform moves upward to hang the cleaning material. With reference to FIG. 60 and FIG. 61, using the obstacle avoidance mode, the robot cleaner 100 approaches the base station 200 in accordance with the command from the internal controller, enters the cleaning station 218 through the passage 2881, and crosses the main belt 216. In this case, the cleaning platform faces the free zone 222 As shown in FIG. 63, the wiping platform moves down carrying the used wiping cloth 21b until the wiping cloth comes into contact and attaches to the main belt 216.

In this case, the clamping mechanism switches from the clamping position to the release position, the wiping material is released from the wiping platform. Next, the wiping platform and the clamp mechanism move upwards, the used wiping cloth 21b is located on the main belt 216 at the wiping cloth working position 218. The first roll 226 is then driven by the motor to drive the main belt 216 into motion until the next used wiping material 21a is released from the second roll 227 and enters the operating wiping station 218 along with the main belt 216. Accordingly, the used wiping material 21b is wound on the first roll 226 together with the main belt 216.

Then, the wiping platform moves down until it comes into contact with the used wiping material 21a, while the clamp mechanism switches from the release position to the clamping position, fixing the wiping material on the bottom surface of the wiping platform, performing the installation of the wiping material. After that, the wiping platform is raised, the clamping mechanism remains in the clamping position. Thus, the replacement of the cleaning material is carried out. Next, in the obstacle avoidance mode, the robot cleaner 100 exits the base station 200 through the aisle 2881, and switches to the cleaning mode to perform the cleaning operation. The main belt 216 remains stationary until the robot cleaner 100 repeats the above steps to place the used cleaning material 21b and then replace the used cleaning material 21a.

In this exemplary embodiment, a cleaning system 300 is provided, including: a cleaning robot 100, and a base station 200 for parking the cleaning robot 100 as shown in the above embodiment. The robot cleaner 100 and the base station 200 can exchange data, for example, the robot cleaner 100 and the base station 200 exchange location information, or the base station 200 and the robot cleaner 100 exchange information about whether the cleaning material is at the cleaning station 218 material.

The cleaning system 300 or base station 200 provided in the exemplary embodiment of the present application may still include a reminder mechanism for issuing a reminder signal when the amount of cleaning materials 21a used is less than the intended amount. If the length of the entire main belt 216 is fixed, it can be determined that the amount of wiping materials 21a used is less than the intended amount when a certain number of turns is reached, according to the accumulated number of turns of the steering shaft 223 of either the first roll 226 or the second roll 227. Of course, it is also possible by measuring the current diameter of the first roll 226 or the second roll 227, that is, when the diameter of the first roll 226 is larger than the preset diameter, or the diameter of the second roll 227 is smaller than the preset diameter, indicating that the amount of wiping materials 21a used is less than the expected amount and needs to be changed to the new main belt 216 as a whole, thus improving the user experience.

It should be noted that in the descriptions of the present invention, the terms "first" and "second" are used only for the purpose of describing and distinguishing similar objects without limiting the sequence between them, and cannot be understood as an indication or hint of relative importance. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise indicated.

The above describes only a few examples of implementation of the present invention. Qualified specialists in the art may make various modifications or changes to the embodiments of the present invention in accordance with the content disclosed in the application document, without going beyond the essence and scope of the present invention.

Claims (20)

1. An automatic cleaning system (300), including a cleaning robot (100), a base station (200) and a working module (125, 400), characterized in that: said robot cleaner (100) includes a body (101) and a wiping platform (122, 1201) removably mounted on the body (101) to receive a flexible cleaning material intended for installation on said wiping platform (122, 1201), thereby forming a wiping surface so that the wiping surface can act on the work surface to perform wiping when the robot cleaner (100) moves over the work surface; said base station includes a working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of a cleaning material, where said cleaning platform (122, 1201), detached from the body (101), installs or detaches the cleaning material from said wiping platform (122, 1201) detached from the housing (101); and said working module (125, 400) is installed so as to act on said wiping platform (122, 1201) detached from the body (101) when said wiping platform (122, 1201) is detached from the body (101), and said the cleaning cloth is located at the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning cloth to install the cleaning cloth on the cleaning platform (122, 1201). 2. The system according to claim 1, characterized in that said working module is intended for mounting said cleaning material on said cleaning platform (122, 1201), as well as for detaching said cleaning material from said cleaning platform (122, 1201). 3. The system according to claim 1 or 2, characterized in that said base station further includes a separating module (422) acting on said wiping platform (122, 1201) and/or said wiping material to disconnect said wiping material from mentioned wiping platform (122, 1201). 4. The system according to claim 1, characterized in that said base station includes a drive module and said system is configured such that when said cleaning robot (100) returns to said base station (200), said cleaning robot ( 100) disconnected said wiping platform (122, 1201) with said wiping material from said body (101), and said drive module (207, 205, 412) moved the detached wiping platform (122, 1201) with wiping material to the working position (2021 , 2022, 215, 217, 218, 13, 4221, 420) of the wiping cloth so that the work module (125, 400) detaches the used wiping material from the wiping platform (122, 1201). 5. The system according to claim 4, characterized in that said base station includes a wipe platform operating position for said robot cleaner (100) to install or detach said wipe platform (122, 1201) with cleaning material from said body (101). 6. The system according to claim 5, characterized in that said working position of the wiping platform includes a wiping platform mounting position (2022) and a wiping platform separating position (2021) for mounting and detaching the wiping platform (122, 1201) with wiping material from said housing (101), where optionally said mounting position (2022) of the wiping platform and said separating position (2021) of the wiping platform are the same position. 7. The system according to claim 4, or 5, or 6, characterized in that the said working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material is located above the said working position of the cleaning platform, and between said cleaning material working position (2021, 2022, 215, 217, 218, 13, 4221, 420) and said cleaning platform working position form a parking space for said cleaning robot (100). 8. The system according to claim 1, characterized in that the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the cleaning material at said base station includes a separation position (4221) of the cleaning material and a mounting position (420) wiping material, separation position (4221) wiping material and mounting position (420) wiping material are located on the same horizontal plane, so that the drive module (207, 205, 412) can cause the wiping platform to move between the separating position of the wiping material and mounting position (420) of the cleaning material in the horizontal direction. 9. System according to claim 3, characterized in that said base station (200) includes a receiving module (211, 15, 206, 240) for receiving cleaning material detached from said cleaning platform (122, 1201). 10. The system according to claim 9, characterized in that said operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the wiping material at said base station includes a separating position (4221) of the wiping material and a mounting position (420) wiping material, the hole mentioned receiving module (211, 15, 206, 240) is located below the separating position (217) wiping material. 11. System according to claim 9, characterized in that said receiving module (211, 15, 206, 240) includes an extraction chamber (206), said separating module (422) is installed in the opening of said extraction chamber (206) , is made in the form of a hook-like structure and is used to engage the cleaning material to remove the cleaning material from the cleaning platform (122, 1201). 12. System according to claim 1, characterized in that said working module (400) includes one lifting plate (411) and a magnetic element installed at the bottom of said lifting plate (411) to raise said wiping platform (122, 1201) . 13. The method of controlling the automatic cleaning system according to claim 1, characterized in that said method includes: disconnection of the mentioned cleaning platform (122, 1201) from the mentioned cleaning robot (100) at the working position (2021) of the mentioned cleaning platform, bringing the mentioned cleaning platform, disconnected from the cleaning robot, into moving to the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) cleaning material; detaching said cleaning material from said cleaning platform (122, 1201) at the working position (2021, 2022, 215, 217, 218, 13, 4221, 420) of cleaning material; and replacing said cleaning material. 14. The control method of claim 13 includes moving the cleaning robot (100) in the first direction a predetermined distance after the cleaning platform (122, 1201) is detached from the cleaning robot (100) to make room for the cleaning platform to move. 15. The control method according to claim 14, characterized in that the detachment of said wiping platform from said cleaning robot and installation of said wiping platform on the cleaning robot occur at the same position, after mounting the wiping material on said wiping platform (122, 1201), the cleaning robot (100) moves in the second direction at a predetermined distance opposite the first direction to return to the working position of the cleaning platform, and said cleaning platform (122, 1201) is installed on the said cleaning robot (100).

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