WO2018108144A1 - 清洁机器人和清洁机器人系统 - Google Patents

清洁机器人和清洁机器人系统 Download PDF

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Publication number
WO2018108144A1
WO2018108144A1 PCT/CN2017/116371 CN2017116371W WO2018108144A1 WO 2018108144 A1 WO2018108144 A1 WO 2018108144A1 CN 2017116371 W CN2017116371 W CN 2017116371W WO 2018108144 A1 WO2018108144 A1 WO 2018108144A1
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WO
WIPO (PCT)
Prior art keywords
wiping
cleaning
cleaning robot
chassis
unit
Prior art date
Application number
PCT/CN2017/116371
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English (en)
French (fr)
Inventor
张峻彬
林伟劲
Original Assignee
云翊智能科技（东莞）有限公司
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Application filed by 云翊智能科技（东莞）有限公司 filed Critical 云翊智能科技（东莞）有限公司
Publication of WO2018108144A1 publication Critical patent/WO2018108144A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4038—Disk shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to the field of cleaning robot technology, and in particular to a cleaning robot and a cleaning robot system.
  • Some existing cleaning robots can only implement the cleaning function, but cannot realize the mopping function. It is difficult to effectively remove the stubborn stains attached to the ground, and the ground cleaning effect is not satisfactory. Moreover, the cleaning of the existing cleaning robot needs to be completed by the user. During the whole process of cleaning the ground, the user needs to frequently participate in the cleaning and cleaning of the cleaning robot, which may result in the user being unable to drag the user. In the process of the ground, it is completely liberated, increasing the workload of the users. On the other hand, it is easy to affect the wiping effect because the washing is not timely, which makes it impossible to clean the floor.
  • One technical problem to be solved by the present invention is that the existing cleaning robot has an unsatisfactory ground cleaning effect.
  • a first aspect of the present invention provides a cleaning robot for cleaning a robot system.
  • the cleaning robot includes a walking device for driving the cleaning robot to walk on the ground and a floor cleaning device for cleaning the floor, the floor cleaning device includes a wiping device, the wiping device includes a wiping unit, and the wiping unit includes a wiping unit a mopping member for mopping the ground; the wiping unit and/or the traveling device are swingably coupled to the chassis of the cleaning robot such that the wiping member of the wiping unit can be swung by the unevenness of the ground. Keep in touch with the ground.
  • the wiping device further comprises a drag connection structure connecting the wiping unit and the chassis, and the wiping unit is swingably connected to the chassis by the wiping connection structure.
  • the wiping unit is swingably coupled to the wiping attachment structure, and/or the wiping attachment structure is swingably coupled to the chassis such that the wiping unit is swingably coupled to the chassis by the wiping attachment structure.
  • the wiping unit and the wiping connection structure are connected by a flexible connection structure, or a gap between the wiping unit and the wiping connection structure is sleeved, so that the wiping unit is swingably connected to the wiping connection structure.
  • the flexible connection structure is detachably coupled to the wiping unit and/or the mop connection structure.
  • the gap between the wiping unit and the wiping connection structure is sleeved, and the wiping unit and the wiping connection structure are detachably connected.
  • a magnetic adsorption member capable of adsorbing the wiping unit and the wiping connection structure is disposed between the wiping unit and the wiping connection structure, or the wiping unit and the wiping connection structure are connected by a threaded connection and/or Or snaps and/or hooks are connected.
  • the drag device is coupled to the chassis or between the travel device and the chassis via a horizontal axis of rotation.
  • the wiping device is coupled to the chassis by a horizontal rotating shaft to swingably connect the wiping unit to the chassis; and/or the traveling device and the chassis are connected by a horizontal rotating shaft to enable the traveling device It is swingably connected to the chassis.
  • the wiping unit further includes a cleaning member, and the cleaning member is disposed at an edge of the wiping member.
  • the cleaning robot further includes a jacking mechanism mounted on the cleaning robot for jacking up the front end and/or the rear end of the cleaning robot.
  • the cleaning robot includes a suspension device disposed at the traveling wheel of the traveling device for maintaining the resilient connection of the walking wheel with the chassis of the cleaning robot to maintain the walking wheel in contact with the ground.
  • the wiping device further comprises a drag drive mechanism, wherein the drag member of the wiping unit can be rotated relative to the chassis of the cleaning robot, and/or the drag unit is dragged by the driving mechanism of the drag drive mechanism
  • the wiper can be horizontally reciprocated relative to the chassis of the cleaning robot.
  • the wiping device includes only one wiping unit, and the mop member on one moping unit can be rotated and/or horizontally reciprocated relative to the chassis by the driving of the mop driving mechanism.
  • the wiping device comprises two wiping units, the moulting members of the two moping units being rotatable relative to the chassis about a vertical axis under the driving action of the moping drive mechanism, wherein: two wiping units
  • the mopping member can rotate in the same direction or in the opposite direction with respect to the chassis about the vertical axis, or the mopping members of the two moping units can switch in the same direction and reverse rotation about the vertical axis with respect to the chassis.
  • the drag drive mechanism comprises two output shafts, the two output shafts are arranged in one-to-one correspondence with the two drag units, and the two output shafts are vertically arranged, and the two output shafts are used for the two wipe units. Pass the torque in the opposite direction.
  • the drag drive mechanism further includes a worm gear mechanism and/or a gear mechanism for transmitting opposite directions of torque to the two output shafts.
  • the oscillating mechanism worm motor and the two turbines are driven and connected in one-to-one correspondence with the two output shafts, the worm motor is used for outputting torque, and the two worm wheels are meshed with the worm motor to the two output shafts. Pass the torque in the opposite direction.
  • the worm motor comprises two single-head worm motors, each of which is meshed with a worm gear; or the worm motor comprises a double-head worm motor, and the double-head worm motor simultaneously meshes with the two worm gears.
  • the wiping device further comprises a scraping structure disposed behind the moping unit, the scraping structure preventing the rubbish and/or the sewage from being dragged by the mopping unit by scraping the garbage and/or the sewage. On the ground.
  • the cleaning robot system includes a cleaning robot as described above at the base station, the base station being independent of the cleaning robot and capable of charging the cleaning robot and/or cleaning the wiping member of the cleaning robot.
  • the base station includes a base station body and a drag cleaning device disposed on the base station body, and the drag cleaning device is configured to clean the cleaning member of the cleaning robot for wiping the ground;
  • the wiper cleaning device includes a raised structure, the raised structure comprising a raised portion that contacts the drag member when the wiper cleaning device cleans the wiper; and/or the wiper cleaning device includes a cleaning roller When the wiper cleaning device cleans the wiper, the cleaning roller contacts the wiper.
  • the wiping member cleaning device and the wiping member can be relatively rotated, and/or the wiping member cleaning device and the wiping member can be relatively moved.
  • the cleaning robot of the present invention includes a mopping member for wiping the ground, and therefore, the mopping function can be realized, the stubborn stain on the ground can be removed, and the floor cleaning effect can be improved.
  • the present invention further improves the cleaning effect of the cleaning robot by increasing the relative movement of the moping member to the ground and enabling the wiping member to swing relative to the ground.
  • the automatic cleaning of the wiping member is realized, which is further beneficial to further free the user from the ground cleaning process and reduce the cleaning burden of the user. And it can prevent the drag effect from being affected by the change of the wiper.
  • Fig. 1 is a view showing the overall structure of a cleaning robot system according to a first embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the overall structure of the base station shown in FIG. 1.
  • Figure 3 shows a schematic view of the exploded structure of Figure 2.
  • Fig. 4 is a view showing the structure of the wiping member cleaning device of Fig. 2.
  • Figure 5 shows a schematic view of the installation of the liquid level detecting device in the first storage structure.
  • Fig. 6 is a top perspective view showing the entire structure of the cleaning robot shown in Fig. 1.
  • Fig. 7 is a bottom perspective view showing the entire structure of the cleaning robot shown in Fig. 1.
  • Figure 8 shows a schematic view of the exploded structure of Figure 6.
  • FIG. 9 is a schematic view showing the structure of the cleaning robot shown in FIG. 6 after removing the upper casing and the processing circuit.
  • Fig. 10 is a view showing the structure after further removing the fan and the fan duct on the basis of Fig. 9.
  • Fig. 11 is a view showing the overall structure of the wiping device of the cleaning robot shown in Fig. 6.
  • Fig. 12 is a view showing the exploded structure of Fig. 11.
  • Figure 13 shows the degree of freedom of oscillation of the drag member of Figure 12 under the action of a flexible connecting block and a horizontal axis of rotation.
  • Fig. 14 is a view showing the structure of the wiping device shown in Fig. 11 after removing the horizontal rotating shaft.
  • Figure 15 shows the degree of freedom of oscillation of the drag member of Figure 14 under the action of a flexible connecting block.
  • Fig. 16 shows a first modification of Fig. 13.
  • Fig. 17 shows a second modification of Fig. 13.
  • Fig. 18 shows a third modification of Fig. 13.
  • Fig. 19 is a view showing the air passage of the garbage collecting device of the cleaning robot shown in Fig. 6.
  • Fig. 20 is a view showing the positional relationship between the wiping device and the garbage collecting device of the cleaning robot shown in Fig. 6.
  • Fig. 21 is a view showing the process of the cleaning robot entering the base station by the jacking mechanism in the first embodiment shown in Fig. 1.
  • FIG. 22 is a schematic diagram showing the state of cooperation with the base station after the cleaning robot enters the base station in the first embodiment shown in FIG. 1.
  • Fig. 23 is a view showing the principle of cleaning of the wiping member of the cleaning robot by the base station in the first embodiment shown in Fig. 1.
  • Fig. 24 is a view showing the overall configuration of a cleaning robot system of a second embodiment of the present invention.
  • Fig. 25 is a view showing the overall configuration of the base station shown in Fig. 24.
  • Figure 26 is a schematic view showing the exploded structure of Figure 25.
  • Fig. 27 is a view showing the overall structure of the cleaning robot shown in Fig. 24.
  • Fig. 28 is a view showing the exploded structure of Fig. 27.
  • Fig. 29 is a view showing the structure of the cleaning robot shown in Fig. 27 after removing the upper casing and the upper casing cover.
  • Fig. 30 is a view showing the structure of the cleaning robot shown in Fig. 27 after removing the lower casing cover.
  • Figure 31 is a view showing the exploded structure of the wiping device shown in Figure 30.
  • Figure 32a is a cross-sectional view showing the assembled structure of the output shaft and the wiping unit of Figure 31.
  • Fig. 32b shows a partially enlarged schematic view of I in Fig. 32a.
  • Fig. 32c shows a partially enlarged schematic view of II in Fig. 32b.
  • Fig. 33 is a view showing the exploded structure of the garbage collecting device in the second embodiment (the dust removing fan is omitted).
  • Figure 34 is a view showing the air passage of the garbage collection device in the second embodiment.
  • Fig. 35 is a view showing the movement of the cleaning robot when the cleaning robot enters the base station in the second embodiment.
  • Fig. 36 is a view showing a modification of the positional relationship between the suction port and the wiping device in the first embodiment and the second embodiment.
  • Fig. 37 shows another modification of the first embodiment and the second embodiment.
  • Fig. 38 is a view showing the overall configuration of a cleaning robot system of a third embodiment of the present invention.
  • Fig. 39 is a bottom perspective view showing the entire structure of the cleaning robot shown in Fig. 38.
  • Fig. 40 is a view showing the structure of the cleaning robot shown in Fig. 38 after the upper casing is removed.
  • Figure 41 is a view showing the positional relationship between the suction port and the wiping device in the third embodiment of the figure.
  • Fig. 42 is a view showing the configuration of a cleaning robot having a wiping unit rotatable about a horizontal axis in the fourth embodiment.
  • Fig. 43 is a view showing the principle of cleaning the wiping member of the cleaning robot shown in Fig. 42 by the base station having the cleaning roller.
  • Fig. 44 shows a modification of the cleaning robot of the fourth embodiment shown in Fig. 43.
  • Fig. 45 shows a modification of the cleaning robot shown in Fig. 44.
  • Fig. 46 is a view showing the configuration of a cleaning robot having a wiping unit capable of horizontal reciprocation in the fifth embodiment.
  • Fig. 47 shows a modification of the cleaning robot of the fifth embodiment shown in Fig. 46.
  • Figures 48 and 49 show two variants of the raised structure of the present invention, respectively.
  • Figure 50 is a block diagram showing the structure of a cleaning robot provided with a suspension device at the wheel.
  • Fig. 51 is a partially enlarged schematic view showing the portion III in Fig. 50.
  • Fig. 52 shows a process in which the cleaning robot enters and exits the base station based on the jacking mechanism and the suspension device shown in Fig. 50.
  • Fig. 53 shows a process in which the cleaning robot enters and exits the base station based on the guide surface and the guide wheel.
  • Figure 54 is a block diagram showing the structure of a cleaning robot system of a sixth embodiment of the present invention.
  • Fig. 55 is a view showing a state in which the base station cleans the cleaning robot in the sixth embodiment shown in Fig. 54.
  • Fig. 56 is a view showing the principle of cleaning the wiping member of the cleaning robot by the base station in another embodiment of the present invention.
  • Figure 57 is a partial schematic view showing the bottom of the cleaning robot in the modified embodiment of the first embodiment of the present invention.
  • Fig. 58 is a partial schematic view showing the bottom of the cleaning robot of the embodiment shown in Fig. 57 of the present invention different from the angle of view of Fig. 57.
  • Mop cleaning device 111, cleaning tank; 112, raised portion; 1121, bottom protrusion; 1122, side protrusion; 113, liquid inlet structure; 114, liquid discharging structure; 115, guide plate; , guiding surface; 117, scraping member; 118, cleaning roller; 119, guiding wheel;
  • the liquid supply device 121, the first storage structure; 1211, the box; 1212, the box cover; 1213, the handle; 1214, the buckle; 122, the first water pump;
  • a sewage collection device 131, a second storage structure; 132, a second water pump;
  • a charging device 141, a charging chip
  • 151 a first conductive sheet
  • 152 a second conductive sheet
  • 153 a third conductive sheet
  • walking device 211, walking wheel; 212, spring; 213, support member;
  • garbage collection device 231, dust box; 2311, baffle; 2312, blade; 2312', roller brush; 2313, box body; 2314, lid; 2315, handle; 2316, positioning pin; 233, filter ; 233', Haipa paper; 2331', Haipa paper support; 234, dust removal fan; 235, fan duct; 236, suction port; 237, garbage block; 238, filter frame;
  • Control device
  • orientation words such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom”, etc. are indicated.
  • the orientation or positional relationship is usually defined based on the state of normal use of the cleaning robot system, wherein the cleaning robot advances in the forward direction, and accordingly, the cleaning robot's backward direction is rearward; the orientation word “inside and outside” refers to Internal and external with respect to the contour of each component itself.
  • Figures 1-58 illustrate various embodiments of a cleaning robotic system including a base station of the present invention.
  • a cleaning robot 2 of the present invention includes a walking device 21 for driving the cleaning robot 2 to walk on the ground and a floor cleaning device 22 for cleaning the floor, the floor cleaning device 22 including a wiping device 221, the wiping device 221 includes a wiping unit 2211, the wiping unit 2211 includes a wiping member 22111, and the wiping member 22111 is used to drag the ground.
  • the cleaning robot 2 of the present invention includes a wiping member 22111 for mopping the ground. Therefore, the mopping function can be realized, the stubborn stain on the ground can be removed, and the floor cleaning effect can be improved.
  • the wiping unit 2211 is provided to be rotatable and/or horizontally reciprocable with respect to the chassis 202 of the cleaning robot 2.
  • the relative movement between the wiping member 22111 and the ground includes not only the movement of the cleaning robot 2 as a whole on the ground, but also the rotational movement and/or horizontal reciprocation of the wiping member 22111 relative to the ground, thereby
  • the wiping force of the wiping member 22111 can be enhanced, and the number of wiping of the wiping member 22111 can be increased, and the repeated wiping of the ground can be realized, thereby improving the wiping effect of the wiping member 22111, which is particularly helpful for more thorough Clean stubborn stains that adhere to the ground.
  • the wiping unit 2211 is configured to be rotatable relative to the chassis 202 of the cleaning robot 2, because the rotating mopping member 22111 can also sweep up large particles and dust on the ground, that is, at the same time, cleaning.
  • the cleaning robot 2 is made into a sweeping and dragging robot, and the function is more comprehensive, the ground cleaning effect is better, and the cleaning function can be realized without providing a special cleaning device 222, so that the cleaning robot 2 can also have the function of sweeping and dragging. At the same time, it has a simpler structure and a smaller volume, which is advantageous for further miniaturization and dexterity of the cleaning robot 2.
  • the wiping unit 2211 can also be disposed to be swingable relative to the chassis 202. Based on this arrangement, the wiping member 22111 of the wiping unit 2211 can be kept in contact with the ground by swinging relative to the chassis 202 as the unevenness of the ground is uneven, thereby ensuring that the two wiping members 22111 of this embodiment are always in close contact with each other. On the ground, this not only prevents the leakage of the ground due to unevenness, but also ensures a more thorough and efficient cleaning of various grounds. It also enables the cleaning robot 2 to clean the more complex and diverse terrain and effectively expand Clean the scope of application of the robot 2.
  • the present invention also provides a cleaning robot system including the cleaning robot 2 of the present invention.
  • the cleaning robot system may further include a base station 1 capable of cleaning the mopping member 22111.
  • the base station 1 includes a base station body 10 and a wiper cleaning device 11 disposed on the base station body 10, and the wiper cleaning device 11 is for cleaning the wiper 22111 of the cleaning robot 2.
  • the base station 1 can adopt ultrasonic cleaning, dry cleaning or water washing to achieve cleaning of the wiping member 22111.
  • the water washing method is preferred, because the water washing method is not only easier to implement, but also has lower cost and cleaner cleaning effect.
  • the cleaning member 22111 after the washing method has a certain amount of moisture, and can directly continue to be put into the mopping work without additionally providing a step of humidifying the wiping member 22111. Therefore, the washing and cleaning method can further reduce user participation, and Further ensuring the continuity of the cleaning robot 2 work.
  • the wiping member cleaning device 11 and the wiping member 22111 are preferably disposed to be relatively movable, for example, the wiping member cleaning device 11 and the wiping member. 22111 is relatively rotated, and/or, the wiping member cleaning device 11 can be moved relative to the wiping member 22111, so that the wiping member 22111 is pressed against the wiping during the cleaning of the wiping member 22111 by the wiping member cleaning device 11. On the cleaning device 11, the wiping member cleaning device 11 can apply a frictional force to the wiping member 22111, so that the cleaning and cleaning property of the wiping member 22111 can be improved, and the cleaning effect of the wiping member cleaning device 11 can be improved.
  • the relative movement of the wiping member cleaning device 11 and the wiping member 22111 may be caused by one of the wiping member cleaning device 11 and the wiping member 22111, and the other may be the wiping member cleaning device 11 and
  • the mopping members 22111 both move but differ in direction of motion and/or speed of movement.
  • the wiper cleaning device 11 may be configured to include a raised structure including a raised portion 112 that is raised when the wiper cleaning device 11 cleans the wiper 22111
  • the wiper 22111 is in contact.
  • the piece 22111 is more thoroughly cleaned, and prevents the wiping member 22111 that completes cleaning from being excessively wet, and in the case where the wiping member cleaning device 11 and the wiping member 22111 are relatively movable, the convex portion 112 and the wiping member 22111 are further A planar rubbing motion is generated, which can further increase the frictional force of the wiping member cleaning device 11 and the wiping member 22111, and further improve the cleaning effect of the wiping member cleaning device 11 on the wiping member 22111.
  • the base station 1 of the present invention is preferably arranged to further include a guiding structure provided on the wiping member cleaning device 11 for guiding the cleaning robot 2 with respect to the wiping member cleaning device 11 moves to cause the mop member 22111 to enter and exit the mop cleaning device 11.
  • the cleaning robot 2 can conveniently enter the base station 1 under the guiding action of the guiding structure, so that the wiping member 22111 enters the wiping member cleaning device 11 for cleaning.
  • the cleaning robot 2 can smoothly drive out of the base station 1 under the guiding action of the guiding structure, so that the wiping member 22111 leaves the wiping member cleaning device 11.
  • the guiding structure can be cleaned. It is convenient for the robot 2 to enter and exit in the base station 1, which helps to improve the working efficiency of the cleaning robot system.
  • the guiding structure may include at least one of a guiding surface, a guide plate and a guide wheel.
  • Figures 1-23 illustrate a first embodiment of a cleaning robotic system.
  • the cleaning robot system includes a cleaning robot 2 and a base station 1 which are provided independently of each other, wherein the cleaning robot 2 is used for automatic cleaning including grounding, the base station 1 is for charging the cleaning robot 2 and cleaning the wiping member 22111 of the cleaning robot 2.
  • the cleaning robot 2 can automatically return to the base station 1 where charging and/or wiping cleaning is performed.
  • the cleaning robot 2 is a mobile cleaning device including a housing 20, a traveling device 21, a floor cleaning device 22, a garbage collection device 23, and the like.
  • the housing 20 constitutes a mounting base for other structural components of the cleaning robot 2, and provides support for other components.
  • the housing 20 of this embodiment includes an upper housing 201 and a chassis 202.
  • the traveling device 21, the floor cleaning device 22, and the garbage collection device 23 are mounted on the chassis 202, and the upper housing 201 is covered. It is disposed above the chassis 202 for protecting structural components in the hollow space between the upper casing 201 and the chassis 202, and maintaining the integrity and beauty of the overall structure.
  • the traveling device 21 is for providing a driving force for the movement of the cleaning robot 2 on the ground, and drives the cleaning robot 2 to walk on the ground.
  • the traveling device 21 of this embodiment includes a pair of traveling wheels 211 which are symmetrically disposed on the left and right sides of the chassis 2, and the traveling wheels 211 are rotated to enable the cleaning robot 2 to Advance or retreat on the ground. Further, the steering of the cleaning robot 2 can be realized by the differential rotation of the pair of traveling wheels 211.
  • the floor cleaning device 22 is used to clean the floor.
  • the floor cleaning device 22 includes a wiping device 221, the wiping device 221 includes a pair of wiping units 2211, and each of the wiping units 2211 includes a platen 22112 and a mopping member 22111, and the wiping member 22111 is mounted on the lower end surface of the platen 22112 for mopping the ground.
  • the mop member 22111 can be a mop (or rag) or a sponge or the like which can wipe the ground.
  • the mop member 22111 of this embodiment uses a mop.
  • the mop member 22111 is preferably detachably coupled to the platen 22112.
  • the squeegee 22111 can be affixed to the lower end surface of the platen 22112 by using a velcro to facilitate disassembly and replacement of the mop member. 22111.
  • the mop member 22111 and the platen 22112 of this embodiment are both circular.
  • the two may be disposed in other shapes such as a rectangle, and the embodiment sets the shape of the two to be circular.
  • the advantage is that it is easier for the wiping unit 2211 to clean a narrow space such as a corner inside the house, and it is also more convenient to rotate as follows.
  • the wiping unit 2211 of this embodiment is configured to be rotatable relative to the chassis 202.
  • the mopping effect is improved by increasing the relative rotation of the wiping unit 2211 to the ground.
  • the rotation of the wiping unit 2211 relative to the chassis 202 can be either a rotation about a horizontal axis or a rotation about a vertical axis, wherein the embodiment is preferably arranged to rotate about a vertical axis because the winding is vertical
  • the axis-rotating wiping member 22111 can achieve a better wiping and cleaning effect.
  • the wiping device 221 includes at least two wiping units 2211
  • at least two wiping units 2211 can be turned to the same or can be turned differently, and can also switch between the same direction and the reverse rotation, that is, some The at least two wiping units 221 are reversely rotated for a period of time and changed to reverse rotation for another period of time.
  • the wiping device 221 can also be used to collect the garbage in the middle, thereby achieving a better garbage gathering effect.
  • both of the wiping units 2211 are rotated about a vertical axis, but the directions of rotation are opposite. Due to the reverse rotation about the vertical axis, the two wiping units 2211 can gather the swept garbage toward the middle of the two wiping units 2211, so that the setting allows the wiping device 221 to perform the wiping and cleaning functions simultaneously. It can also play a better role in garbage accumulation, so that it can collect garbage more thoroughly and thoroughly. Based on this, the wiping device 221 of this embodiment can cooperate with the garbage collecting device 23 of this embodiment to achieve a cleaner cleaning effect, which will be described later in more detail.
  • the frictional forces generated by the two moping units 2211 due to the rotation are opposite to each other, and can cancel each other, which can effectively avoid the friction imbalance during the cleaning process.
  • the problem helps to make the cleaning robot 2 walk more smoothly in accordance with a predetermined route.
  • the moping device 221 of the embodiment further includes a mop driving mechanism 2212.
  • the wiping driving mechanism 2212 connects the wiping unit 2211 and the chassis 202, and is used to drive the wiping unit 2211. Rotation with respect to the chassis 202, that is, for driving the drag unit 2211 to rotate relative to the ground. Specifically, as shown in FIGS.
  • the drag drive mechanism 2212 includes a worm motor, two worm gears 22122, and two output shafts 22123, wherein: the worm motor is used for two drag units 2211 Torque is provided; two worm gears 22122 are drivingly coupled between the worm motor and the two output shafts 22123 in a one-to-one correspondence with the two output shafts 22123.
  • Each worm gear 22122 meshes with the worm on the worm motor, that is, the worm gear 22122 and the worm motor
  • the upper worm forms a worm gear mechanism, and the two worm gears 22122 mesh with the worm of the worm motor to transmit opposite directions of torque to the two output shafts 22123; the two output shafts 22123 are drivingly coupled to the two worm wheels 22122 and two
  • the wiping units 2211 and two output shafts 22123 are provided in one-to-one correspondence with the two wiping units 2211 for transmitting opposite torques to the two wiping units 2211, respectively, and two output shafts. 22123 are arranged vertically, such that the two moping units 2211 rotate around the respective output shafts 22123 under the driving action of the worm motor, that is, the reverse rotation of the two wiping units 2211 about the vertical axis can be realized. move.
  • the worm motor is a double-head worm motor 22121, wherein: the double-head worm motor 22121 functions as a worm power mechanism for outputting torque; two worm wheels 22122 and two
  • the mopping units 2211 are arranged one by one, and respectively mesh with the two worm heads on both sides of the double worm motor 22121, and the two worm wheels 22122 are meshed with the double worm motor 22121.
  • the double-head worm motor 22121 rotates, the power can be transmitted to the two worm wheels 22122, and the opposite torques are transmitted to the two output shafts 22123 through the two worm wheels 22122, and the two output shafts 22123 are driven to drive the two wiping units.
  • the 2211 rotates in the opposite direction around the vertical axis, and the structure is simple and compact, and the transmission efficiency is high.
  • the wiping device 221 of this embodiment further includes a mounting chassis 2213, an upper tray 2214, and a lower tray 2215.
  • the drag driving mechanism 2212 is mounted through the mounting chassis 2213, the upper tray 2214, and the lower tray 2215.
  • the upper tray 2214 and the lower tray 2215 are fastened to each other to form a hollow space.
  • the components of the drag drive mechanism 2212 are disposed in the hollow space for cooperative transmission, and the mounting chassis 2213 is disposed on the chassis 202, and the lower tray 2215 Mounted on the mounting chassis 2213 such that the drag drive mechanism 2212 is mounted to the chassis 202.
  • the mop drive mechanism 2212 of this embodiment further includes a bearing 22124 and an oil seal ring 22125, wherein the bearing 22124 and the oil seal ring 22125 are disposed between the output shaft 22123 and the worm wheel 22122 for smoother transmission.
  • the wiping unit 2211 is swingably coupled to the chassis 202 of the cleaning robot 2, and the wiping effect of the wiping device 221 is improved by expanding the two wiping members 22111 to the ground at all times, and is enlarged. Clean the scope of application of the robot 2.
  • the wiping unit 2211 of this embodiment can not only oscillate centering on the vertical axis, but also can swing around the horizontal axis, so that the wiping member 22111 has a plurality of swinging degrees of freedom, which is advantageous for achieving the entire wiping.
  • the piece 22111 is in contact with the moment of the ground, so that the wiping member 22111 can better adapt to the uneven ground to achieve a cleaner cleaning effect.
  • a flexible connecting block is disposed between the wiping unit 2211 and the output shaft 22123 of the drag drive mechanism 2212. 2216, the two are connected by the flexible connection block 2216.
  • the flexible connection block 2216 can be detachably coupled to the wiping unit 2211 and/or the mop drive mechanism 2212. Since the flexible connecting block 2216 can be freely deformed as a flexible connecting structure, when the cleaning robot 2 encounters an uneven ground, the flexible connecting block 2216 can exert a ground force transmitted by the wiping member 22111.
  • each of the flexible connecting blocks 2216 can provide the degree of freedom of adjustment of the swing for the corresponding wiping unit 2211 (ie, the first swinging degree of freedom I in FIG. 13). More diverse and more flexible to the ground.
  • the material deformation of the flexible connecting block 2216 can be utilized to realize the swing of the wiping unit 2211 centered on the vertical axis, and can be uneven according to the ground.
  • the degree of the swinging angle of the wiping unit 2211 is flexibly adjusted, so that the wiping member 22111 is always attached to the ground for wiping, thereby further improving the wiping effect.
  • the flexible connecting structure applied to the embodiment is not limited to the one of the flexible connecting blocks 2216, and other flexible connecting structures capable of realizing the swinging of the wiping unit 2211 by the deformation of the self material are also applicable.
  • a horizontal rotating shaft 2218 is provided between the wiping device 221 and the chassis 202, and the two are connected by the horizontal rotating shaft 2218.
  • the horizontal rotating shaft 2218 of this embodiment is coupled between the chassis 202 and the middle portion of the drive shaft of the drag device 221 that is coupled between the two wiping units 2211.
  • the horizontal rotating shaft 2218 can provide a horizontal rotation degree of freedom (ie, the second swinging degree of freedom J shown in FIG. 13) for each of the wiping units 2211, so that each of the wiping units 2211 can be uneven with the unevenness of the ground.
  • the horizontal rotating shaft 2218 swings around the center to ensure that the drag member 22111 is in contact with the ground.
  • the embodiment provides the flexible connecting block 2216 and the horizontal rotating shaft 2218 at the same time, so that the wiping member 22111 has a plurality of swinging degrees of freedom, which can more flexibly adapt to the uneven ground, so that the cleaning robot 2 encounters uneven terrain even if it encounters uneven terrain. It also allows the mopping member 22111 to be cleaned against the ground so that the floor can be cleaned more cleanly.
  • the contact of the wiping device 221 with the ground is equivalent to a fulcrum, that is, the implementation.
  • the wiping device 221 of the example provides a fulcrum to the cleaning robot 2, and at the same time, since the contact of the two traveling wheels 211 with the ground is equivalent to two fulcrums, overall, the cleaning robot 2 of the embodiment forms a ground with the ground.
  • the point support mode allows the cleaning robot 2 to land at three o'clock at a time, thereby increasing the overall operational stability of the cleaning robot 2 and further ensuring the cleaning effect.
  • the embodiment in which the wiping unit 221 is swung with the ground unevenness is not limited to the above manner (ie, the manner shown in FIG. 13), and three alternative embodiments are provided herein.
  • the position of the horizontal rotation shaft 2218 can also be changed, and the horizontal rotation shaft 2218 is disposed between the traveling device 21 and the chassis 202.
  • the rotating device is connected between the traveling device 21 and the chassis 202, and the traveling device 21 as a whole provides a fulcrum for the cleaning robot 2, while each flexible connecting block 2216 of the wiping device 221 is for each wiping.
  • the unit 2211 provides two degrees of freedom of adjustment of the swing so that the wiping device 221 is in contact with the ground when the two fulcrums are in contact with the ground, that is, the wiping device 221 provides two pivot points for the cleaning robot 2, which is visible, the alternative is still
  • the wiping member 22111 can be brought close to the ground at all times, and a three-point support mode is formed between the cleaning robot 2 and the ground.
  • the three-point support in this alternative includes two front fulcrums and one rear fulcrum, while the three-point support in the manner shown in Figure 13 includes one fulcrum in front and two fulcrums in the rear.
  • the aforementioned flexible connecting block 2216 can also be omitted, and only the horizontal rotating shaft is provided between the wiping device 221 and the chassis 202. 2218, or a horizontal rotation axis 2218 is provided only between the traveling device 21 and the chassis 202.
  • the wiping member 22111 and/or the traveling device 21 can be realized.
  • the overall swing of the chassis 202 forms the aforementioned three-point support, and the structure is simpler and the cost is lower.
  • the garbage collection device 23 is for collecting the garbage collected by the floor cleaning device 22, and includes a collection port for communicating the inside and the outside of the garbage collection device 23, and the garbage collected by the floor cleaning device 22 enters the garbage collection device from the collection port. The interior of 23.
  • the garbage collection device 23 includes a dust box 231, a strainer 233, a dust removing fan 234, a fan duct 235, and a dust suction port 236, wherein the dust box 231 includes a box.
  • the body 2313 and the lid 2314 are covered at the top end opening of the box body 2313; the dust suction port 236 is disposed at a lower portion of the dust box 231 and opens toward the ground so that the garbage can enter the dust box through the dust suction port 236.
  • the dust removing fan 234 is in fluid communication with the dust box 231 through the fan duct 235, so that dust such as dust can enter the dust box 231 by the dust suction port 236 under the action of the dust removing fan 234; the screen 233 is disposed in the dust box 231.
  • the side portion is located on the fluid communication path of the dust removing fan 234 and the dust box 231 (the screen 233 is specifically disposed on the fluid communication path of the fan duct 235 and the dust box 231 in FIG. 19) to enable the garbage in the wind to be
  • the screen 233 is filtered to remain in the dust box 231, and the wind can continue to be drawn away by the dust removing fan 234.
  • the outlet of the dust removing fan 234 faces the double-head worm motor 22121, so that the wind flowing out of the dust removing fan 234 can be directly blown to the double-head worm motor 22121, and the double-head worm motor 22121 is cooled, which is beneficial to ensure the double head.
  • the working performance of the worm motor 22121 extends the working life of the double-head worm motor 22121.
  • the drag drive mechanism is disposed on both sides of the dust suction device such that the dust suction device can extend integrally along the front-rear direction of the cleaning robot 2.
  • the double-head worm motor 22121 can be replaced with two motors, and the two motors output power through a worm gear mechanism or a gear mechanism.
  • it is convenient to arrange the two motors on both sides of the dust suction device to avoid blocking the dust suction device due to the motor shaft traversing the dust suction device, so that the air suction path of the dust suction device can be made smoother and the vacuum is reduced.
  • the air inlet resistance of the device increases the air flow rate of the dust suction device and improves the dust suction effect of the dust suction device.
  • the dust removing fan 234 drives the wind to drive the garbage into the inside of the casing 2313 via the dust suction port 236, the garbage is blocked by the filter 233, and the wind enters the fan duct 235 through the filter 233, and the flow direction The dust blower 234 is removed and finally withdrawn by the dust removal fan 234.
  • the garbage collection device 23 of this embodiment is a dust suction device, and the dust suction port 236 serves as a collection port.
  • the advantage of using the dust suction device as the garbage collection device 23 in this embodiment is that the garbage collection device 23 can exert an attractive force on the garbage, which not only allows more garbage collected by the floor cleaning device 22 to be collected more quickly, and reduces garbage. Residues on the ground, and under suction, larger particles of waste can also be sucked into the interior of the garbage collection device 23. Therefore, the use of a dust suction device as the garbage collection device 23 facilitates cleaning the floor more cleanly.
  • the two wiping units 2211 that rotate in the reverse direction about the vertical axis are capable of collecting the garbage between the two wiping units 2211, thereby collecting garbage in a more convenient and efficient manner.
  • the dust suction port 236 is disposed in the middle of the two wiping units 2211 of the drag device 221 of the embodiment, such that the dust suction port 236 is located in two mops. Between the units 2211, the garbage is collected on the path, so that the garbage collection device 23 can collect the garbage more fully, thereby achieving a more effective garbage collection effect.
  • the dust suction port 236 may be disposed in the middle of the rear of the two wiping units 2211 or in the middle of the front of the two wiping units 2211.
  • the dust suction port 236 is disposed at the center of the rear of the two wiping units 2211. As shown in FIG. 36, since the garbage is collected to a smaller area and then collected by the garbage collection device 23, the dust suction port 236 can be set. The smaller the dirt, and the smaller the suction port 236, the greater the suction, enabling more efficient collection.
  • the dust suction port 236 is disposed in the middle of the front of the two wiping units 2211, as shown in FIG. 7 and FIG. 20, which has the advantage that the garbage collection can be performed before the wiping, and the garbage can be unswept.
  • the dust suction port 236 is placed on two tows that rotate in the opposite direction around the vertical axis.
  • the middle of the front of the rubbing unit 2211 can reduce the difficulty of garbage collection, so that the dust collecting device can collect the garbage only by applying a small suction force, and can effectively prevent the problem that the garbage such as hair is difficult to be collected due to excessive moisture. This makes it easier and more thorough to collect garbage for a cleaner garbage collection.
  • the cleaning robot 2 of this embodiment is capable of performing a higher quality floor cleaning work: when operating, the two mopping members 2111 are driven by the mop driving mechanism 2212. Reverse rotation around the vertical axis under the action, on the one hand, the stubborn stain on the ground is mopped, on the other hand, the garbage is collected in the middle of the two mopping members 2111, and the garbage collected in the middle portion is collected by the garbage collecting device. 23 suck up the collection.
  • the garbage collection devices 23 further include a baffle 2311 which is collected by the collection port of the garbage collection device 23 (in this implementation)
  • the suction port 236) is inclined downward and extends to the ground.
  • the baffle 2311 can block the garbage collected to its location, preventing the garbage cleaned by the floor cleaning device 22 from spreading out to the range where the collection port (the suction port 236) can be collected, thereby facilitating the garbage.
  • the collecting device 23 collects and prevents the garbage from causing secondary pollution to the cleaned ground.
  • the baffle 2311 can prevent the collected garbage from being carried away from the collecting port by the wiping member 22111 (the suction port 236).
  • the cleaning robot 2 of this embodiment can also close the garbage collection device 23 and only operate the wiping device 221; or, the cleaning device 221 can be replaced with a cleaning device 222 for cleaning the garbage on the ground.
  • the cleaning device 222 is used in cooperation with the garbage collection device 23 to realize a separate sweeping function.
  • the drag device 221 of the embodiment is detachably connected to the drag driving mechanism 2212, the wiping device 221 can be conveniently disposed.
  • the cleaning device is switched to the cleaning device 222 to realize the switching of the cleaning mode.
  • the cleaning robot 2 of the embodiment can be made to perform the dry drag function by replacing the wet drag member 22111 with the dry drag member 22111.
  • the mop member 22111 of the embodiment is detachably coupled to the platen 22112. Therefore, the dry mop member 22111 and the wet mopping member 22111 can also be conveniently replaced to achieve rapid switching between the dry mopping and wet mopping modes.
  • the cleaning robot 2 further includes a collision sensing plate 25, a laser radar 26, a control device 27, a battery 28, and buttons, screens, etc. for human-computer interaction. Human-computer interaction device.
  • the collision sensing plate 25 is configured to prevent the cleaning robot 2 from colliding with an obstacle.
  • the collision sensing plate 25 is disposed at the front end of the casing 20; the laser radar 26 is used for performing map scanning to implement the cleaning robot 2 Drawing and positioning, in this embodiment, a laser radar 26 is embedded in the rear of the upper casing 201; a battery 28 is used to supply power to the cleaning robot 2; and a control device 27 is used to control various activities of the cleaning robot 2, For example, sensor signal collection, motor drive control, battery management, navigation and positioning, map generation, intelligent obstacle avoidance, and clean path planning.
  • the cleaning robot 2 of this embodiment further includes a jacking mechanism 24.
  • the jacking mechanism 24 is used to lift the front end and/or the rear end of the cleaning robot 2, which can provide lift to the cleaning robot 2, which can not only make the cleaning robot 2 more easily pass over a certain height obstacle during the ground walking process (for example, the threshold) improves the obstacle-removing ability of the cleaning robot 2, expands the cleaning range of the cleaning robot 2, and helps the cleaning robot 2 to more easily enter and exit the base station 1 during the process of cleaning the robot 2 entering and leaving the base station 1, especially in a certain height.
  • the jacking mechanism 24 is disposed on the chassis 202 of the cleaning robot 2 and is located at a front position of the chassis 202, which includes a top and bottom
  • the swinging swing rod when the swing rod is swung downward, the swing rod can protrude downward from the chassis 202 and be supported on the bearing surface (for example, the ground), so that the front end of the cleaning robot 2 can be lifted up, and when the swing rod is swinged upward After the return, the swing lever is retracted, the lifting is lifted, and the front end height of the cleaning robot 2 is lowered again. Based on this, as shown in FIG. 21 and FIG.
  • the jacking mechanism 24 can jack up the front end of the cleaning robot 2, actively raising the front end height of the cleaning robot 2, and helping to clean.
  • the robot 2 quickly overcomes the obstacle or helps the cleaning robot 2 to quickly enter the base station 1 and smoothly slide the mopping member 22111 into the wiping member cleaning device 11.
  • the jacking mechanism 24 is not limited to being disposed on the chassis 202, and may be disposed on the base station 1, or a jacking mechanism 24 may be respectively disposed on the base station 1 and the chassis 202;
  • the jacking mechanism 24 is not limited to being disposed at the front of the chassis 202, and may also be disposed at the rear of the chassis 202 for jacking up the rear end of the cleaning robot 2. .
  • Figures 50-52 illustrate an alternate embodiment in which the jacking mechanism 24 is disposed at the rear of the chassis 202.
  • the jacking mechanism 24 is disposed at the rear of the chassis 202, in which case, as shown in Figure 52, when the cleaning robot 2 needs to enter the base station 1, the top The lifting mechanism 2 may not operate, and the cleaning robot 2 directly drives into the base station 1 under the guiding action of the driving force of the base station 1 and the guiding structure of the base station 1 (such as the inclined guiding surface 116 in FIG. 52), so that the wiping member 22111 enters the wiping member.
  • the cleaning device 11 is cleaned, and when the cleaning member 22111 is cleaned and the cleaning robot 2 needs to exit the base station 1, the jacking mechanism 24 acts to lift the rear end of the cleaning robot 2 so that the trailing edge of the wiping member 22111 is higher than the wiping The edge height of the cleaning device 11 is further removed from the base station 1.
  • a suspension device can be provided at the walking wheel 211 for maintaining the resilient connection of the running wheel 211 with the chassis 202 such that the walking wheel 211 can be kept in contact with the ground at all times, thereby
  • the traveling wheel 211 can still be in close contact with the ground under the action of the suspension device to provide frictional force to the cleaning robot 2, so that it can be further assisted by providing the suspension device.
  • the cleaning robot 2 exits the base station 1 more efficiently.
  • the suspension device includes a spring 212 and a support member 213, the spring 212 is horizontally disposed, and the support member 213 is obliquely coupled between the spring 212 and the traveling wheel 211. And a portion between the support member 213 for both ends connected to the spring 212 and the traveling wheel 211 is rotatably disposed with respect to the housing 20 of the cleaning robot 2.
  • the suspension device can not only keep the traveling wheel 211 in contact with the ground, but also assist the lifting mechanism 24 to lift the rear end of the cleaning robot 2 by the elastic force of the spring 212, so in this case,
  • the jacking mechanism 24 can lift the rear end of the cleaning robot 2 with a small jacking force, so that the jacking mechanism 24 can select a smaller motor, thereby achieving the purpose of reducing cost and saving installation space.
  • the suspension device may not be provided together with the jacking mechanism 24, and since the suspension device can keep the traveling wheel 211 in constant contact with the ground, the obstacle-blocking ability of the cleaning robot 2 can also be increased when the suspension device is separately provided.
  • the base station 1 cleans the mopping member 22111 by means of a water washing method, that is, the base station 1 keeps the wiping member 22111 clean by cleaning the wiping member 22111.
  • the base station 1 includes a base station body 10, a wiper cleaning device 11, a clean liquid supply device 12, a dirty liquid collecting device 13, and a charging device 14.
  • the base station body 10 constitutes a mounting base of other structural components of the base station 1.
  • the wiper cleaning device 11, the cleaning liquid supply device 12, and the dirty liquid collecting device 13 are all disposed on the base station body 10, and the base station body 10 is mounted thereon. These structural components on the upper provide support.
  • the wiping member cleaning device 11 is installed below the base station body 10, and the cleaning liquid supply device 12 and the dirty liquid collecting device 13 are installed above the base station body 10 and respectively located at the base station.
  • the left and right sides of the body 10 are compact and beautiful.
  • the wiping member cleaning device 11 of this embodiment cooperates with the cleaning liquid supply device 12 and the dirt liquid collecting device 13 to achieve water washing cleaning of the wiping member 22111; and, since the wiping unit 2211 of this embodiment can be wound upright
  • the axis is rotated, so that the wiping unit 2211 and the wiping member cleaning device 11 can be rotated relative to each other, and the base station 1 can implement a friction type washing cleaning mode.
  • the wiping member 22111 is carried on the wiping member cleaning device 11 and is rotationally cleaned, the cleaning liquid supply device 12 supplies the cleaning liquid, and the dirty liquid collecting device 13 collects the dirty cleaning liquid after the cleaning.
  • the wiper cleaning device 11 of this embodiment includes a cleaning groove 111, a convex structure having a plurality of convex portions 112, a liquid inlet structure 113, and a liquid discharge structure 114.
  • the cleaning slot 111 is configured to receive the wiping member 22111 when the wiping member cleaning device 11 cleans the mopping member 22111, and also provides an accommodation space for the cleaning liquid.
  • the wiping member cleaning device 11 includes two cleaning grooves 111, and the shape and size of each cleaning groove 111 are the same as the shape and size of the wiping unit 221 of the embodiment.
  • the fitting, wherein the cleaning groove 111 has a circular cross section shape.
  • This arrangement is to adapt the cleaning groove 111 to the shape, size and number of the wiping unit 221 of the cleaning robot 2, which not only better accommodates the wiping member 2111 and the cleaning liquid, but also prevents the cleaning liquid from splashing, and also makes
  • the base station 1 can simultaneously clean all the wiping members 22111 of one cleaning robot 2 to improve cleaning efficiency.
  • the shape and size of the cleaning groove 111 can be adaptively set according to the specific condition of the wiping unit 2211, and the number of the cleaning grooves 111 can also be set to be equal to the total number of the wiping units 221 of the plurality of cleaning robots 2. And one-to-one correspondence, so that the base station 1 can simultaneously clean all the wiping members 22111 of the plurality of cleaning robots 2, and the cleaning efficiency is higher.
  • the convex structure is for contacting with the mopping member 22111 accommodated in the cleaning groove 111. Since the entire surface of the wiping member 22111 can be in contact with the convex structure, the contact area is large, the cleaning efficiency is high, and the protrusion is raised. The structure can play the role of scraping sewage and increasing friction during the cleaning process, which can further improve the cleaning effect.
  • the convex structure is disposed in the cleaning groove 111, wherein each of the convex portions 112 is a curved convex portion, that is, the extending path of the cross section of the convex portion 112 is a curve. Moreover, the plurality of raised portions 112 in each of the cleaning grooves 111 are radially arranged.
  • the convex structure shown in this embodiment can better adapt to the rotational movement mode of the drag member 22111, so that the convex structure can be more fully rubbed with the rotating drag member 22111 during the cleaning process. A cleaner cleaning effect.
  • the convex structure has a function of drying and dragging. The function of the wiper 22111.
  • Both the liquid inlet structure 113 and the liquid discharge structure 114 are in fluid communication with the cleaning tank 111 to enable the cleaning liquid to enter the cleaning tank 111 via the liquid inlet structure 113, and enable the cleaning liquid after the cleaning wiper 22111 to pass through the liquid discharging structure 114. It is discharged to the outside of the cleaning tank 111.
  • the liquid inlet structure 113 and the liquid discharging structure 114 are both disposed in the cleaning tank 111. Of course, the two may be disposed at other positions as long as they are in fluid communication with the cleaning tank 111. .
  • the clean liquid supply device 12 is in fluid communication with the cleaning tank 111 through the liquid inlet structure 113 to conveniently supply the cleaning liquid to the cleaning tank 111; the dirty liquid supply device 113 is in fluid communication with the cleaning tank 111 through the liquid discharging structure 114, conveniently The dirty cleaning liquid after the cleaning of the mopping member 22111 is collected. 3 and FIG.
  • the clean liquid supply device 12 includes a first storage structure 121 and a first water pump 122, the first storage structure 121 is for accommodating the cleaning liquid, and the first water pump 122 is used as the first a power device for driving the cleaning liquid to flow from the first storage structure 121 to the cleaning tank 111;
  • the dirt collection device 13 includes a second storage structure 131 and a second water pump 132, and the second storage structure 131 is for storing the dirty cleaning liquid
  • the second water pump 132 is used as a second power unit for drawing the dirty cleaning liquid into the second storage structure 131.
  • the base station 1 may further include a liquid level detecting device for detecting the liquid level of the cleaning liquid.
  • a liquid level detecting device for detecting the liquid level of the cleaning liquid.
  • this embodiment provides liquid level detecting devices in each of the first storage structure 121 and the second storage structure 131, and each liquid level detecting device includes a first conductive sheet 151 and a second.
  • the liquid level detecting device can detect the liquid level of the cleaning liquid in the first storage structure 121 and the second storage structure 122 in real time, so as to be timely to the first A new cleaning liquid is added to the storage structure 121, or the second storage structure 131 is emptied in time.
  • the first conductive sheet 151 and the second conductive sheet 152 are used for correcting the measured liquid level detection data, thereby making the liquid level detection result more accurate.
  • the specific correction process can refer to the following formula:
  • C 2 the capacitance value measured by the second conductive sheet 152 when there is a certain liquid level
  • C 20 a capacitance value measured by the second conductive sheet 152 when there is no liquid in the storage structure
  • C 3 capacitance value measured by the third conductive sheet 153 (when covered by the liquid);
  • C 1 capacitance value measured in the first conductive sheet 151 (in air);
  • the wiping member 22111 is received in the cleaning slot 111 and the entire surface is pressed against the protruding structure to rotate about a vertical axis, in the first storage structure 121.
  • the cleaning liquid is pressurized by the first water pump 122, it is sprayed onto the wiping member 22111 accommodated in the cleaning tank 111 via the liquid inlet structure 113, and the impact force generated by the spraying process is beneficial to further improve the cleaning effect;
  • the dirty cleaning liquid is scraped off from the wiping member 22111 by the convex portion 112, and is also pulled down from the wiping member 22111 by the centrifugal force during the rotation of the wiping member 22111, and flows to the drainage structure.
  • the second water pump 132 is drawn into the second storage structure 131 by the second water pump 132.
  • the cleaning liquid in the cleaning tank 111 can be kept relatively clean, and the dirty cleaning liquid can be prevented from secondary pollution to the wiping member 22111, thereby further Guarantee the cleaning effect.
  • the rotating motion of the wiping member 22111 during the cleaning process can play the role of centrifugal drying to prevent the wiping member 22111 from being over-wet after cleaning, which can prevent the wiping member 22111 from remaining in the wiping process.
  • the water is on the ground, affecting the cleanliness of the ground, and even causing safety hazards such as slipping.
  • the cleaning robot 2 can prevent the cleaning robot 2 from being too wet for the mopping member 22111 to be applied to special floors such as wooden floors, which can effectively expand the cleaning.
  • the wiping member 22111 can be adjusted to maintain a proper rotation speed and the convex portion 112 is frictionally cleaned, and the cleaning liquid is prevented from being thrown out due to the too fast rotation speed, and after the cleaning is completed, the liquid can be introduced.
  • the structure 113 stops the liquid feeding, and first controls the dragging member 22111 to rotate at a lower rotation speed for a period of time, dries most of the moisture, and then controls the dragging member 22111 to accelerate the rotation and further dry.
  • the specific rotation speed and the degree of drying can be controlled according to actual needs.
  • the cleaning liquid may be water or a mixture of water and a cleaning agent, wherein a mixture of water and a cleaning agent is preferred, and the wiping member 22111 can be cleaned more cleanly.
  • the first storage structure 121 may include only one container in which the mixed mixed liquid is directly stored; or the first storage structure 121 may also include two containers. One of the containers stores the cleaning agent, and the other container stores the water.
  • the first water pump 122 can simultaneously drive the cleaning agent and the water to flow directly from the respective containers to the cleaning tank 111, or a third one can be set. The water pump, even if the first power unit further includes a third water pump, the third water pump drives the cleaning agent to first mix with the water, and then the first water pump 122 drives the mixed mixture to flow into the cleaning tank 111.
  • the base station 1 of the embodiment may further include a drying device, and the cleaning device 22111 is dried by the drying device to ensure that the cleaning robot 2 exits the base station 1.
  • the mopping member 22111 retains a moderate amount of moisture, so that the ground is not wet due to excessive humidity, and the mold is not affected by moisture.
  • the drying device is provided in the base station 1, so that the drying process can be completed in the base station 1, which not only further enriches the function of the base station 1, but also simplifies the post-processing steps and improves the efficiency.
  • the base station 1 may further include a guiding structure provided on the wiping member cleaning device 11 for guiding the cleaning robot 2 to move relative to the wiping member cleaning device 11 to make the towing
  • the wiper 22111 enters and exits the wiper cleaning device 11. Specifically, as shown in FIG.
  • the base station 1 includes a guiding surface 116 serving as a guiding structure, which is inclined by the wiping member cleaning device 11 (specifically, at the edge of the cleaning groove 111)
  • the lower side is inclined and extends to the ground, so that the guiding surface 116 can guide the cleaning robot 2 to climb along the guiding surface 116 to the height of the edge of the cleaning groove 111, so that the wiping member 22111 can enter the cleaning groove 111.
  • the guide surface 116 is used in conjunction with the lifting mechanism 24 of the cleaning robot 2 described above, so that the cleaning robot 2 can more easily enter and exit the base station 1 and improve the working efficiency of the cleaning robot system.
  • the guiding structure is not limited to the structural form shown in this embodiment, and may further include a guide plate 116 and/or a guide wheel 119, which will be followed by the second embodiment shown in Figs. 24-35 and Fig. 53. Further description is made in the illustrated embodiment.
  • the charging device 14 is used to charge the battery 28 of the cleaning robot 2 to realize the charging function of the base station 1. As shown in FIGS. 2-4, in this embodiment, the charging device 114 is disposed on the guide surface 116 such that when the cleaning robot 2 climbs up the guide surface 116, the charging device 114 can charge the cleaning robot 2.
  • the charging device 14 can be charged in various ways, for example, in a contact charging mode, using a charging pad 141 disposed on the base station 1 and a charging contact 252 disposed on the cleaning robot 2 (as shown in FIGS. 28 and 29).
  • the contact of the display realizes the charging process; for example, it can also be a wireless charging mode, and the wireless charging is realized by the cooperation of the induction coil provided on the chassis 202 of the cleaning robot 2 and the charging coil provided on the guiding surface 116 of the base station 1. .
  • Figures 24-35 illustrate a second embodiment of a cleaning robotic system.
  • the second embodiment is substantially identical to the first embodiment, wherein the base station 1 is still capable of charging the cleaning robot 2 and cleaning the two wiping members 22111 of the cleaning robot 2, and cleaning the robot
  • the two mopping members 22111 of 2 can still rotate in the opposite direction about the vertical axis, and each of the wiping members 22111 can still swing relative to the chassis 202, and the difference between the two is mainly: on the one hand, for driving two
  • the specific structure of the mop drive mechanism 2212 that rotates in the opposite direction about the vertical axis is different; on the other hand, the specific implementation manner of the mop member 22111 swinging relative to the chassis 202 is different; on the other hand, the garbage collection device 23
  • the specific structure is slightly different; in another aspect, the specific structures of the base station body 10, the first storage structure 121, the second storage structure 131, and the guiding structure of the base station 1 are slightly different. Therefore, the following focuses on the differences between the four aspects, and other unillustrated points can be understood with reference to the first embodiment.
  • the drag drive mechanism 2212 still uses the worm gear mechanism to transmit torque to the output shaft 22123
  • the worm motor in the worm gear mechanism no longer uses the double-head worm motor. 22121, but two single-head worm motors 22121' are used, and each single-head worm motor 22121' is meshed with one of the two worm gears 22122 in the worm gear mechanism, so that the two sets of worm gears can be rotated differently.
  • Blocking the air passage of the dust suction device can improve the smoothness of the air passage of the dust suction device, reduce the air inlet resistance of the dust suction device, increase the air flow rate of the dust suction device, and improve the dust suction effect of the dust suction device.
  • a flexible connecting structure such as a flexible connecting block 2216 is disposed between the output shaft 22123 and the wiping unit 2211, and the mating relationship between the wiping unit 2211 and the wiping driving mechanism 2212 is set as a gap sleeve.
  • the gap between the output shaft 22123 and the pressure plate 22112 is sleeved, and the pressure plate 22112 can be relative to the output due to the gap between the output shaft 22123 and the pressure plate 22112.
  • the shaft 22123 has a certain gap swing angle, and the drag member 22111 is disposed on the pressure plate 22112. Therefore, the manner of the gap between the wiping unit 2211 and the drag drive mechanism 2212 can be utilized by the gap motion.
  • the swingable connection of the wiping unit 2211 and the chassis 202 is realized, so that the wiping member 22111 can change its own swing angle according to the actual situation of the ground to achieve the purpose of adapting to the ground.
  • the pressing plate 22112 of the wiping unit 2211 and the output shaft 22123 of the wiping driving mechanism 2212 are provided with a mopping
  • the unit 2211 is attached to the magnetic adsorbing member 2217 of the wiping connection structure.
  • the magnetic adsorbing member 2217 By providing the magnetic adsorbing member 2217, the rigid connection between the pressure plate 22112 and the output shaft 22123 can be avoided, the detachable connection between the two can be achieved, and the connection can be realized by magnetic attraction.
  • the wiping unit 2211 needs to be disassembled and assembled, Just one button at a time, it's very simple and convenient.
  • one or more of other ways such as a threaded connection, a snap, and a hook, may also be employed.
  • the garbage collection device 23 still employs the dust suction device, and the dust suction port 236 is still disposed in the middle of the front of the two wiping members 22111
  • the filter structure is changed, and the filter 233 is no longer used, but is replaced by the sea paper 233', and the dust in the airflow is filtered by the sea paper 233', and correspondingly provided for supporting a sea paper roll holder 2331' of the sea paper 233', and a filter holder 238 is disposed between the box body 2313 of the dust box 231 and the box cover 2314, and the sea paper 233' is disposed outside the filter holder 238, and
  • the handle 2315 is added to the cover 2314, and the handle 2315 is attached to the cover 2314 through the positioning pin 2316, so that the user can take out the dust box 231 and empty the dust in time. Dust in the box 231.
  • the cleaning robot 2 in the second embodiment has further differences from the first embodiment.
  • the structure of the casing 20 of the cleaning robot 2 is slightly different, and the upper casing 201 is provided with a battery mounting groove for mounting the battery 28, and correspondingly, the battery mounting groove.
  • the upper cover is provided with an upper cover 101 to shield the battery installation slot and the battery 28 therein, to protect the battery 28, and to maintain a flat and beautiful appearance.
  • the lower cover 202 is also provided with a lower cover 2021, which is more convenient for disassembly and maintenance; Moreover, a camera 251 and a charging contact 252 are added to the collision sensing plate 25, wherein the camera 251 is used for cooperation with the laser radar 26 to achieve better scanning positioning and obstacle recognition function, and the charging contact 252 is used for the base station 1
  • the upper charging piece 141 is in contact to realize charging of the battery 28.
  • 25-26 show the structure of the base station 1 in this second embodiment.
  • the base station body 10 includes a support frame 101 and a support bottom cover 102, wherein the clean liquid supply device 12 and the dirty liquid collection device 13 are disposed on the support frame 101.
  • the upper part is located on the left and right sides of the support frame 101, and the support bottom cover 102 is disposed at the bottom of the support frame 101.
  • the first storage structure 121 and the second storage structure 131 each include a box 1211, a cover 1212, a handle 1213 and a card.
  • the buckle 1214 is disposed at the top opening of the box body 1211.
  • the handle 1213 is disposed on the box cover 1212 for convenient carrying.
  • the buckle 1214 is disposed at the joint of the box body 1211 and the box cover 1212. A snap connection of the case 1211 and the cover 1212 is achieved.
  • the cleaning groove 111 is provided with a shutter member 117 at the notch, for example, a scraping piece.
  • the scraping member 117 is disposed at the notch of the cleaning tank 111, and the height of the cleaning tank 111 can be increased. This aspect can be used to prevent the cleaning liquid in the cleaning tank 111 from being applied to the wiping member 22111 by the wiping member cleaning device 11.
  • the scraping member 117 can also scrape the rubbish on the wiping member 22111 before the wiping member 22111 enters the wiping member cleaning device 11, thereby preventing rubbish adhered to the wiping member 22111 during the floor cleaning process.
  • the pieces 22111 enter the cleaning tank 111 together, and the clogging of the liquid inlet structure 113 and the liquid discharging structure 114 in the cleaning tank 111 can be reduced.
  • the scraping member 117 may be a flexible member or a rigid member.
  • the scraping member 117 is a flexible member, such as a rubber blade.
  • the drag member 22111 is pressed against the scraping member when entering the cleaning slot 111. 117, the scraping action of the scraping member 117 is enhanced, and on the other hand, the scraping of the scraping member 22111 by the scraping piece 117 can be reduced.
  • the flexible member is used as the scraping member 117, when the wiping member is used After the 22111 completely enters the cleaning tank 111, the scraping member 117 can automatically return to the original state, and still functions to prevent splashing of the cleaning liquid.
  • the scraping member 117 may not be disposed at the notch of the cleaning tank 111, for example, may also be disposed on the guiding surface 116 as long as it can prevent the splashing of the cleaning liquid and/or scrape the garbage in advance. .
  • the guiding structure of the base station 1 further includes a guide plate 115 disposed on the side of the wiping member cleaning device 11, preferably along The inclined direction of the guide surface 116 extends to the bottom of the guide surface 116.
  • the guide plate 115 can guide the wiping member 22111 of the cleaning robot 2 together with the guide surface 116 to enter the wiper cleaning device 11 of the base station 1 more accurately and quickly.
  • the two mopping members 22111 are rotated in opposite directions.
  • the friction between the wiping member 22111 and the guiding plate 115 can be utilized.
  • the traction cleaning robot 2 enters the base station 1 along the correct track. It can be seen that the guide plate 115 can also function to correct the deviation of the cleaning robot 2 in and out of the route.
  • the manner of facilitating the cleaning robot 2 to enter the base station 1 can be implemented in addition to the cooperation of the jacking mechanism 24 and the guiding structure of the base station 1 as shown in the first embodiment and the second embodiment.
  • the jacking mechanism 24 is provided so that the cleaning robot 2 enters the base station only under the guidance of the guiding structure. As shown in FIG.
  • the guiding structure of the base station 1 may include not only the aforementioned guiding surface 116 but also a guide wheel 119 which is disposed on the guiding surface 116 and protrudes upward, in which case the cleaning robot 2 is When entering the base station 1, it can first climb to the height of the guide wheel 119 by the guiding driving force of the guiding surface 116, and then lift the front end of the cleaning robot 2 under the action of the guiding wheel 119 until it is dragged.
  • the unit 2211 enters the cleaning tank 111 over the guide wheel 119 to complete the entering process, and when the cleaning member 22111 needs to exit the base station 1 after cleaning, the cleaning robot 2 moves in the reverse direction, and can also be under the action of the guiding wheel 119 and the guiding surface 116.
  • the cleaning robot 2 can also be provided with an escape groove adapted to the guide wheel 119. 203. After the wiping unit 2211 enters the cleaning tank 111 over the guide wheel 119, the guide wheel 119 is just embedded in the escape groove 203, so that the wiping member 22111 can be brought into close contact with the cleaning surface to ensure the cleaning effect.
  • Fig. 37 shows a further modified embodiment of the foregoing first embodiment and second embodiment.
  • the cleaning robot 2 of the embodiment further includes a scraping structure 2219 disposed behind the wiping unit 2211.
  • the scraping structure 2219 can scrape the garbage and/or sewage dropped by the wiping unit 221, thereby preventing the garbage and/or the sewage from remaining on the ground that has been dragged by the wiping unit 2211, thereby realizing two Clean.
  • the scraping structure 2219 can be a wiper or strip or the like, preferably a flexible member to reduce scratching of the ground.
  • the scraping structure 2219 is not limited to the cleaning robot 2 shown in the first embodiment and the second embodiment, and is also applicable to the other cleaning robot 2 of the present invention.
  • 38-41 illustrate a third embodiment of a cleaning robotic system.
  • the third embodiment differs from the foregoing two embodiments mainly in that the cleaning robot 2 of the embodiment has a wiping device 221 including only one wiping unit 2211. Accordingly, the embodiment The wiping member cleaning device 11 of the base station 1 also includes only one cleaning tank 111, and in order to make the structure more compact, the clean liquid supply device 12 and the dirty liquid collecting device 13 of the base station 1 are instead arranged one above another.
  • the cleaning robot 2 and the base station 1 of this embodiment have smaller specifications and are more suitable for use in small-sized homes.
  • the wiping unit 2211 is still rotated about the vertical axis with respect to the chassis 202, and in order to achieve the rotation of the wiping unit 2211 about the vertical axis, as shown in FIG.
  • the mop drive mechanism 2212 of the example still uses a worm motor to output torque, but the difference is that the worm motor of the embodiment includes only a single-head worm motor 22121' and a worm wheel 22122, and the single-head worm motor is utilized. Engagement of the 22121' with the worm gear 22122 drives the drag unit 2211 to rotate about a vertical axis for more efficient cleaning of the ground.
  • the dust suction port 236 of the garbage collection device 23 is disposed at the edge of the wiping unit 2211. Outside. Since the garbage is collected along the edge of the mopping member 2211 to the outside of the rotating wiping unit 2211, this arrangement is such that the dust suction port 236 as the collecting port is on the gathering path of the rubbing unit 2211 to the garbage. Thereby, it is convenient to collect garbage into the dust box 231.
  • the embodiment further has a garbage blocking member 237 added to one side wall of the housing 20, and the dust suction port 236 is disposed between the edge of the wiping unit 2211 and the garbage blocking member 237, so that the The garbage blocking member 237 blocks the garbage and further collects the garbage into a smaller area for more efficient collection.
  • the structure of the cleaning groove 111 and the convex structure are substantially the same, wherein the cleaning groove 111 is a deep groove having a circular cross section, and the convex structure includes a plurality of curved convex portions arranged in a radial shape.
  • the specific structure of the cleaning groove 111 and the convex structure is not limited to the specific structure shown in the three embodiments, and the modification shown in FIGS. 48 and 49 is taken as an example.
  • the cleaning groove 111 may also be provided as a cleaning disk, that is, a shallow disk structure having a rectangular cross section, and the convex portion 112 may also be a linear convex portion or a polygonal line convex portion, that is, the extending path of the cross section of the convex portion 112 is
  • the arrangement of the plurality of convex portions 112 may be other than radiation, for example, an array, and the array may be in the form of a linear array (ie, a matrix), a circular array, or The annular array or the like, wherein the linear array shape is particularly suitable for the case where the wiping member 22111 and the wiping member cleaning device 11 reciprocate horizontally, the wiping member 22111 can be cleaned more cleanly.
  • each of the convex portions 112 may be different, that is, the plurality of convex portions 112 may include any combination of curved convex portions, linear convex portions, and polygonal line convex portions;
  • the arrangement of the protrusions 112 in each cleaning slot 111 can also be any combination of various arrangements such as radial and array; and the shape and arrangement of the protrusions 112 in the different cleaning slots 111.
  • the methods can be the same or different.
  • the boss portion 112 includes a bottom protrusion 1121 disposed at the bottom of the cleaning groove 111 and a side protrusion 1122 formed on the inner side of the cleaning groove 111.
  • the wiping member cleaning device 11 cleans the wiping member 22111
  • the bottom protrusion 1121 rotates relative to the bottom surface of the wiping member 22111 and frictionally presses the side protrusion.
  • 1122 is rotated relative to the side of the wiping member 22111 and frictionally pressed into contact.
  • the bottom surface of the mopping member 22111 is cleaned by the bottom projection 1121, and the side surface of the wiping member 22111 can be cleaned by the side projection 1122.
  • the two mopping members 22111 are disposed as edge contacts such that when the two mopping members 22111 are rotated in the same direction, the two mopping members 22111 are relatively moved at the intermediate contact positions, rubbing each other to perform side cleaning.
  • the dirty liquid collecting means 13 achieves the collection of the dirty washing liquid by the suction action of the second power means.
  • the second power device may not be provided, but as shown in FIG. 54 and FIG. 55, the second storage structure 131 is directly disposed under the cleaning slot 111, and the second storage is enabled.
  • the structure 131 is in fluid communication with the cleaning tank 111. In this case, the dirty cleaning liquid will automatically flow into the second storage structure 111 by the cleaning tank 111 under the action of gravity, which is simple and convenient, and has low cost.
  • the purifying liquid supply device 12 of the present invention may further comprise a auxiliary material supply device.
  • a auxiliary material supply device may directly supply the auxiliary material to the cleaning tank 111; or the auxiliary material may be provided In the first storage structure 121, the auxiliary material is first mixed with the cleaning liquid, and then flows together with the driving of the first power unit into the cleaning tank 111.
  • the clean liquid supply device 12 and/or the dirty liquid collecting device 13 may be omitted, and the base station 1 may be directly disposed near a position where the tap water pipe and/or the drain pipe are installed. Therefore, the base station 1 can directly use the tap water supplied from the tap water pipe to clean the mopping member 22111, and the washed sewage can also be directly discharged through the drain pipe, since the clean liquid supply device 12 and/or the dirty liquid collecting device 13 can be reduced. Therefore, this method can make the structure of the base station 1 simpler and lower in cost.
  • the drag drive mechanism 2212 for driving the drag unit 2211 to rotate relative to the chassis 202 in the above three embodiments uses a worm gear mechanism to transmit opposite torques to the two output shafts 22123
  • a gear mechanism may also be employed to transmit oppositely directed torques to the two output shafts 22123.
  • the wiping unit 2211 can be disposed to be vertical with respect to the chassis 202, as in the above three embodiments. The axis is rotated and can also be set to rotate about a horizontal axis. 42 and 43 show the cleaning robot system of the fourth embodiment based on the wiping unit 2211 that rotates about the horizontal axis.
  • the wiping unit 2211 of the cleaning robot 2 includes a drum that can be horizontally rotated and a mop member 22111 that is disposed on the outer surface of the drum, and the wiping unit 2211 is driven by a mop.
  • the mechanism 2212 is driven to rotate about a horizontal axis. Since this can also increase the relative movement between the wiping member 22111 and the ground, increase the wiping force, increase the number of wiping, and simultaneously play the role of wiping and cleaning, thereby effectively improving the dragging of the wiping member 22111. Wipe the effect.
  • this embodiment also provides a base station 1 different from the foregoing three embodiments.
  • the base station 1 of this embodiment is provided with a cleaning roller 118 in the cleaning slot 111 of the wiping member cleaning device 11, and the cleaning roller 118 is used to clean the wiping member 22111.
  • the wiping member 22111 is pressed against the cleaning roller 118, supported by the cleaning roller 118, and then the cleaning of the wiping member 22111 is achieved by the relative rotation of the cleaning roller 118 and the wiping member 22111.
  • the relative rotation of the cleaning roller 118 and the wiping member 22111 can be either the active rotation of the wiping member 22111 or the active rotation of the cleaning roller 118, or both of them can be actively rotated but the rotation direction and/or the rotation speed are different.
  • the mop member 22111 is actively rotated because the active rotation of the mopping member 22111 can be realized by the wiping driving mechanism 2212 of the cleaning robot 2 itself, without the mechanism for driving the cleaning roller 118 on the base station 1 is required.
  • the structure of the base station 1 can be made simpler and the cost is lower.
  • the active rotation of the wiping member 22111 can also perform a certain drying function, so that the wiping member 22111 can maintain a suitable humidity after the cleaning is completed.
  • the wiper cleaning device 11 having the cleaning roller 118 is equally applicable to other embodiments of the present invention.
  • a garbage scraping member may be further provided on the floor cleaning device 22, and the garbage scraping member is scraped off and adhered to the floor cleaning device 22 The garbage on it.
  • the garbage scraping member may be a blade 2312 or a roller brush 2312', and the structures of the corresponding two cleaning robots 2 are shown in Figs. 44 and 45, respectively.
  • the garbage scraping member employs a blade 2312 which is provided on the casing 20 of the cleaning robot 2 and is capable of coming into contact with the rotating wiping member 22111, so that it is dragged During the process of rotating the cleaning member 22111 to clean the floor, the wiping member 22111 is in contact with the blade 2312 once, and the blade 2312 blocks the garbage adhered to the wiping member 22111, so that the wiping member 22111 can be kept. Clean and ensure the quality of the floor cleaning.
  • the garbage scraping member employs a roller brush 2312' which is disposed on the casing 20 and rotates in the same direction as the drag member 22111, using the roller brush 2312' and the drag
  • the rubbing contact friction of the wiper 22111 can also scrape the rubbish on the wiping member 22111, and in this manner, the rotation of the roller brush 2312' can further cause the rubbish to be thrown toward the garbage collection device 23.
  • the role of it is more convenient for garbage collection.
  • the garbage collection device 23 further includes a baffle 2311 which is collected by the collection port of the garbage collection device 23 (the suction port 236). ) Tilt down and extend to the ground. Based on this, the baffle 2311 can block the garbage collected to the location thereof, and prevent the garbage cleaned by the floor cleaning device 22 from spreading out to the range that the collection port can collect, thereby facilitating the collection by the garbage collection device 23. And prevent the garbage from causing secondary pollution to the cleaned ground.
  • the baffle 2311 can prevent the collected garbage from being carried away from the collecting port by the wiping member 22111. Moreover, the baffle 2311 cooperates with the aforementioned waste scraping member to further assist the garbage collection device 23 in achieving sufficient garbage collection.
  • the garbage scraping member and the baffle 2311 shown in Figs. 44 and 45 are also applicable to other embodiments of the present invention.
  • the foregoing embodiments all describe the present invention by rotating the wiping unit 2211 with respect to the chassis 202, but actually, in order to improve the wiping of the wiping device 221 by increasing the relative movement of the wiping member 22111 and the ground.
  • the effect of the wiping unit 2211 of the present invention can also be arranged to be horizontally reciprocable relative to the chassis 202, that is, the wiping unit 2211 can not only improve the wiping effect by rotating relative to the ground, but also can be relative to the ground. Perform horizontal reciprocating motion to improve the drag effect.
  • the wiping unit 2211 is capable of horizontal reciprocating motion relative to the chassis 202, in which case the moping member 22111 pushes the ground cleanly, by reciprocating the ground Wipe to remove stains or rubbish, similar to manual wiping, which can reduce the leftover of rubbish at the rear of the mopping device 2211.
  • the cleaning robot 2 capable of horizontally reciprocating based on such a wiping unit 2211 can more conveniently cooperate with the base station 1 to enable the wiping member cleaning device 11 to clean the wiping member 22111 during the relative movement with the wiping member 22111. .
  • the wiping unit 2211 of the cleaning robot 2 may be disposed to be both rotatable relative to the chassis 202 and horizontally reciprocable relative to the chassis 202, and preferably to perform a rotary wiping during the floor cleaning process. Push-pull is then performed, which combines the advantages of rotary drag and push-pull to achieve more effective floor cleaning.
  • the floor cleaning device 22 includes only the wiping device 221, but in fact, in other embodiments of the present invention, the floor cleaning device 21 may also include a cleaning device for cleaning the ground garbage. 222, so that the cleaning robot 2 can simultaneously clean the ground using the wiping device 221 and the special cleaning device 222, thereby obtaining a cleaner floor cleaning effect.
  • the cleaning device 222 may be disposed in front of and/or behind the wiping device 221, preferably disposed in front of the wiping device 221, so as to implement a "first sweep and then drag" cleaning mode.
  • the cleaning device 222 first cleans most of the garbage (dust and large particles), and then the cleaning device 221 further cleans the remaining hard-to-clean garbage (such as stubborn stains) to improve the quality of the floor cleaning.
  • Fig. 47 shows one of the embodiments.
  • the floor cleaning device 22 includes a horizontally reciprocating wiping unit 2211 and a side brush 2221 disposed in front of the wiping unit 2211 and serving as a cleaning device 222.
  • the dust suction port 236 is disposed on the tow. Between the wiping unit 2211 and the side brush 2221, the three cooperate to clean the ground.
  • the cleaning device 222 is not limited to the side brush 2221, and various cleaning devices 222 can be used in conjunction with the various wiping units 2211.
  • a cleaning member for example, a bristles or a brush
  • a cleaning member may be disposed on the edge of the wiping member 22111 of the wiping unit 2211, so that the wiping unit 2211 itself becomes a sweeping and dragging device.
  • the structure has the function of sweeping and sweeping, and even if the special cleaning device 222 is not additionally provided, the wiping unit 2211 itself can more fully collect garbage (especially garbage such as hair) to achieve better cleaning effect;
  • the cleaning member disposed on the edge of the wiping member 22111 can also be closely attached to the edge of the ground when the wiping unit 2211 cleans the edge of the ground, effectively expanding the cleaning range of the wiping device 221, so that the cleaning robot 2 can more effectively complete the indoor corner Clean.
  • the swinging of the drag unit 2211 relative to the chassis 202 in the foregoing embodiments is achieved by the swingable connection of the drag unit 2211 and the drag drive mechanism 2212
  • the implementation is not limited thereto.
  • the swinging unit 2211 can be oscillated by connecting the drag driving mechanism 2212 to the chassis 202.
  • the wiping unit 2211 and the wiping driving mechanism 2212 are non-swinging connection (for example, the two are fixedly connected).
  • the wiping unit 2211 is coupled to the chassis 202 by the drag drive mechanism 2212
  • the wiping unit 2211 is swingably coupled to the mop drive mechanism 2212, and/or the mop drive mechanism 2212 is swingably coupled.
  • the swinging of the wiping unit 2211 relative to the chassis 202 can be achieved; for example, when the wiping unit 2211 is not rotated and/or horizontally reciprocated relative to the chassis 202, the wiping drive mechanism 2212 can be replaced.
  • the wiping unit 2211 and the chassis 202 drag connection structure in this case to achieve the wiping unit 2211 relative to the chassis 202 swing, the wiping unit 2211
  • the non-driven drag connection structure is swingably coupled to and/or the non-driven drag connection structure is swingably coupled to the chassis 202.
  • the drag connection structure connecting the wiping unit 2211 and the chassis 202 can be either a driven drag connection structure (such as the drag drive mechanism 2212 in the foregoing embodiments) or a non-drive.
  • a drag connection structure for example, a connection shaft connected between the wiping unit 2211 and the chassis 202; and regardless of which type of drag connection structure the wiping unit 2211 and the chassis 202 are connected to, the wiping unit 2211 can be dragged
  • the wiping connection structure is swingably coupled to the chassis 202 as long as the wiping unit 2211 is swingably coupled to the wiping connection structure, and/or the wiping connection structure is swingably coupled to the chassis 202.
  • the garbage collecting device 23 may adopt other structural forms.
  • the dust removing fan 234 and the fan duct 235 may not be provided.
  • the garbage enters the inside of the garbage collection device 23 from the collection port only under the action of its own inertia and the accumulation of the floor cleaning device 22, in which case the garbage collection device 23 does not exert any further action on the garbage, the garbage The collection device 23 is only equivalent to use.

Abstract

一种清洁机器人和清洁机器人系统，包括用于拖擦地面的拖擦件，其能够实现拖地功能，可以清除地面上的顽固污渍，改善地面清洁效果，通过增加拖擦件与地面的相对运动，以及使拖擦件能够相对于地面进行摆动等措施，改善清洁机器人的清洁效果。

Description

清洁机器人和清洁机器人系统 技术领域
本发明涉及清洁机器人技术领域，特别涉及一种清洁机器人和清洁机器人系统。
背景技术
近年来，随着社会经济的发展以及家庭生活水平的提高，家具清洁逐步进入智能化、机器化的时代，应运而生的清洁机器人能够将人们从家居清洁工作中解放出来，有效减轻人们在家居清洁方面的工作负担，缓解人们在进行家居清洁过程中的劳累程度。
现有的一些清洁机器人只能实现清扫功能，而无法实现拖地功能，难以有效清除附着于地面上的顽固污渍，地面清洁效果不理想。而且，现有的清洁机器人，其拖擦件的清洁需要由用户来完成，在清洁地面的整个过程中，用户需要频繁参与换洗清洁机器人的拖擦件，这一方面会导致无法将用户从拖地过程中彻底解放出来，增加用户的工作量，另一方面也容易因换洗不及时而影响拖擦效果，导致无法将地面清洁干净。
发明内容
本发明所要解决的一个技术问题是：现有的清洁机器人，地面清洁效果不理想。
为了解决上述技术问题，本发明第一方面提供了一种用于清洁机器人系统的清洁机器人。该清洁机器人包括用于驱动清洁机器人在地面上行走的行走装置以及用于对地面进行清洁的地面清洁装置，地面清洁装置包括拖擦装置，拖擦装置包括拖擦单元，拖擦单元包括拖擦件，拖擦件用于拖擦地面；拖擦单元和/或行走装置可摆动地连接于清洁机器人的底盘上，以使拖擦单元的拖擦件能够通过随着地面的凹凸不平进行摆动来保持与地面接触。
可选地，拖擦装置还包括连接拖擦单元与底盘的拖擦连接结构，拖擦单元通过拖擦连接结构与底盘可摆动连接。
可选地，拖擦单元可摆动地连接于拖擦连接结构上，和/或，拖擦连接结构与底盘 可摆动连接，以使拖擦单元通过拖擦连接结构与底盘可摆动连接。
可选地，拖擦单元与拖擦连接结构通过柔性连接结构连接，或者拖擦单元与拖擦连接结构之间间隙套接，以使拖擦单元可摆动地连接于拖擦连接结构上。
可选地，柔性连接结构与拖擦单元和/或拖擦连接结构可拆卸连接。
可选地，拖擦单元与拖擦连接结构之间间隙套接，且拖擦单元与拖擦连接结构之间可拆卸连接。
可选地，拖擦单元与拖擦连接结构之间设有能够将拖擦单元与拖擦连接结构吸附在一起的磁性吸附件，或者，拖擦单元与拖擦连接结构通过螺纹连接件和/或卡扣件和/或钩挂件连接。
可选地，拖擦装置与底盘之间或者行走装置与底盘之间通过水平转动轴连接。
可选地，拖擦装置与底盘之间通过水平转动轴连接，以使拖擦单元可摆动地连接于底盘上；和/或，行走装置与底盘之间通过水平转动轴连接，以使行走装置可摆动地连接于底盘上。
可选地，拖擦单元还包括清扫件，清扫件设置在拖擦件的边沿。
可选地，清洁机器人还包括顶起机构，顶起机构安装在清洁机器人上，顶起机构用于顶起清洁机器人的前端和/或后端。
可选地，清洁机器人包括设置在行走装置的行走轮处的悬挂装置，悬挂装置用于使行走轮与清洁机器人的底盘保持弹性连接以使行走轮保持与地面接触。
可选地，拖擦装置还包括拖擦驱动机构，在拖擦驱动机构的驱动作用下，拖擦单元的拖擦件能够相对于清洁机器人的底盘进行转动，和/或，拖擦单元的拖擦件能够相对于清洁机器人的底盘进行水平往复运动。
可选地，拖擦装置只包括一个拖擦单元，在拖擦驱动机构的驱动作用下，一个拖擦单元上的拖擦件能够相对于底盘转动和/或水平往复运动。
可选地，拖擦装置包括两个拖擦单元，在拖擦驱动机构的驱动作用下，两个拖擦单元的拖擦件能够相对于底盘绕竖直轴线转动，其中：两个拖擦单元的拖擦件能够相对于底盘绕竖直轴线同向或反向转动，或者，两个拖擦单元的拖擦件相对于底盘可切换地绕竖直轴线进行同向转动和反向转动。
可选地，拖擦驱动机构包括两个输出轴，两个输出轴与两个拖擦单元一一对应设置且两个输出轴均竖向布置，两个输出轴用于向两个拖擦单元传递方向相反的转矩。
可选地，拖擦驱动机构还包括用于向两个输出轴传递方向相反的转矩的蜗轮蜗杆机构和/或齿轮机构。
可选地，拖擦致动机构蜗杆电机和与两个输出轴一一对应驱动连接的两个涡轮，蜗杆电机用于输出转矩，两个蜗轮均与蜗杆电机啮合，以向两个输出轴传递方向相反的转矩。
可选地，蜗杆电机包括两个单头蜗杆电机，每个单头蜗杆电机分别与一个蜗轮啮合；或者，蜗杆电机包括双头蜗杆电机，双头蜗杆电机同时与两个蜗轮啮合。
可选地，拖擦装置还包括设置于拖擦单元后方的刮挡结构，刮挡结构通过对垃圾和/或污水进行刮挡来防止垃圾和/或污水残留于被拖擦单元所拖擦过的地面上。
本发明另一方面还提供了一种清洁机器人系统。该清洁机器人系统包括基站上述的清洁机器人，基站独立于清洁机器人设置并能够为清洁机器人充电和/或清洁清洁机器人的拖擦件。
可选地，基站包括基站本体和设置在基站本体上的拖擦件清洁装置，拖擦件清洁装置用于对清洁机器人的用于拖擦地面的拖擦件进行清洁；拖擦件清洁装置包括凸起结构，凸起结构包括凸起部，在拖擦件清洁装置对拖擦件进行清洁时，凸起部与拖擦件接触；和/或，拖擦件清洁装置包括清洁滚轮，在拖擦件清洁装置对拖擦件进行清洁时，清洁滚轮与拖擦件接触。
可选地，在拖擦件清洁装置清洁拖擦件的过程中，拖擦件清洁装置与拖擦件能够相对转动，和/或，拖擦件清洁装置与拖擦件能够相对移动。
本发明的清洁机器人，其包括用于拖擦地面的拖擦件，因此，能够实现拖地功能，可以清除地面上的顽固污渍，可以改善地面清洁效果。
而且，本发明还通过增加拖擦件与地面的相对运动，以及使拖擦件能够相对于地面进行摆动等措施，进一步改善清洁机器人的清洁效果。
另外还通过增设独立于清洁机器人的基站，并利用该基站对拖擦件进行清洁，实现对拖擦件的自动清洁，有利于进一步将用户从地面清洁过程中解放出来，减轻用户的清洁负担，并可以防止因拖擦件换洗不及时而影响拖擦效果。
通过以下参照附图对本发明的示例性实施例进行详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1示出本发明第一实施例清洁机器人系统的整体结构示意图。
图2示出图1所示基站的整体结构示意图。
图3示出图2的爆炸结构示意图。
图4示出图2中拖擦件清洁装置的结构示意图。
图5示出液位检测装置在第一存储结构中的安装示意图。
图6示出图1所示清洁机器人整体结构的俯视立体图。
图7示出图1所示清洁机器人整体结构的仰视立体图。
图8示出图6的爆炸结构示意图。
图9示出图6所示清洁机器人去除上壳体和处理电路后的结构示意图。
图10示出在图9的基础上进一步去除风机和风机导管后的结构示意图。
图11示出图6所示清洁机器人的拖擦装置的整体结构示意图。
图12示出图11的爆炸结构示意图。
图13示出图12中拖擦件在柔性连接块及水平转动轴作用下的摆动自由度。
图14示出图11所示拖擦装置去除水平转动轴后的结构示意图。
图15示出图14中拖擦件在柔性连接块作用下的摆动自由度。
图16示出图13的第一变型例。
图17示出图13的第二变型例。
图18示出图13的第三变型例。
图19示出图6所示清洁机器人的垃圾收集装置的风道示意图。
图20示出图6所示清洁机器人的拖擦装置与垃圾收集装置的位置关系示意图。
图21示出图1所示第一实施例中清洁机器人在顶起机构作用下进入基站的过程。
图22示出图1所示第一实施例中清洁机器人进入基站后与基站的配合状态示意图。
图23示出图1所示第一实施例中基站对清洁机器人的拖擦件的清洁原理示意图。
图24示出本发明第二实施例清洁机器人系统的整体结构示意图。
图25示出图24所示基站的整体结构示意图。
图26示出图25的爆炸结构示意图。
图27示出图24所示清洁机器人的整体结构示意图。
图28示出图27的爆炸结构示意图。
图29示出图27所示清洁机器人去除上壳体和上壳封盖之后的结构示意图。
图30示出图27所示清洁机器人去除下壳封盖后的结构示意图。
图31示出图30所示拖擦装置的爆炸结构示意图。
图32a示出图31中输出轴与拖擦单元的组装结构剖视图。
图32b示出图32a中的I局部放大示意图。
图32c示出图32b中的II局部放大示意图。
图33示出第二实施例中垃圾收集装置的爆炸结构示意图(省略除尘风机)。
图34示出第二实施例中垃圾收集装置的风道示意图。
图35示出第二实施例中清洁机器人进入基站时的运动示意图。
图36示出第一实施例和第二实施例中吸尘口与拖擦装置位置关系的一种变型。
图37示出第一实施例和第二实施例的另一种变型。
图38示出本发明第三实施例的清洁机器人系统的整体结构示意图。
图39示出图38所示清洁机器人的整体结构仰视立体图。
图40示出图38所示清洁机器人去除上壳体之后的结构示意图。
图41示出图第三实施例中吸尘口与拖擦装置位置关系的示意图。
图42示出第四实施例中具有能够绕水平轴线旋转的拖擦单元的清洁机器人的结构简图。
图43示出具有清洁滚轮的基站对图42所示清洁机器人的拖擦件进行清洁的原理示意图。
图44示出图43所示第四实施例清洁机器人的一种变型。
图45示出图44所示清洁机器人的一种变型。
图46示出第五实施例中具有能够水平往复运动的拖擦单元的清洁机器人的结构简图。
图47示出图46所示第五实施例清洁机器人的一种变型。
图48和图49分别示出本发明凸起结构的两种变型结构。
图50示出轮子处设有悬挂装置的清洁机器人的结构简图。
图51示出图50中的III局部放大示意图。
图52示出清洁机器人基于顶起机构以及图50所示的悬挂装置进出基站的过程。
图53示出清洁机器人基于导向面和导向轮进出基站的过程。
图54示出本发明第六实施例的清洁机器人系统的结构简图。
图55示出图54所示第六实施例中基站对清洁机器人进行清洗的状态示意图。
图56示出本发明另一实施例中基站对清洁机器人的拖擦件的清洁原理示意图。
图57示出了本发明第一实施例的改进实施例中清洁机器人的底部的局部示意图。
图58示出了本发明图57所示实施例的清洁机器人的底部不同于图57的视角的局部示意图。
图中：
1、基站；
10、基站本体；101、支撑架；102、支撑架底盖；
11、拖擦件清洁装置；111、清洁槽；112、凸起部；1121、底部凸起；1122、侧部凸起；113、进液结构；114、排液结构；115、导向板；116、导向面；117、刮挡件；118、清洁滚轮；119、导向轮；
12、净液供应装置；121、第一存储结构；1211、箱体；1212、箱盖；1213、提手；1214、卡扣；122、第一水泵；
13、污液收集装置；131、第二存储结构；132、第二水泵；
14、充电装置；141、充电片；
151、第一导电片；152、第二导电片；153、第三导电片；
2、清洁机器人；
20、壳体；201、上壳体；2011、上壳封盖；202、底盘；2021、下壳封盖；203、避让槽；
21、行走装置；211、行走轮；212、弹簧；213、支撑件；
22、地面清洁装置；221、拖擦装置；2211、拖擦单元；22111、拖擦件；22112、压盘；2212、拖擦驱动机构；22121、双头蜗杆电机；22121’、单头蜗杆电机；22122、蜗轮；22123、输出轴；22124、轴承；22125、油封圈；2213、安装底盘；2214、上 盘；2215、下盘；2216、柔性连接块；2217、磁性吸附件；2218、水平转动轴；2219、刮挡结构；222、清扫装置；2221、边刷；
23、垃圾收集装置；231、灰尘盒；2311、挡板；2312、刮片；2312’、滚刷；2313、盒体；2314、盒盖；2315、把手；2316、定位销；233、滤网；233’、海帕纸；2331’、海帕纸支架；234、除尘风机；235、风机导管；236、吸尘口；237、垃圾阻挡件；238、过滤架；
24、顶起机构；
25、碰撞感应板；251、摄像头；252、充电触片；
26、激光雷达；261、雷达保护盖；
27、控制装置；
28、电池。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。
在本发明的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。
另外，在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于清洁机器人系统正常使用的状态定义的，其中，以清洁机器人的前进方向为前，相应地，以清洁机器人的后退方向为后；方位词“内、外”是指相对于各部件本身的轮廓的内外。
图1-58示出了包括本发明基站的清洁机器人系统的多个实施例。参照图1-58，本发明的清洁机器人2，其包括用于驱动清洁机器人2在地面上行走的行走装置21 以及用于对地面进行清洁的地面清洁装置22，地面清洁装置22包括拖擦装置221，拖擦装置221包括拖擦单元2211，拖擦单元2211包括拖擦件22111，拖擦件22111用于拖擦地面。
本发明的清洁机器人2，其包括用于拖擦地面的拖擦件22111，因此，能够实现拖地功能，可以清除地面上的顽固污渍，可以改善地面清洁效果。
在本发明中，为了进一步改善拖地效果，拖擦单元2211设置为能够相对于清洁机器人2的底盘202转动和/或水平往复运动。这样在拖擦过程中，拖擦件22111与地面之间的相对运动不仅包括清洁机器人2整体在地面上的移动，还包括拖擦件22111相对于地面的旋转运动和/或水平往复运动，从而可以增强拖擦件22111的拖擦力度，并增多拖擦件22111的拖擦次数，实现对地面的反复拖擦，进而可以改善拖擦件22111的拖擦效果，其中尤其有助于更彻底地清洁粘附于地面上的顽固污渍。其中优选地，拖擦单元2211设置为能够相对于清洁机器人2的底盘202转动，因为旋转的拖擦件22111还能够扫起地面上的大颗粒物及灰尘等垃圾，也即同时起到清扫作用，使得清洁机器人2成为扫拖一体机器人，功能更加全面，地面清洁效果更佳，且由于无需设置专门的清扫装置222即可实现清扫功能，因此，也使得清洁机器人2可以在具有扫拖一体功能的同时具有更简单的结构和更小的体积，有利于进一步实现清洁机器人2的小型化和灵巧化。
作为进一步改善拖地效果的另一种改进方式，在本发明中，还可以将拖擦单元2211设置为能够相对于底盘202进行摆动。基于该设置，拖擦单元2211的拖擦件22111能够通过随着地面的凹凸不平而相对于底盘202进行摆动来保持与地面接触，从而能够保证该实施例的两个拖擦件22111时刻紧贴地面，这不仅可以有效防止因地面凹凸不平而出现漏拖现象，从而保证对各种地面实现更彻底且更高效的清洁，还可以使清洁机器人2对地形更复杂多样的地面进行清洁，有效扩大清洁机器人2的适用范围。
另外，本发明还提供了一种包括本发明清洁机器人2的清洁机器人系统。该清洁机器人系统还可以进一步包括能够对拖擦件22111进行清洁的基站1。该基站1包括基站本体10和设置在基站本体10上的拖擦件清洁装置11，拖擦件清洁装置11用于对清洁机器人2的拖擦件22111进行清洁。
在本发明中，基站1可以采用超声清洁、干洗或水洗等方式来实现对拖擦件22111 的清洁，其中，优选水洗方式，因为水洗方式不仅更易于实现，成本更低，清洁效果更干净，而且水洗方式清洁后的拖擦件22111具有一定的水分，可以直接继续投入拖地工作，而不必再额外设置将拖擦件22111弄湿的步骤，因此，水洗清洁方式可以进一步减少用户参与，并进一步保证清洁机器人2工作的连续性。
而为了使基站1具有较佳的清洁效果，在本发明中，优选将拖擦件清洁装置11与拖擦件22111设置为可相对运动的，例如，拖擦件清洁装置11可以与拖擦件22111相对转动，和/或，拖擦件清洁装置11可以与拖擦件22111相对移动，这样在拖擦件清洁装置11清洁拖擦件22111的过程中，将拖擦件22111压紧于拖擦件清洁装置11上，拖擦件清洁装置11即可对拖擦件22111施加摩擦力，从而可以提高拖擦件22111的清洁洁净性，改善拖擦件清洁装置11的清洁效果。其中，拖擦件清洁装置11与拖擦件22111相对运动的产生，可以是拖擦件清洁装置11与拖擦件22111中的一个运动另一个保持静止，也可以是拖擦件清洁装置11与拖擦件22111均运动但运动方向和/或运动速度不同。
在本发明中，拖擦件清洁装置11可以设置为包括凸起结构，凸起结构包括凸起部112，在拖擦件清洁装置11对拖擦件22111进行清洁时，凸起部112与拖擦件22111接触。通过在拖擦件清洁装置11上设置凸起部112，不仅可以在清洁拖擦件22111的过程中利用该凸起部112对拖擦件22111上的污水或垃圾进行刮除，实现对拖擦件22111更彻底的清洁，并防止完成清洗的拖擦件22111过分潮湿，而且，在拖擦件清洁装置11与拖擦件22111能够相对运动的情况下，凸起部112与拖擦件22111还会产生平面摩擦运动，可以进一步增大拖擦件清洁装置11与拖擦件22111的摩擦力，进一步改善拖擦件清洁装置11对拖擦件22111的清洁效果。
另外，为了便于清洁机器人2进入基站1，本发明的基站1优选设置为还包括设置在拖擦件清洁装置11上的导向结构，该导向结构用于引导清洁机器人2相对于拖擦件清洁装置11运动以使拖擦件22111进出拖擦件清洁装置11。基于此，当需要对拖擦件22111进行清洁时，清洁机器人2可以在该导向结构的导向作用下，方便地进入基站1中，使拖擦件22111进入拖擦件清洁装置11中进行清洁，而一旦清洁完毕，清洁机器人2又可以在该导向结构的导向作用下，顺利地驶出基站1，使拖擦件22111离开拖擦件清洁装置11，可见，该导向结构的设置，可以使得清洁机器人2在基站1中的进出都较为方便，这有助于提高清洁机器人系统的工作效率。其中导向结构可以 包括导向面、导向板和导向轮中的至少一个。
下面结合图1-58中所示的清洁机器人系统的各实施例来对本发明进行进一步地说明。
图1-23示出了清洁机器人系统的第一实施例。
如图1-23所示，在该第一实施例中，清洁机器人系统包括彼此独立设置的清洁机器人2和基站1，其中清洁机器人2用于对地面进行包括拖擦在内的自动清洁，基站1则用于为清洁机器人2进行充电和对清洁机器人2的拖擦件22111进行清洁。当拖擦件22111拖擦一段时间，清洁机器人2需要充电和/或需要清洁拖擦件22111时，清洁机器人2能够自动返回基站1，在基站1处进行充电和/或拖擦件清洁。
图6-20示出了该第一实施例中的清洁机器人2的结构。如图6-20所示，在该第一实施例中，清洁机器人2为一个移动清洁设备，其包括壳体20、行走装置21、地面清洁装置22和垃圾收集装置23等。
其中，壳体20构成清洁机器人2的其他结构部件的安装基础，为其他部件提供支撑。由图6-8可知，该实施例的壳体20包括上壳体201和底盘202，行走装置21、地面清洁装置22和垃圾收集装置23等均安装于底盘202上，上壳体201则罩设于底盘202上方，用于保护上壳体201与底盘202之间的中空空间内的结构部件，并保持整体结构的整齐和美观。
行走装置21用于为清洁机器人2在地面上的移动提供驱动力，驱动清洁机器人2在地面上行走。由图7和图8可知，该实施例的行走装置21包括一对行走轮211，这一对行走轮211对称地设置在底盘2的左右两侧，行走轮211转动，能够实现清洁机器人2在地面上的前进或后退。并且，通过一对行走轮211的差速转动，能够实现清洁机器人2的转向。
地面清洁装置22用于对地面进行清洁。在该实施例中，地面清洁装置22包括拖擦装置221，该拖擦装置221包括一对拖擦单元2211，且每个拖擦单元2211均包括压盘22112和拖擦件22111，拖擦件22111安装于压盘22112的下端面上，用于拖擦地面。
拖擦件22111可以为拖布(或称抹布)或海绵等各种能够对地面进行拖擦的部件，该实施例的拖擦件22111选用拖布。而且，拖擦件22111优选与压盘22112可拆卸连接，例如，在该实施例中，可以利用魔术贴将拖擦件22111粘贴于压盘22112的下端 面上，以便于拆装更换拖擦件22111。
该实施例的拖擦件22111和压盘22112均呈圆形，当然，在其他实施例中，二者也可以设置为长方形等其他形状，而该实施例将二者的形状设置为圆形的好处在于，更便于拖擦单元2211对屋内的角落等狭小空间进行清洁，且也更便于如下的转动设置。
为了进一步解决现有的清洁机器人拖擦效果较差的问题，由图7-图12以及图20可知，如前所述，该实施例的拖擦单元2211设置为能够相对于底盘202进行转动，通过增加拖擦单元2211与地面的相对转动来改善拖地效果。此处拖擦单元2211相对于底盘202的转动，既可以为绕水平轴线的转动，也可以为绕竖直轴线的转动，其中该实施例优选设置为绕竖直轴线的转动，因为绕竖直轴线转动的拖擦件22111可以实现更佳的拖擦及清扫效果。并且，当拖擦装置221包括至少两个拖擦单元2211时，至少两个拖擦单元2211可以转向相同，也可以转向不同，还可以可切换地进行同向转动和反向转动，也即某一段时间内这至少两个拖擦单元221反向转动而另一段时间内又改变为反向转动。其中，通过将成对儿的拖擦单元2211设置为绕竖直轴线反向转动，还能够使拖擦装置221起到将垃圾向中间聚集的作用，实现更好的垃圾聚集效果。
如图20所示，在该实施例中，两个拖擦单元2211均绕竖直轴线转动，但转动方向相反。由于绕竖直轴线反向转动，两个拖擦单元2211可以将扫起的垃圾向两个拖擦单元2211的中间聚集，因此，该设置使得拖擦装置221在实现拖擦及清扫功能的同时，还能起到较好的垃圾聚集作用，便于更充分彻底地收集垃圾。基于此，该实施例的拖擦装置221可以与该实施例的垃圾收集装置23配合实现更洁净的清洁效果，这一点将在后面进行更为详细地说明。另外，两个拖擦单元2211设置为绕竖直轴线反向转动时，两个拖擦单元2211因旋转产生的摩擦力方向相反，可以相互抵消，能够有效避免在清洁过程中出现摩擦力不平衡问题，有助于使清洁机器人2更平稳地按照预定路线行走。
而为了实现拖擦单元2211相对地面的转动，该实施例的拖擦装置221还包括拖擦驱动机构2212，该拖擦驱动机构2212连接拖擦单元2211与底盘202，并用于驱动拖擦单元2211相对于底盘202进行转动，也即用于驱动拖擦单元2211相对于地面进行转动。具体地，如图8-12所示，在该实施例中，拖擦驱动机构2212包括蜗杆电机、 两个蜗轮22122和两个输出轴22123，其中：蜗杆电机用于为两个拖擦单元2211提供转矩；两个蜗轮22122与两个输出轴22123一一对应地驱动连接于蜗杆电机与两个输出轴22123之间，每个蜗轮22122与蜗杆电机上的蜗杆啮合，即蜗轮22122与蜗杆电机上的蜗杆形成蜗轮蜗杆机构，且两个蜗轮22122与蜗杆电机的蜗杆啮合传动，从而能够向两个输出轴22123传递方向相反的转矩；两个输出轴22123驱动连接于两个蜗轮22122与两个拖擦单元2211之间，且两个输出轴22123与两个拖擦单元2211一一对应设置，用于将方向相反的转矩分别传递至两个拖擦单元2211，同时，两个输出轴22123均竖向布置，这样两个拖擦单元2211在蜗杆电机的驱动作用下绕着各自的输出轴22123转动，即能够实现两个拖擦单元2211绕竖直轴线的反向转动。
更具体地，如图12所示，在该实施例中，蜗杆电机为双头蜗杆电机22121，其中：双头蜗杆电机22121用作蜗杆动力机构，用于输出转矩；两个蜗轮22122与两个拖擦单元2211一一对应设置，并分别与双头蜗杆电机22121的两侧的两个蜗杆头啮合，且两个蜗轮22122与双头蜗杆电机22121啮合传动。这样当双头蜗杆电机22121转动时，动力可以传递至两个蜗轮22122，并通过两个蜗轮22122向两个输出轴22123传递方向相反的转矩，驱动两个输出轴22123带动两个拖擦单元2211绕竖直轴线反向转动，结构简单紧凑，且传动效率高。
并且，由图11和图12可知，该实施例的拖擦装置221还包括安装底盘2213、上盘2214、下盘2215，拖擦驱动机构2212通过安装底盘2213、上盘2214、下盘2215安装于底盘202上。其中，上盘2214和下盘2215相互扣合，形成一个中空空间，拖擦驱动机构2212的各部件设置于该中空空间中进行配合传动，而安装底盘2213设置于底盘202上，且下盘2215安装于安装底盘2213上，使得拖擦驱动机构2212被安装于底盘202上。另外，该实施例的拖擦驱动机构2212还包括轴承22124和油封圈22125，其中，轴承22124和油封圈22125设置于输出轴22123与蜗轮22122之间，实现更为顺畅地传动。
另外，在该实施例中，拖擦单元2211可摆动地连接于清洁机器人2的底盘202上，通过使两个拖擦件22111时刻紧贴地面来改善拖擦装置221的拖擦效果，并扩大清洁机器人2的适用范围。
具体地，该实施例的拖擦单元2211不仅能够以竖直轴线为中心进行摆动，还可以以水平轴线为中心进行摆动，这样拖擦件22111具有多个摆动自由度，有利于实现 整个拖擦件22111与地面的时刻接触，使拖擦件22111可以更好地适应凹凸不平的地面，实现更洁净的清洁效果。
其中，为了实现拖擦单元2211以竖直轴线为中心的摆动，在该实施例中，如图12所示，拖擦单元2211与拖擦驱动机构2212的输出轴22123之间设有柔性连接块2216，二者通过该柔性连接块2216连接。柔性连接块2216可以与拖擦单元2211和/或拖擦驱动机构2212可拆卸连接。由于作为一种柔性连接结构，柔性连接块2216能够较自由地产生变形，因此，当清洁机器人2遇到凹凸不平的地面时，柔性连接块2216能够在拖擦件22111所传递的地面作用力的作用下产生适应性变形，带动拖擦单元2211整体相对于底盘202(也即相对于地面)产生以竖向布置的输出轴22123为中心的适应性摆动，进而保持与地面的接触。而且，如图11、图13和图15所示，每个柔性连接块2216可以为对应的拖擦单元2211提供摆动的调整自由度(即图13中的第一摆动自由度I)，摆动方式更加多样，可以更灵活地适应地面。
可见，通过在输出轴22123与拖擦单元2211之间设置柔性连接块2216，可以利用柔性连接块2216的材料变形来实现拖擦单元2211以竖直轴线为中心的摆动，且可以根据地面凹凸不平的程度来灵活调整拖擦单元2211的摆动角度，从而使拖擦件22111时刻贴合于地面上进行拖擦，进一步改善拖擦效果。
需要说明的是，应用于该实施例的柔性连接结构并不局限于柔性连接块2216这一种形式，能够利用自身材料的变形来实现拖擦单元2211的摆动的其它柔性连接结构也同样适用。
而为了实现拖擦单元2211以水平轴线为中心的摆动，在该实施例中，拖擦装置221与底盘202之间设有水平转动轴2218，二者通过该水平转动轴2218连接。具体地，如图12和图13所示，该实施例的水平转动轴2218连接于底盘202与拖擦装置221的连接于两个拖擦单元2211之间的传动轴的中部之间。该水平转动轴2218可以为每个拖擦单元2211提供一个水平旋转自由度(即图13所示的第二摆动自由度J)，使得每个拖擦单元2211可以随着地面的凹凸不平而以该水平转动轴2218为中心进行摆动，从而保证拖擦件22111与地面进行接触。
可见，该实施例通过同时设置柔性连接块2216和水平转动轴2218，使得拖擦件22111具有多个摆动自由度，可以更灵活地适应凹凸不平的地面，使得清洁机器人2即使遇到不平的地形也能让拖擦件22111紧贴地面进行清洁，从而可以将地面清洁得 更加干净。
另一方面，由图13可知，在该实施例中，由于拖擦装置221与底盘202之间设有水平转动轴2218，因此拖擦装置221与地面的接触相当于一个支点，也即该实施例的拖擦装置221提供给清洁机器人2一个支点，同时，由于两个行走轮211与地面的接触相当于两个支点，因此，整体上，该实施例的清洁机器人2与地面之间形成三点支撑方式，这使得该清洁机器人2可以时刻三点着地，从而能够增加清洁机器人2的整体运行稳定性，进一步保证清洁效果。
需要说明的是，使拖擦单元221随着地面不平进行摆动的实施方式并不局限于上述方式(即图13所示方式)，此处提供三种替代实施方式。
作为其中的一种替代方式，如图16所示，还可以改变水平转动轴2218的设置位置，将水平转动轴2218设置于行走装置21与底盘202之间。基于这种替代方式，行走装置21与底盘202之间采用旋转轴连接方式，行走装置21整体为清洁机器人2提供一个支点，同时，拖擦装置221的每个柔性连接块2216为每个拖擦单元2211提供两个摆动的调整自由度，使得拖擦装置221与地面接触时相当于两个支点与地面接触，也即拖擦装置221为清洁机器人2提供两个支点，可见，该替代方式仍然能使拖擦件22111时刻紧贴地面，并使清洁机器人2与地面之间形成三点支撑方式。在该替代方式中的三点支撑包括前方的两个支点和后方的一个支点，而图13所示的方式中的三点支撑包括前方的一个支点和后方的两个支点。
作为其中的另两种替代方式，如图17和图18所示，在该实施例中，还可以省略前述的柔性连接块2216，而只在拖擦装置221与底盘202之间设置水平转动轴2218，或者，只在行走装置21与底盘202之间设置水平转动轴2218。采用这两种替代方式，虽然使拖擦件22111时刻紧贴地面的效果不如拖擦单元2211同时以竖直轴线为中心摆动的情形，但仍然能够实现拖擦件22111和/或行走装置21相对于底盘202的整体摆动，形成前述三点支撑，并且结构更简单，成本也较低。
垃圾收集装置23用于收集被地面清洁装置22所聚集的垃圾，其包括用于连通垃圾收集装置23内部与外部的收集口，被地面清洁装置22所聚集的垃圾从该收集口进入垃圾收集装置23的内部。
如图7-9及图19所示，在该实施例中，垃圾收集装置23包括灰尘盒231、滤网233、除尘风机234、风机导管235和吸尘口236，其中：灰尘盒231包括盒体2313 和盒盖2314，盒盖2314盖合在盒体2313的顶端开口处；吸尘口236设置在灰尘盒231的下部，朝向地面开口，以使垃圾能够经由该吸尘口236进入灰尘盒231内；除尘风机234通过风机导管235与灰尘盒231内部流体连通，以使灰尘等垃圾能够在除尘风机234的作用下由吸尘口236进入灰尘盒231；滤网233则设置在灰尘盒231的侧部并位于除尘风机234与灰尘盒231的流体连通通路上(在图19中滤网233具体设置在风机导管235与灰尘盒231的流体连通通路上)，以使风中的垃圾能够被滤网233过滤而留在灰尘盒231中，而风可以继续被除尘风机234抽走。
如图19所示，除尘风机234的出口朝向双头蜗杆电机22121，这样由除尘风机234流出的风可以直接吹向双头蜗杆电机22121，对双头蜗杆电机22121进行散热，有利于保证双头蜗杆电机22121的工作性能，延长双头蜗杆电机22121的工作寿命。
在一改型实施中，将所述拖擦驱动机构布置于吸尘装置的两侧，以使得吸尘装置能够整体沿清洁机器人2的前后方向延伸。例如，可将双头蜗杆电机22121替换为两个电机，两个电机通过蜗轮蜗杆机构或齿轮机构输出动力。这样，这样，便于将两个电机分别布置在吸尘装置的两侧，避免因电机转轴横穿吸尘装置而对吸尘装置造成阻挡，可以使吸尘装置风路更加顺畅，减小吸尘装置的进风阻力，增大吸尘装置的进风流量，改善吸尘装置的吸尘效果。
该实施例的垃圾收集装置23在工作时，除尘风机234驱动风带动垃圾经由吸尘口236进入盒体2313内部，垃圾被滤网233挡住，而风则经过滤网233进入风机导管235，流向除尘风机234，并最终由除尘风机234抽走。
可见，该实施例的垃圾收集装置23为吸尘装置，吸尘口236用作收集口。该实施例采用吸尘装置作为垃圾收集装置23的好处在于，垃圾收集装置23能够对垃圾施加吸引力，这不仅可以使更多被地面清洁装置22聚集的垃圾被更快速地收集起来，减少垃圾在地面上的残留，并且在吸力作用下，较大颗粒的垃圾也可以被吸至垃圾收集装置23内部，因此，采用吸尘装置作为垃圾收集装置23有利于将地面清洁得更加干净。
另外，如前所述，在该实施例中，绕竖直轴线反向转动的两个拖擦单元2211能够将垃圾聚集到两个拖擦单元2211之间，因此，为了更方便有效地收集垃圾，如图7和图20所示，在该实施例中，吸尘口236设置在该实施例拖擦装置221的两个拖擦单元2211的中部，这样，吸尘口236位于两个拖擦单元2211之间，处于垃圾被聚 集的路径上，因此，垃圾收集装置23可以更充分地对垃圾进行收集，实现更有效的垃圾收集效果。其中，吸尘口236既可以设置在两个拖擦单元2211的后方的中部，也可以设置在两个拖擦单元2211的前方的中部。将吸尘口236设置在两个拖擦单元2211的后方的中部，如图36所示，由于垃圾被聚集到一个更小的区域后再被垃圾收集装置23收集，因此吸尘口236可以设置地较小，而吸尘口236越小，吸力越大，可以实现更有效地收集。而将吸尘口236设置在两个拖擦单元2211的前方的中部，如图7和图20所示，其好处在于，可以使得垃圾收集在拖擦之前进行，垃圾能够在未被拖擦件22111弄湿的情况下即被收集起来，由于未被沾湿的垃圾对地面的附着力较小，更易被收集，因此，将吸尘口236设置在绕竖直轴线反向旋转的两个拖擦单元2211的前方的中部，可以降低垃圾收集难度，使得吸尘装置只需施加较小的吸力即可实现对垃圾的收集，并且可以有效防止出现毛发等垃圾因过湿而难以被收集的问题，从而可以更方便彻底地收集垃圾，实现更干净的垃圾收集效果。
基于上述拖擦装置221和垃圾收集装置23，当该实施例的清洁机器人2能够进行更高质量的地面清洁工作：工作时，贴地的两个拖擦件2111在拖擦驱动机构2212的驱动作用下绕竖直轴线反向转动，一方面对地面上的顽固污渍进行拖擦，另一方面将垃圾聚集到两个拖擦件2111的中间部位，被聚集到中间部位的垃圾由垃圾收集装置23吸起收集。
而且，结合图57和图58还可以得知，在上述实施例的清洁机器人2中，垃圾收集装置23均还包括挡板2311，该挡板2311由垃圾收集装置23的收集口(在该实施例中即为吸尘口236)向下倾斜并延伸至地面。基于此，该挡板2311能够对聚集至其所在位置的垃圾进行阻挡，防止被地面清洁装置22清洁出的垃圾扩散至收集口(吸尘口236)能够收集的范围之外，从而更便于垃圾收集装置23进行收集，并防止垃圾对清洁过的地面造成二次污染。特别是，当拖擦件22111相对于该清洁机器人2的底盘202绕竖直轴线转动进行清扫作业时，该挡板2311能够避免汇聚的垃圾被拖擦件22111带离收集口(吸尘口236)。
当然，该实施例的清洁机器人2，其也可以将垃圾收集装置23关闭，而只让拖擦装置221工作；或者，还可以将拖擦装置221更换为用于清扫地面上垃圾的清扫装置222，例如滚刷，利用清扫装置222与垃圾收集装置23配合实现单独的扫地功能，由于该实施例的拖擦装置221与拖擦驱动机构2212可拆卸连接，因此，可以方便地 将拖擦装置221更换为清扫装置222，实现清洁模式的切换；而且，通过将湿的拖擦件22111换成干的拖擦件22111，还可以使该实施例的清洁机器人2实现干拖功能，同样，由于该实施例的拖擦件22111可拆卸地连接于压盘22112上，因此，也可以方便地更换干拖擦件22111和湿拖擦件22111，实现干拖和湿拖模式的快速切换。
此外，如图6及图8-10所示，在该实施例中，清洁机器人2还包括碰撞感应板25、激光雷达26、控制装置27、电池28以及用于人机交互的按钮、屏幕等人机交互装置。其中，碰撞感应板25用于防止清洁机器人2与障碍物发生碰撞，在该实施例中，碰撞感应板25设置于壳体20的前端；激光雷达26用于进行地图扫描，实现清洁机器人2的建图和定位，在该实施例中，激光雷达26嵌在上壳体201的后部；电池28用于为清洁机器人2提供电能；控制装置27则用于控制清洁机器人2的各种活动，例如，传感器信号收集、电机驱动控制、电池管理、导航定位、地图生成、智能避障及清洁路径规划等。
进一步地，为了方便清洁机器人2进行越障和进出基站1，该实施例的清洁机器人2还包括顶起机构24。顶起机构24用于顶起清洁机器人2的前端和/或后端，这可以为清洁机器人2提供升力，不仅可以使清洁机器人2在地面行走过程中能够较为方便地越过一定高度的障碍物(例如门槛)，提升清洁机器人2的越障能力，扩大清洁机器人2的清洁范围，还可以在清洁机器人2进出基站1的过程中，帮助清洁机器人2更方便地进出基站1，尤其进出有一定高度的基站1的拖擦件清洁装置11。
具体地，如图7、图8和图10所示，在该实施例中，顶起机构24设置在清洁机器人2的底盘202上，并位于底盘202的靠前的位置，其包括一个能够上下摆动的摆杆，当摆杆向下摆出后，摆杆能够从底盘202向下伸出并支撑于承载面(例如地面)上，从而能够顶起清洁机器人2的前端，当摆杆向上摆回后，摆杆收回，解除顶起，清洁机器人2的前端高度重新降低。基于此，如图21和图22所示，在清洁机器人2越障或进入基站1的过程中，顶起机构24可以顶起清洁机器人2的前端，主动提升清洁机器人2的前端高度，帮助清洁机器人2快速越障，或者帮助清洁机器人2快速驶入基站1并使拖擦件22111顺利进入拖擦件清洁装置11。
本领域技术人员应当理解，顶起机构24并不局限于设置在底盘202上，其也可以设置在基站1上，或者还可以在基站1和底盘202上分别设置一个顶起机构24；而且，当顶起机构24设置于底盘202上时，顶起机构24也并不局限于设置于底盘 202的前部，其也可以设置在底盘202的后部，用于顶起清洁机器人2的后端。
图50-52示出了顶起机构24设置在底盘202后部的替代实施例。如图50-52所示，在该替代实施例中，顶起机构24设置在底盘202的后部，在这种情况下，如图52所示，当清洁机器人2需要进入基站1时，顶起机构24可以不动作，清洁机器人2在自身驱动力及基站1导向结构(如图52中的倾斜的导向面116)的导向作用下直接驶入基站1，使拖擦件22111进入拖擦件清洁装置11，而当拖擦件22111清洁完成、清洁机器人2需要退出基站1时，顶起机构24动作，将清洁机器人2的后端顶起，使拖擦件22111的后沿高于拖擦件清洁装置11的边沿高度，进而驶出基站1。而且，在该替代实施例中，优选地，可以在行走轮211处设置悬挂装置，该悬挂装置用于使行走轮211与底盘202保持弹性连接，这样行走轮211能够时刻保持与地面接触，从而当顶起机构24将清洁机器人2的后端顶起时，行走轮211在悬挂装置的作用下也仍然能够紧贴地面，为清洁机器人2提供摩擦力，所以，通过设置悬挂装置，能够进一步帮助清洁机器人2更高效地退出基站1。
具体地，如图50和图51所示，在该替代实施例中，悬挂装置包括弹簧212和支撑件213，弹簧212水平设置，支撑件213倾斜地连接于弹簧212和行走轮211之间，且支撑件213用于与弹簧212和行走轮211连接的两端之间的部分相对于清洁机器人2的壳体20可转动地设置。基于这种结构设置，该悬挂装置不仅可以使行走轮211保持与地面接触，还可以利用弹簧212的弹性力辅助顶起机构24使清洁机器人2的后端翘起，所以，在这种情况下，顶起机构24只需较小的顶起力就可以将清洁机器人2的后端顶起来，从而使得顶起机构24可以选用较小的电机，实现减少成本、节约安装空间的目的。
当然，悬挂装置也可以不与顶起机构24一起设置，由于悬挂装置能够使行走轮211始终与地面保持接触，因此，单独设置悬挂装置时，也可以增加清洁机器人2的越障能力。
图2-5示出了该第一实施例中的基站1的结构。在该实施例中，基站1采用水洗方式对拖擦件22111进行清洁，也即基站1通过清洗拖擦件22111来使拖擦件22111保持干净。
如图2-5所示，在该实施例中，基站1包括基站本体10、拖擦件清洁装置11、净液供应装置12、污液收集装置13和充电装置14。
其中，基站本体10构成基站1的其他结构部件的安装基础，拖擦件清洁装置11、净液供应装置12和污液收集装置13等均设置在基站本体10上，基站本体10为安装于其上的这些结构部件提供支撑。
如图2所示，在该实施例中，拖擦件清洁装置11安装于基站本体10的下方，而净液供应装置12和污液收集装置13则安装于基站本体10的上方并分别位于基站本体10的左右两侧，结构紧凑且美观。该实施例的拖擦件清洁装置11与净液供应装置12和污液收集装置13配合，一起实现对拖擦件22111的水洗清洁；并且，由于该实施例的拖擦单元2211可绕竖直轴线转动，因此，拖擦单元2211与拖擦件清洁装置11能够相对转动，基站1可以实现摩擦式水洗清洁方式。在清洗过程中，拖擦件22111承载于拖擦件清洁装置11上并进行转动清洗，净液供应装置12提供清洗液，且污液收集装置13收集清洗之后的脏污清洗液。
具体地，如图3所示，该实施例的拖擦件清洁装置11包括清洁槽111、具有多个凸起部112的凸起结构、进液结构113和排液结构114。
其中，清洁槽111用于在拖擦件清洁装置11对拖擦件22111进行清洁时容置拖擦件22111，也为清洗液提供容置空间。由图3和图4可知，在该实施例中，拖擦件清洁装置11包括两个清洁槽111，且每个清洁槽111的形状及大小与该实施例拖擦单元221的形状及大小相适配，其中，清洁槽111的截面形状为圆形。该设置是为了使清洁槽111与清洁机器人2的拖擦单元221的形状、大小和个数相适应，这不仅可以更好地容置拖擦件2111和清洗液，防止清洗液飞溅，还使得基站1可以同时对一个清洁机器人2的所有拖擦件22111进行清洗，提高清洁效率。当然，清洁槽111的形状和大小可以根据拖擦单元2211的具体情况进行适应性设置，而清洁槽111的个数也可以设置为与多个清洁机器人2的拖擦单元221的总个数相等，并一一对应设置，这样基站1可以对多个清洁机器人2的所有拖擦件22111同时进行清洗，清洁效率更高。
凸起结构用于与容置于清洁槽111中的拖擦件22111接触，由于拖擦件22111的整个表面均可以与凸起结构接触，因此，接触面积大，清洁效率高，并且，凸起结构在清洗过程中可以起到刮除污水和增加摩擦力的作用，能够进一步改善清洗效果。如图4所示，在该实施例中，凸起结构设置在清洁槽111中，其中每个凸起部112均为曲线凸起部，也即凸起部112的横截面的延伸路径为曲线，而且，每个清洁槽111中 的多个凸起部112均呈辐射状排布。该实施例所示的这种凸起结构，能够更好地适应拖擦件22111的旋转运动方式，使得在清洗过程中，凸起结构可以与旋转的拖擦件22111更充分地进行摩擦，实现更干净的清洗效果。另外，在拖擦件22111与凸起结构的挤压旋转过程中，水从拖擦件22111上被凸起部112挤压甩下来，因而，凸起结构还有一个作用是起到甩干拖擦件22111的作用。
进液结构113和排液结构114均与清洁槽111流体连通，以使清洗液能够经由进液结构113进入清洁槽111中，并使清洗拖擦件22111之后的清洗液能够经由排液结构114排出至清洁槽111外部。如图4所示，在该实施例中，进液结构113和排液结构114均设置在清洁槽111中，当然，二者也可以设置在其他位置，只要与清洁槽111保持流体连通即可。
净液供应装置12通过进液结构113与清洁槽111流体连通，以方便地向清洁槽111中提供清洗液；污液供应装置113则通过排液结构114与清洁槽111流体连通，以方便地收集清洗拖擦件22111之后的脏污清洗液。结合图3和图4可知，在该实施例中，净液供应装置12包括第一存储结构121和第一水泵122，第一存储结构121用于容置清洗液，第一水泵122用作第一动力装置，用于驱动清洗液由第一存储结构121流向清洁槽111中；污液收集装置13包括第二存储结构131和第二水泵132，第二存储结构131用于存储脏污清洗液，第二水泵132则用作第二动力装置，用于将脏污清洗液抽吸至第二存储结构131中。
此外，为了方便用户及时了解第一存储结构121及第二存储结构131中的清洗液的液位，在该实施例中，基站1还可以包括用于检测清洗液液位的液位检测装置。具体地，如图5所示，该实施例在第一存储结构121和第二存储结构131中均设置了液位检测装置，且每个液位检测装置均包括第一导电片151、第二导电片152和第三导电片153，其中，第一导电片151用于检测环境的电容值，第二导电片152和第三导电片153设置于容置待检测的清洗液的存储结构中，即第一存储结构121和第二存储结构131中，且第二导电片152用于检测因清洗液的液位变化所产生的电容差值，第三导电片153用于检测清洗液的电容值。由于不同液位的液体会影响导电片的电容值，因此，该液位检测装置可以实时检测得到第一存储结构121及第二存储结构122中的清洗液的液位，以便于及时向第一存储结构121中增添新的清洗液，或者及时清空第二存储结构131。其中，第一导电片151和第二导电片152用于校正所测得的液位检 测数据，从而使液位检测结果更加准确。具体的校正过程可以参照如下公式：
Figure PCTCN2017116371-appb-000001
其中，H：最终获得的液位；
C 2：有一定液位时，第二导电片152测到的电容值；
C 20：当存储结构中没有液体时，第二导电片152测到的电容值；
C 3：第三导电片153测到的电容值(被液体覆盖时)；
C 1：第一导电片151测到的电容值(空气中)；
γ：校正参数。
该实施例的基站1在工作过程中，参照图23可知，拖擦件22111容置于清洁槽111中且整个表面压紧于凸起结构上绕竖直轴线旋转，第一存储结构121中的清洗液经过第一水泵122加压之后，经由进液结构113喷射至容置于清洁槽111中的拖擦件22111上，喷射过程所产生的冲击力，有利于进一步改善清洗效果；而清洗之后的脏污清洗液会被凸起部112从拖擦件22111上刮挡下来，也会于拖擦件22111转动过程中在离心力的作用下从拖擦件22111上甩下来，流动至排液结构114处，并被第二水泵132抽吸至第二存储结构131中。
可见，通过净液供应装置12与污液收集装置13的配合作用，可以保持清洁槽111中清洗液是较为干净的，避免脏污的清洗液对拖擦件22111产生二次污染，从而可以进一步保证清洗效果。而且，拖擦件22111在清洗过程中的旋转运动，可以起到离心甩干的作用，防止清洗过后的拖擦件22111过湿，这一方面可以防止拖擦件22111在拖擦过程中残留较多的水在地面上，影响地面清洁度，甚至造成滑倒等安全隐患，另一方面还可以防止清洁机器人2因拖擦件22111过湿而无法适用于木质地板等特殊地面，可以有效扩大清洁机器人2的适用范围。基于此，在清洗过程中，可以调整拖擦件22111保持合适的转速与凸起部112进行摩擦清洗，并防止因转速太快而导致清洗液被甩出，而清洗结束后，可以使进液结构113停止进液，并先控制拖擦件22111以较低转速旋转一段时间，将大部分的水分甩干，然后再控制拖擦件22111加速旋转，进一步甩干。当然，具体地旋转速度及甩干程度可以根据实际需要进行控制。
在该实施例中，清洗液可以为水，也可以为水与清洗剂的混合液，其中优选为水与清洗剂的混合液，可以将拖擦件22111清洗得更加干净。其中，当采用水与清洁剂的混合液作为清洗液时，第一存储结构121可以只包括一个容器，其中直接存放混合 好的混合液；或者，第一存储结构121也可以包括两个容器，其中一个容器存放清洗剂，另一个容器存放水，这种情况下，可以由第一水泵122同时驱动清洗剂和水分别由各自的容器中直接流向清洁槽111中，也可以再设置一个第三水泵，也即使第一动力装置再包括一个第三水泵，由第三水泵驱动清洁剂先与水混合，再由第一水泵122驱动混合后的混合液流向清洁槽111中。
而为了进一步便于控制拖擦件22111的湿度，该实施例的基站1还可以包括烘干装置，利用该烘干装置对清洗完毕的拖擦件22111进行烘干，保证清洁机器人2退出基站1后，拖擦件22111上保留有适度的水分，不至于因过湿而造成地面湿滑，也不至于因过湿而受潮发霉。并且，在基站1中设置烘干装置，可以使烘干过程在基站1中即可完成，不仅能够进一步丰富基站1的功能，还可以简化后处理步骤，提高效率。
此外，为了方便清洁机器人2进出基站1，基站1还可以包括设置在拖擦件清洁装置11上的导向结构，该导向结构用于引导清洁机器人2相对于拖擦件清洁装置11运动以使拖擦件22111进出拖擦件清洁装置11。具体地，如图4所示，在该实施例中，基站1包括用作导向结构的导向面116，该导向面116由拖擦件清洁装置11(具体为清洁槽111的边沿处)向斜下方倾斜并延伸至地面，这样该导向面116可以引导清洁机器人2顺着该导向面116爬升至清洁槽111边沿所在高度，便于拖擦件22111进入清洁槽111中。如图21和图22所示，该导向面116与前述的清洁机器人2的顶起机构24配合使用，能够使清洁机器人2更方便地进出基站1，提高清洁机器人系统的工作效率。当然，导向结构并不局限于该实施例所示的结构形式，其还可以包括导向板116和/或导向轮119，这一点之后将在图24-35所示的第二实施例以及图53所示的实施例中进一步进行说明。
充电装置14用于为清洁机器人2的电池28充电，实现基站1的充电功能。如图2-4所示，在该实施例中，充电装置114设置在导向面116上，这样当清洁机器人2爬上导向面116时，充电装置114即可对清洁机器人2进行充电。充电装置14的充电方式可以有多种，例如，可以为接触式充电方式，利用设置在基站1上的充电片141和设置在清洁机器人2上的充电触片252(如图28及图29所示)的接触实现充电过程；再例如，也可以为无线充电方式，利用设置在清洁机器人2的底盘202上的感应线圈与设置于基站1的导向面116上的充电线圈的配合，实现无线充电。
图24-35示出了清洁机器人系统的第二实施例。
如图24-35所示，该第二实施例与第一实施例基本相同，其中，基站1仍然能够为清洁机器人2充电和对清洁机器人2的两个拖擦件22111进行清洗，且清洁机器人2的两个拖擦件22111仍然能够绕竖直轴线反向转动，每个拖擦件22111也仍然能够相对于底盘202进行摆动，而二者的差别主要在于：一方面，用于驱动两个拖擦件22111绕竖直轴线反向转动的拖擦驱动机构2212的具体结构不同；另一方面，拖擦件22111相对于底盘202进行摆动的具体实现方式不同；再一方面，垃圾收集装置23的具体结构略有不同；又一方面，基站1的基站本体10、第一存储结构121、第二存储结构131及导向结构的具体结构略有不同。因此，以下着重对这四方面的不同进行说明，其他未作说明之处可以参照第一实施例进行理解。在介绍其他实施例时，也仅着重介绍其不同之处。
图27-图34示出了该第二实施例中的清洁机器人2的结构。
如图28-31所示，在该第二实施例中，拖擦驱动机构2212虽然仍采用蜗轮蜗杆机构向输出轴22123传递转矩，但蜗轮蜗杆机构中的蜗杆电机不再采用双头蜗杆电机22121，而是采用两个单头蜗杆电机22121’，每个单头蜗杆电机22121’与蜗轮蜗杆机构中的两个蜗轮22122一一对应啮合传动，从而可以利用两组蜗轮蜗杆旋向不一样来驱动两个拖擦件22111绕竖向布置的输出轴22123反向旋转，既可以保证清洁机器人2头部相对的动平衡，又可以改善拖擦效果，同时还能起到清扫作用，并将垃圾收集到中间，便于垃圾收集装置23收集。而且，该实施例采用两个电机，相对于采用一个电机的情况，其好处还在于，便于将两个电机分别布置在吸尘装置的两侧，可以有效避免因电机转轴横穿吸尘装置而阻挡吸尘装置的风路，能够提高吸尘装置风路的顺畅性，减小吸尘装置的进风阻力，增大吸尘装置的进风流量，改善吸尘装置的吸尘效果。
如图32a-图32c所示，为了实现拖擦单元2211与拖擦驱动机构2212的可摆动连接，进而实现拖擦单元2211与底盘202的可摆动连接，在该第二实施例中，不再在输出轴22123与拖擦单元2211之间设置柔性连接块2216等柔性连接结构，而是将拖擦单元2211与拖擦驱动机构2212之间的配合关系设置为间隙套接。具体地，如图32c所示，在该第二实施例中，输出轴22123与压盘22112之间间隙套接，由于输出轴22123与压盘22112之间的间隙使得压盘22112可以相对于输出轴22123具有一定的间隙摆动角度，而拖擦件22111又设置于压盘22112上，因此，这种拖擦单元2211 与拖擦驱动机构2212之间间隙套接的配合方式，能够利用间隙活动来实现拖擦单元2211与底盘202的可摆动连接，使得拖擦件22111能够根据地面的实际情况来改变自身的摆动角度，达到适应地面的目的。
而且，如图32b所示，在该实施例中，为了方便拖擦单元2211的拆装，拖擦单元2211的压盘22112与拖擦驱动机构2212的输出轴22123之间设有能够将拖擦单元2211与拖擦连接结构吸附在一起的磁性吸附件2217。通过设置磁性吸附件2217，可以避免压盘22112与输出轴22123之间的刚性连接，实现二者的可拆卸连接，并且，利用磁力吸附实现连接，在需要对拖擦单元2211进行拆装时，只需一拔一扣即可，非常简单方便。当然，要实现拖擦单元2211与拖擦驱动机构2212之间的可拆卸连接，也可以采用螺纹连接件、卡扣件和钩挂件等其他方式中的一种或多种。
如图33和图34所示，在该第二实施例中，垃圾收集装置23虽然仍采用吸尘装置，且吸尘口236仍然设置在两个拖擦件22111的前方的中部，但相对于前述第一实施例，过滤结构有所改变，不再采用滤网233，而是替换为海帕纸233’，利用海帕纸233’对气流中的灰尘进行过滤，并相应地设置有用于支撑海帕纸233’的海帕纸支架2331’，并且，在灰尘盒231的盒体2313和盒盖2314之间设置有过滤支架238，海帕纸233’设置在该过滤支架238的外侧，并处于盒体2313与除尘风机234的流体连通的通路上；另外，在盒盖2314上增设有把手2315，把手2315通过定位销2316安装于盒盖2314上，便于用户取出灰尘盒231，及时清空灰尘盒231中的灰尘。
除了上述几处主要的不同之外，该第二实施例中的清洁机器人2还与第一实施例存在另外一些不同之处。如图28所示，在该第二实施例中，清洁机器人2的壳体20的结构稍有不同，上壳体201上设有电池安装槽，用于安装电池28，相应地，电池安装槽上盖设有上壳封盖2011，以遮蔽电池安装槽及其内部的电池28，保护电池28，并保持整体平整美观，底盘202下部也增设有下壳封盖2021，更便于拆装维修；而且，在碰撞感应板25上增设摄像头251和充电触片252，其中摄像头251用于与激光雷达26配合，实现更好的扫描定位和障碍物识别功能，充电触片252则用于与基站1上的充电片141接触，实现对电池28的充电。
图25-26示出了该第二实施例中的基站1的结构。
如图25和图26所示，在该第二实施例中，基站本体10包括支撑架101和支撑架底盖102，其中，净液供应装置12和污液收集装置13设置在支撑架101的上部并 位于支撑架101的左右两侧，支撑架底盖102设置于支撑架101的底部；第一存储结构121和第二存储结构131均包括箱体1211、箱盖1212、提手1213和卡扣1214，其中，箱盖1212盖设于箱体1211的顶端开口处，提手1213设置于箱盖1212上以方便手提，卡扣1214则设置于箱体1211和箱盖1212的连接处，用于实现箱体1211和箱盖1212的卡扣连接。
如图25和图26所示，在该第二实施例中，清洁槽111的槽口处设有刮挡件117，例如可以为一个刮挡片。该刮挡件117设置在清洁槽111的槽口处，可以增加清洁槽111的高度，这一方面可以用来防止清洁槽111中的清洗液在拖擦件清洁装置11对拖擦件22111进行清洁的过程中飞溅至清洁槽111之外，使得刮挡件117起到防水栏的作用；另一方面，由于拖擦件22111在进入清洁槽11之前，需要先经过该刮挡件117，因此，该刮挡件117还可以在拖擦件22111进入拖擦件清洁装置11之前刮除拖擦件22111上的垃圾，防止在地面清洁过程中粘附于拖擦件22111上的垃圾随拖擦件22111一起进入清洁槽111内，可以减少清洁槽111中进液结构113和排液结构114的堵塞。其中，刮挡件117可以为柔性件或刚性件，优选地，刮挡件117采用柔性件，例如采用橡胶刮片，这一方面便于拖擦件22111在进入清洁槽111时压在刮挡件117上，增强刮挡件117的刮挡作用，另一方面也可以减少刮挡片117对拖擦件22111的刮损，再一方面，采用柔性件作为刮挡件117时，当拖擦件22111完全进入清洁槽111内之后，刮挡件117可以自动回复至原状，仍然起到防止清洗液外溅的作用。当然，刮挡件117也可以不设置在清洁槽111的槽口处，例如还可以设置在导向面116上，只要其能够起到防止清洗液外溅和/或预先刮除垃圾的作用即可。
而且，由图35可知，为了进一步方便清洁机器人2进入基站1，在该第二实施例中，基站1的导向结构还包括设置在拖擦件清洁装置11侧方的导向板115，优选沿着导向面116的倾斜方向延伸至导向面116的底部。该导向板115可以与导向面116一起引导清洁机器人2的拖擦件22111更准确快速地进入基站1的拖擦件清洁装置11中。如图35所示，两个拖擦件22111的转动方向相反，在进入基站1时，若其中一个拖擦件22111碰触到导向板115，可以利用拖擦件22111与导向板115的摩擦力f来纠正路线偏差，牵引清洁机器人2沿正确轨道进入基站1，可见，该导向板115还能够起到纠正清洁机器人2进出路线偏差的作用。
此外，方便清洁机器人2进入基站1的方式，除了可以如第一实施例和第二实施 例所示的通过顶起机构24与基站1的导向结构的配合来实现之外，当然也可以选择不设置顶起机构24，而使清洁机器人2只在导向结构的导向作用下进入基站。如图53所示，基站1的导向结构可以不仅包括前述的导向面116，还包括导向轮119，导向轮119设置在导向面116上并向上凸出，在这种情况下，清洁机器人2在进入基站1时，可以先在导向面116的引导作用下依靠自身的行走驱动力爬升至导向轮119所在高度，然后在导向轮119的作用下，使清洁机器人2的前端翘起，直至拖擦单元2211越过导向轮119进入清洁槽111中，完成进入过程，而当拖擦件22111清洁完毕需要退出基站1时，清洁机器人2反向运动，同样可以在导向轮119和导向面116的作用下顺利完成退出过程。并且，为了避免向上凸出的导向轮119在清洁过程中对拖擦件22111与清洁表面的接触产生干涉，由图53可知，还可以在清洁机器人2上设置与导向轮119适配的避让槽203，拖擦单元2211越过导向轮119进入清洁槽111中后，导向轮119恰好嵌入避让槽203中，从而可以使拖擦件22111与清洁表面紧密接触，保证清洁效果。
图37示出了前述第一实施例和第二实施例的进一步改进实施例。
如图37所示，与前述第一实施例和第二实施例的主要不同在于，该实施例的清洁机器人2，其拖擦装置221还包括设置于拖擦单元2211后方的刮挡结构2219，该刮挡结构2219可以对由拖擦单元221上掉落的垃圾和/或污水进行刮挡，从而可以防止垃圾和/或污水残留于被拖擦单元2211所拖擦过的地面上，实现二次清洁。该刮挡结构2219可以为刮片或布条等，优选为柔性件，以减少对地面的刮损。当然，刮挡结构2219并不局限于第一实施例和第二实施例所示的清洁机器人2，对于本发明的其他清洁机器人2也适用。
图38-41示出了清洁机器人系统的第三实施例。
如图38-41可知，该第三实施例与前述两个实施例的差别主要在于，该实施例的清洁机器人2，其拖擦装置221只包括一个拖擦单元2211，相应地，该实施例的基站1的拖擦件清洁装置11也只包括一个清洁槽111，且为了使结构更加紧凑，基站1的净液供应装置12和污液收集装置13改为上下叠放布置。该实施例的清洁机器人2和基站1的规格均较小，更能适应小户型家庭的使用。
由图41可知，在该第三实施例中，拖擦单元2211仍然相对于底盘202绕竖直轴线转动，且为了实现拖擦单元2211绕竖直轴线的转动，如图40所示，该实施例的拖 擦驱动机构2212，其仍采用蜗杆电机来输出转矩，但不同之处在于，该实施例的蜗杆电机只包括一个单头蜗杆电机22121’和一个蜗轮22122，利用该单头蜗杆电机22121’和该蜗轮22122的啮合来驱动拖擦单元2211绕竖直轴线转动，实现对地面更有效地清洁。
基于这种单拖擦单元2211的地面清洁装置22，为了实现充分地垃圾收集，如图41所示，在该实施例中，垃圾收集装置23的吸尘口236设置于拖擦单元2211的边缘外侧。由于垃圾会沿着拖擦件2211的边沿被聚集至旋转的拖擦单元2211的外侧，因此，这种设置方式，使得作为收集口的吸尘口236处于拖擦单元2211对垃圾的聚集路径上，从而便于将垃圾收集至灰尘盒231中。进一步地，该实施例还在壳体20的一侧侧壁上增设有垃圾阻挡件237，且吸尘口236设置在拖擦单元2211的边缘与该垃圾阻挡件237之间，这样可以利用该垃圾阻挡件237对垃圾的阻挡作用，将垃圾进一步聚集到一个较小的区域，实现更有效地收集。
在上述三个实施例中，清洁槽111和凸起结构的结构基本相同，其中，清洁槽111为截面为圆形的深槽，凸起结构包括呈辐射状排布的多个曲线凸起部。但需要说明的是，在本发明中，清洁槽111和凸起结构的具体结构并不局限于这三个实施例所示的具体结构，以图48和图49所示的变型例为例，清洁槽111还可以设置为清洁盘，即呈截面为长方形的浅盘结构，而凸起部112还可以为直线凸起部或折线凸起部，即凸起部112的横截面的延伸路径为直线或折线，另外，多个凸起部112的排布方式也可以采用除辐射状之外的其他方式，例如阵列状，阵列状可以为直线阵列状(即矩阵状)、圆形阵列状或者环形阵列状等，其中直线阵列状尤其适用于拖擦件22111与拖擦件清洁装置11相对水平往复运动的情况，可以将拖擦件22111清洗得更为干净。另外，每个清洁槽111中，各个凸起部112的形状也可以不同，即多个凸起部112中，可以包括曲线凸起部、直线凸起部和折线凸起部的任意组合；类似地，每个清洁槽111中凸起部112的排布方式也可以采用辐射状和阵列状等多种排布方式的任意组合；且不同清洁槽111中的凸起部112的形状和排布方式可以相同或不同。
另外，在另一实施例中，凸起部112包括了设置在清洁槽111底部的底部凸起1121及形成在清洁槽111内侧面的侧部凸起1122。在所述拖擦件清洁装置11对所述拖擦件22111进行清洁时，所述底部凸起1121与所述拖擦件22111的底面相对转动并摩擦挤压式接触，所述侧部凸起1122与所述拖擦件22111的侧面相对转动并摩擦 挤压式接触。以此，通过底部凸起1121清洁拖擦件22111的底面，通过侧部凸起1122可以清洁拖擦件22111的侧面。
当然，清洁拖擦件22111的侧面还可以有其它方式。例如，将两个拖擦件22111设置为边缘接触，这样，两个拖擦件22111以相同的方向旋转时，两个拖擦件22111在中间接触的位置相对运动，相互摩擦进行侧面的清洁。
另外，在上述三个实施例中，污液收集装置13均是通过第二动力装置的抽吸作用实现对脏污清洗液的收集的。但在本发明的其他实施例中，也可以不设置第二动力装置，而是如图54和图55所示，直接将第二存储结构131设置于清洁槽111的下方，并使第二存储结构131与清洁槽111流体连通，这种情况下，脏污清洗液会在重力作用下自动由清洁槽111流入第二存储结构111中，简单方便，成本较低。
而且，为了实现对拖擦件22111更好的清洁效果，并满足用户更多样的使用需求及更高品质的生活质量追求，本发明的净液供应装置12还可以包括辅材供应装置，用于提供清洗拖擦件22111所需的消毒液、芳香剂和用于打蜡的蜡层等辅助材料，该辅材供应装置可以直接将辅助材料提供至清洁槽111中；也可以将辅助材料提供至第一存储结构121中，使辅助材料先与清洗液混合，再一同在第一动力装置的驱动作用下流向清洁槽111中。
需要说明的是，在本发明的其他实施例中，还可以省略净液供应装置12和/或污液收集装置13，而直接将基站1设置于安装有自来水管道和/或排水管道的位置附近，这样基站1可以直接利用自来水管道所供给的自来水来清洗拖擦件22111，而清洗后的污水也可以直接通过排水管道排走，由于可以减少净液供应装置12和/或污液收集装置13，因此，这种方式可以使基站1的结构更加简单，成本也更低。
另外，虽然上述三个实施例中用于驱动拖擦单元2211相对于底盘202进行转动的拖擦驱动机构2212均采用蜗轮蜗杆机构向两个输出轴22123传递方向相反的转矩，但实际上，在本发明的其他实施例中，还可以采用齿轮机构来向两个输出轴22123传递方向相反的转矩。而且，正如在第一实施例中所说明的，为了解决现有清洁机器人2拖擦效果较差的问题，拖擦单元2211除了可以像上述三个实施例一样设置为相对于底盘202绕竖直轴线转动，还可以设置为绕水平轴线转动。图42和图43即示出了基于绕水平轴线转动的拖擦单元2211的第四实施例的清洁机器人系统。
如图42所示，在该第四实施例中，清洁机器人2的拖擦单元2211包括能够水平 转动的滚筒和设置于滚筒外表面上的拖擦件22111，该拖擦单元2211在拖擦驱动机构2212的驱动作用下，绕水平轴线转动。由于这样也可以增加拖擦件22111与地面之间的相对运动，增大拖擦力度，增多拖擦次数，并同时起到拖擦和清扫作用，因此，也能够有效改善拖擦件22111的拖擦效果。
针对该实施例的清洁机器人2，该实施例还提供了一种不同于前述三个实施例的基站1。如图43所示，该实施例的基站1，其拖擦件清洁装置11的清洁槽111中设有清洁滚轮118，并利用该清洁滚轮118实现对拖擦件22111的清洁。在清洁拖擦件22111的过程中，拖擦件22111挤压于清洁滚轮118上，被清洁滚轮118支撑，然后利用清洁滚轮118与拖擦件22111的相对转动，实现对拖擦件22111的清洁。其中，清洁滚轮118与拖擦件22111的相对转动，既可以是拖擦件22111主动转动，也可以是清洁滚轮118主动转动，或者二者均主动转动但转动方向和/或转速大小不同，其中优选拖擦件22111主动转动，其原因在于：拖擦件22111的主动转动利用清洁机器人2自身的拖擦驱动机构2212即可实现，而无需再在基站1上设置驱动清洁滚轮118的机构，因此，可以使基站1的结构较为简单，成本较低，而且，拖擦件22111主动转动还可以起到一定的甩干作用，可以使拖擦件22111在清洁完成之后保持较合适的湿度。当然，具有清洁滚轮118的拖擦件清洁装置11也同样适用于本发明的其他实施例。
此外，为了进一步改善清洁机器人2的清洁效果，在该第四实施例中，还可以在地面清洁装置22上进一步设置垃圾刮除件，利用该垃圾刮除件刮除粘附于地面清洁装置22上的垃圾。其中，垃圾刮除件可以为刮片2312，也可以为滚刷2312’，图44和图45分别示出了对应的两种清洁机器人2的结构。
在如图44所示的清洁机器人2中，垃圾刮除件采用刮片2312，该刮片2312设置在清洁机器人2的壳体20上，并能够与旋转的拖擦件22111接触，这样在拖擦件22111旋转清洁地面的过程中，拖擦件22111每与刮片2312接触一次，刮片2312就会将粘附于拖擦件22111上的垃圾刮挡下来，从而能够使拖擦件22111保持干净，确保地面清洁质量。
在图45所示的清洁机器人2中，垃圾刮除件采用滚刷2312’，该滚刷2312’设置在壳体20上，并与拖擦件22111同向旋转，利用滚刷2312’与拖擦件22111的同向接触摩擦，也能够将拖擦件22111上的垃圾刮挡下来，并且，在这种方式中，滚刷2312’ 的旋转也能够进一步起到将垃圾抛向垃圾收集装置23的作用，从而更便于垃圾收集。
而且，结合图44和图45还可以得知，在这两种清洁机器人2中，垃圾收集装置23均还包括挡板2311，该挡板2311由垃圾收集装置23的收集口(吸尘口236)向下倾斜并延伸至地面。基于此，该挡板2311能够对聚集至其所在位置的垃圾进行阻挡，防止被地面清洁装置22清洁出的垃圾扩散至收集口能够收集的范围之外，从而更便于垃圾收集装置23进行收集，并防止垃圾对清洁过的地面造成二次污染。特别是，当拖擦件22111相对于该清洁机器人2的底盘202绕竖直轴线转动进行清洁作业时，该挡板2311能够避免汇聚的垃圾被拖擦件22111带离收集口。而且，该挡板2311与前述垃圾刮除件配合，更有助于垃圾收集装置23实现充分的垃圾收集。当然，图44和图45所示的垃圾刮除件和挡板2311也均适用于本发明的其他实施例。
另外，前述各实施例均是以拖擦单元2211相对于底盘202转动为例对本发明进行说明，但实际上，为了通过增加拖擦件22111与地面的相对运动来改善拖擦装置221的拖擦效果，本发明的拖擦单元2211还可以设置为能够相对于底盘202进行水平往复运动，也即，拖擦单元2211不仅可以通过相对于地面进行转动来改善拖擦效果，还可以通过相对于地面进行水平往复运动来改善拖擦效果。在图46和图47所示的实施例中，拖擦单元2211均相对于底盘202能够水平往复运动，在这种情况下，拖擦件22111对地面进行推式清洁，通过对地面的往复拖擦来清除污渍或垃圾，类似于手动拖擦方式，可以减少垃圾在拖擦装置2211后部的遗留。基于这种拖擦单元2211能够水平往复运动的清洁机器人2，可以更方便地与基站1配合，使拖擦件清洁装置11在与拖擦件22111相对移动过程中实现对拖擦件22111的清洁。并且，在本发明中，清洁机器人2的拖擦单元2211可以设置为既能够相对于底盘202转动，又能够相对于底盘202水平往复运动，并在地面清洁过程中，优选先进行旋转拖擦，再进行推式拖擦，这样可以综合旋转式拖擦方式和推式拖擦方式的优点，实现更有效的地面清洁。
此外，在前述各实施例中，地面清洁装置22均只包括拖擦装置221，但实际上，在本发明的其他实施例中，地面清洁装置21同时还可以包括用于清扫地面垃圾的清扫装置222，以使得清洁机器人2能够同时利用拖擦装置221和专门的清扫装置222对地面进行清洁，获得更干净的地面清洁效果。当设有专门的清扫装置222时，清扫装置222可以设置在拖擦装置221的前方和/或后方，其中优选设置在拖擦装置221 的前方，以便于实现“先扫后拖”的清洁模式，利用清扫装置222先将大部分垃圾(灰尘及较大颗粒物)清扫干净，再由拖擦装置221对剩余的较难清扫的垃圾(如顽固污渍)等进一步地清洁，提高地面清洁质量。图47即示出了其中的一个实施例。如图47所示，在该实施例中，地面清洁装置22包括水平往复运动的拖擦单元2211以及设置在拖擦单元2211前方并用作清扫装置222的边刷2221，吸尘口236设置在拖擦单元2211与边刷2221之间，三者配合，对地面进行清洁。本领域技术人员不难理解，清扫装置222不限于边刷2221，且各种清扫装置222可以与各种拖擦单元2211配合使用。
而且，作为上述各实施例的进一步改进，还可以在上述拖擦单元2211的拖擦件22111的边沿设置清扫件(例如刷毛或毛刷)，这样可以使得拖擦单元2211自身即成为扫拖一体结构，兼具扫拖功能，即使不再额外设置专门的清扫装置222，拖擦单元2211自身也能够将垃圾(尤其是毛发等垃圾)更充分地聚集起来，实现更好的清洁效果；并且，设置在拖擦件22111边沿的清扫件，还可以在拖擦单元2211清洁地面边沿的时候紧贴地面边沿，有效扩大拖擦装置221的清洁范围，使得清洁机器人2能够更有效地完成对室内角落的清洁。
另外，虽然前述各实施例中拖擦单元2211相对于底盘202的摆动均是通过拖擦单元2211与拖擦驱动机构2212的可摆动连接实现的，但实际上，实现方式并不局限于此，例如，还可以通过将拖擦驱动机构2212可摆动连接地连接于底盘202上来实现拖擦单元2211的摆动，此时拖擦单元2211与拖擦驱动机构2212非摆动连接(例如二者固定连接)，实际上，当拖擦单元2211与底盘202通过拖擦驱动机构2212连接时，拖擦单元2211可摆动地连接于拖擦驱动机构2212上，和/或，拖擦驱动机构2212可摆动地连接于底盘202上，均可以实现拖擦单元2211相对于底盘202的摆动；再例如，当拖擦单元2211相对于底盘202不进行转动和/或水平往复运动时，拖擦驱动机构2212可以被替换为非驱动式的连接拖擦单元2211与底盘202的拖擦连接结构，这时要实现拖擦单元2211相对于底盘202的摆动，则可以将拖擦单元2211可摆动地连接于该非驱动式的拖擦连接结构上，和/或，将该非驱动式拖擦连接结构可摆动地连接于底盘202上。
可见，在本发明中，连接拖擦单元2211与底盘202的拖擦连接结构，既可以为驱动式的拖擦连接结构(例如前述各实施例中的拖擦驱动机构2212)，也可以是非 驱动式的拖擦连接结构(例如连接于拖擦单元2211与底盘202之间的连接轴)；而无论拖擦单元2211与底盘202基于哪种拖擦连接结构连接，拖擦单元2211均可以通过拖擦连接结构与底盘202可摆动连接，只要将拖擦单元2211可摆动地连接于拖擦连接结构上，和/或，将拖擦连接结构可摆动地连接于底盘202上即可。
还需要说明的是，在本发明中，垃圾收集装置23除了可以采用上述各实施例所示的吸尘装置之外，也可以采用其他结构形式，例如，可以不设置除尘风机234和风机导管235等，使得垃圾仅在自身惯性作用下以及地面清洁装置22的聚集作用下，从收集口进入垃圾收集装置23的内部，在这种情况下，垃圾收集装置23并不对垃圾施加进一步地作用，垃圾收集装置23仅相当于簸箕使用。
以上所述仅为本发明的示例性实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (23)

  1. 一种清洁机器人(2)，其特征在于，包括用于驱动所述清洁机器人(2)在地面上行走的行走装置(21)以及用于对地面进行清洁的地面清洁装置(22)，所述地面清洁装置(22)包括拖擦装置(221)，所述拖擦装置(221)包括拖擦单元(2211)，所述拖擦单元(2211)包括拖擦件(22111)，所述拖擦件(22111)用于拖擦地面；所述拖擦单元(2211)和/或行走装置(21)可摆动地连接于所述清洁机器人(2)的底盘(202)上，以使所述拖擦单元(2211)的拖擦件(22111)能够通过随着地面的凹凸不平进行摆动来保持与地面接触。
  2. 根据权利要求1所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)还包括连接所述拖擦单元(2211)与所述底盘(202)的拖擦连接结构，所述拖擦单元(2211)通过所述拖擦连接结构与所述底盘(202)可摆动连接。
  3. 根据权利要求2所述的清洁机器人(2)，其特征在于，所述拖擦单元(2211)可摆动地连接于所述拖擦连接结构上，和/或，所述拖擦连接结构与所述底盘(202)可摆动连接，以使所述拖擦单元(2211)通过所述拖擦连接结构与所述底盘(202)可摆动连接。
  4. 根据权利要求3所述的清洁机器人(2)，其特征在于，所述拖擦单元(2211)与所述拖擦连接结构通过柔性连接结构连接，或者所述拖擦单元(2211)与所述拖擦连接结构之间间隙套接，以使所述拖擦单元(2211)可摆动地连接于所述拖擦连接结构上。
  5. 根据权利要求4所述的清洁机器人系统，其特征在于，所述柔性连接结构与所述拖擦单元(2211)和/或所述拖擦连接结构可拆卸连接。
  6. 根据权利要求2所述的清洁机器人(2)，其特征在于，所述拖擦单元(2211)与所述拖擦连接结构之间间隙套接，且所述拖擦单元(2211)与所述拖擦连接结构之间可拆卸连接。
  7. 根据权利要求2所述的清洁机器人(2)，其特征在于，所述拖擦单元(2211)与所述拖擦连接结构之间设有能够将所述拖擦单元(2211)与所述拖擦连接结构吸附在一起的磁性吸附件(2217)，或者，所述拖擦单元(2211)与所述拖擦连接结构通过螺纹连接件和/或卡扣件和/或钩挂件连接。
  8. 根据权利要求1所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)与所述底盘(202)之间或者所述行走装置(21)与所述底盘(202)之间通过水平转动轴(2218)连接。
  9. 根据权利要求1所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)与所述底盘(202)之间通过水平转动轴(2218)连接，以使所述拖擦单元(2211)可摆动地连接于所述底盘(202)上；和/或，所述行走装置(21)与所述底盘(202)之间通过水平转动轴(2218)连接，以使所述行走装置(21)可摆动地连接于所述底盘(202)上。
  10. 根据权利要求1所述的清洁机器人(2)，其特征在于，所述拖擦单元(2211)还包括清扫件，所述清扫件设置在所述拖擦件(22111)的边沿。
  11. 根据权利要求1所述的清洁机器人(2)，其特征在于，所述清洁机器人(2)还包括顶起机构(24)，所述顶起机构(24)安装在所述清洁机器人(2)上，所述顶起机构(24)用于顶起所述清洁机器人(2)的前端和/或后端。
  12. 根据权利要求1-11任一所述的清洁机器人(2)，其特征在于，所述清洁机器人(2)包括设置在所述行走装置(21)的行走轮(211)处的悬挂装置，所述悬挂装置用于使所述行走轮(211)与所述清洁机器人(2)的底盘(202)保持弹性连接以使所述行走轮(211)保持与地面接触。
  13. 根据权利要求1-11任一所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)还包括拖擦驱动机构(2212)，在所述拖擦驱动机构(2212)的驱动作用下，所述拖擦单元(2211)的拖擦件(22111)能够相对于所述清洁机器人(2)的底盘(202)进行转动，和/或，所述拖擦单元(2211)的拖擦件(22111)能够相对于所述清洁机器人(2)的底盘(202)进行水平往复运动。
  14. 根据权利要求13所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)只包括一个拖擦单元(2211)，在所述拖擦驱动机构(2212)的驱动作用下，所述一个拖擦单元(2211)上的拖擦件(22111)能够相对于所述底盘(202)转动和/或水平往复运动。
  15. 根据权利要求13所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)包括两个拖擦单元(2211)，在所述拖擦驱动机构(2212)的驱动作用下，所述两个拖擦单元(2211)的拖擦件(22111)能够相对于所述底盘(202)绕竖直轴线转动， 其中：所述两个拖擦单元(2211)的拖擦件(22111)能够相对于所述底盘(202)绕竖直轴线同向或反向转动，或者，所述两个拖擦单元(2211)的拖擦件(22111)相对于所述底盘(202)可切换地绕竖直轴线进行同向转动和反向转动。
  16. 根据权利要求15所述的清洁机器人(2)，其特征在于，所述拖擦驱动机构(2212)包括两个输出轴(22123)，所述两个输出轴(22123)与所述两个拖擦单元(2211)一一对应设置并用于向所述两个拖擦单元(2211)传递方向相反的转矩，且所述两个输出轴(22123)均竖向布置。
  17. 根据权利要求16所述的清洁机器人(2)，其特征在于，所述拖擦驱动机构(2212)还包括用于向所述两个输出轴(22123)传递方向相反的转矩的蜗轮蜗杆机构和/或齿轮机构。
  18. 根据权利要求17所述的清洁机器人(2)，其特征在于，所述拖擦驱动机构包括蜗杆电机和与所述两个输出轴(22123)一一对应驱动连接的两个涡轮(22122)，所述蜗杆电机用于输出转矩，所述两个蜗轮(22122)均与所述蜗杆电机啮合，以向所述两个输出轴(22123)传递方向相反的转矩。
  19. 根据权利要求18所述的清洁机器人(2)，其特征在于，所述蜗杆电机包括两个单头蜗杆电机(22121’)，每个所述单头蜗杆电机(22121’)分别与一个所述蜗轮(22122)啮合；或者，所述蜗杆电机包括双头蜗杆电机(22121)，所述双头蜗杆电机(22121)同时与所述两个蜗轮(22122)啮合。
  20. 根据权利要求1-11任一所述的清洁机器人(2)，其特征在于，所述拖擦装置(221)还包括设置于所述拖擦单元(2211)后方的刮挡结构(2219)，所述刮挡结构(2219)通过对垃圾和/或污水进行刮挡来防止垃圾和/或污水残留于被所述拖擦单元(2211)所拖擦过的地面上。
  21. 一种清洁机器人系统，其特征在于，包括基站(1)以及如权利要求1-20任一所述的清洁机器人(2)，所述基站(1)独立于所述清洁机器人(2)设置并能够为所述清洁机器人(2)充电和/或清洁所述清洁机器人(2)的拖擦件(22111)。
  22. 根据权利要求21所述的清洁机器人系统，其特征在于，所述基站(1)包括基站本体(10)和设置在所述基站本体(10)上的拖擦件清洁装置(11)，所述拖擦件清洁装置(11)用于对所述清洁机器人(2)的用于拖擦地面的拖擦件(22111)进行清洁；所述拖擦件清洁装置(11)包括凸起结构，所述凸起结构包括凸起部(112)， 在所述拖擦件清洁装置(11)对所述拖擦件(22111)进行清洁时，所述凸起部(112)与所述拖擦件(22111)接触；和/或，所述拖擦件清洁装置(11)包括清洁滚轮(118)，在所述拖擦件清洁装置(11)对所述拖擦件(22111)进行清洁时，所述清洁滚轮(118)与所述拖擦件(22111)接触。
  23. 根据权利要求22所述的清洁机器人系统，其特征在于，在所述拖擦件清洁装置(11)清洁所述拖擦件(22111)的过程中，所述拖擦件清洁装置(11)与所述拖擦件(22111)能够相对转动，和/或，所述拖擦件清洁装置(11)与所述拖擦件(22111)能够相对移动。
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