WO2020224542A1 - 基站、机器人清洁系统及其控制方法 - Google Patents

基站、机器人清洁系统及其控制方法 Download PDF

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Publication number
WO2020224542A1
WO2020224542A1 PCT/CN2020/088339 CN2020088339W WO2020224542A1 WO 2020224542 A1 WO2020224542 A1 WO 2020224542A1 CN 2020088339 W CN2020088339 W CN 2020088339W WO 2020224542 A1 WO2020224542 A1 WO 2020224542A1
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WO
WIPO (PCT)
Prior art keywords
wiper
base station
module
wiping
robot
Prior art date
Application number
PCT/CN2020/088339
Other languages
English (en)
French (fr)
Inventor
郑悦
徐建强
张士松
钟红风
孙益民
Original Assignee
苏州宝时得电动工具有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201911023104.3A external-priority patent/CN112704440A/zh
Priority claimed from CN201911281590.9A external-priority patent/CN112971630A/zh
Priority claimed from CN202010112090.9A external-priority patent/CN113287977A/zh
Priority to CN202211282569.2A priority Critical patent/CN115736714A/zh
Priority to CN202211291747.8A priority patent/CN115868859A/zh
Priority to CN202211281778.5A priority patent/CN115736713A/zh
Application filed by 苏州宝时得电动工具有限公司 filed Critical 苏州宝时得电动工具有限公司
Priority to CN202211281131.2A priority patent/CN115644735A/zh
Priority to JP2021565977A priority patent/JP7457036B2/ja
Priority to EP20801873.9A priority patent/EP3967201A4/en
Priority to CN202211282561.6A priority patent/CN115844257A/zh
Priority to KR1020217039245A priority patent/KR20220004159A/ko
Priority to US17/608,979 priority patent/US20220211241A1/en
Priority to CN202080003028.4A priority patent/CN112243357B/zh
Publication of WO2020224542A1 publication Critical patent/WO2020224542A1/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
    • A47L11/40—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
    • A47L11/28—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
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the invention relates to a base station, a robot cleaning system and a control method thereof, in particular to a robot cleaning system capable of automatically replacing wipers.
  • the cleaning robot generally uses wipers (such as paper towels, wipers, etc.) to perform cleaning operations.
  • the cleaning robot drives the wipers to move on a working surface (such as floor, glass) when traveling along a set route to achieve the cleaning operation.
  • a working surface such as floor, glass
  • the problem to be solved by the present invention is to provide a cleaning robot that automatically replaces the wiper without user intervention during normal operation.
  • a base station for a cleaning robot to park The cleaning robot includes a wiping plate, and a flexible wiping member is replaceably attached to the wiping plate to form a wiping surface to wipe the working surface of the cleaning robot; the base station includes : A storage module for storing continuous wiping substrates; a feeding module, which drives the free end of the wiping substrate to be transferred to a dividing position, so that the free end is divided from the wiping substrate to form the wiper.
  • the robot cleaning system includes a cleaning robot and a base station for the cleaning robot to stop.
  • the cleaning robot includes a wiping plate for a flexible wiper to be attached to form a wiping surface for wiping. Surface; characterized in that the method includes:
  • the wiper is installed on the wiper board.
  • control method further includes: separating the wiper from the wiper plate.
  • control method further includes: separating the wiper plate from the cleaning robot before separating the wiper from the wiper plate.
  • control method further includes: before separating the wiper from the wiper plate, driving the wiper plate separated from the cleaning robot to move to the wiper operating position.
  • control method further includes: after the wiper is installed on the wiper board, installing the wiper board on the cleaning robot.
  • control method further includes: after the wiping plate is separated from the cleaning robot, the cleaning robot moves in a first direction by a preset distance.
  • control method further includes: after the cleaning robot moves a preset distance in the first direction, installing the wiping plate on the cleaning robot.
  • the cleaning robot moves a preset distance in the second direction, and the wiping plate is installed on the cleaning robot, the first direction Opposite to the second direction.
  • a robot cleaning system includes a cleaning robot and a base station for the cleaning robot to stop.
  • the cleaning robot includes: a main body; a moving module installed on the main body to drive the cleaning robot to move on a working surface; and a wiper board installed on the work surface.
  • the main body is for a flexible wiper to be detachably attached to form a wiper surface to wipe the work surface;
  • the wiper plate includes a loading part for fixing the wiper;
  • the base station includes a storage module for storing a wipe substrate;
  • the feeding module transfers the free end of the wiping substrate to the dividing position, so that the free end is divided from the wiping substrate to form the wiper;
  • the operation module is installed in the main body or the base station, Acting on the wiping plate and/or the wiping member to combine the wiping member with the loading part of the wiping plate.
  • the base station includes a wiper operation position for receiving wipers to be installed on the wiper board.
  • the dividing position is located at the wiper operating position, or between the feed module and the wiper operating position.
  • the base station includes a dividing module, which acts on the wiping substrate between the storage module and the dividing position to divide the free end and the wiping substrate to form a wiper.
  • the feed module locks the wiping substrate on at least one side of the weak connection point of the wiping substrate, so that the free end passes through the pull at the weak connection point. Stretch and wipe the substrate to separate.
  • the feed module intermittently clamps the wiping substrate.
  • the feed module includes a transfer wheel, and the outer contour of the transfer wheel includes at least two curvatures, so that the surface of the transfer wheel intermittently contacts the wiping substrate.
  • the feed module is at least partially higher than the wiper operating position, so that the free end of the wiped substrate is transferred to the wiper operating position at least partially based on gravity.
  • the wiper operating position extends in a substantially vertical direction, so that the wiper stretches under the action of gravity.
  • the base station includes a position limiting device for detecting the position of the wiper, so that the feeding module transfers the wiper to the wiper operating position.
  • the wiping substrate is wound around a rotating shaft
  • the storage module includes a mounting frame that cooperates with the rotating shaft so that the rotating shaft is installed in the base station.
  • the mounting frame includes a first state for keeping the rotating shaft installed and a second state for allowing the rotating shaft to be removed.
  • the base station includes an operating module, which acts on the wiper and/or the wiper board to combine the wiper with the loading part of the wiper board.
  • the operating module acts on the wiper and/or the wiper to separate the wiper from the loading part of the wiper.
  • the operating module is detachably installed in the base station.
  • the base station includes a wiper board operating position for the cleaning robot to install or separate the wiper board.
  • the wiper operating position is higher than the wiper plate operating position to form a space for the cleaning robot to stop.
  • the base station includes a drive module to drive the wiper plate to move between the wiper plate operating position and the wiper operating position.
  • the wiper operation position includes a wiper installation position and a wiper separation position for the wiper to separate or install the wiper
  • the drive module drives the wiper to move and/or rotate in a substantially horizontal direction to make the wiper Move to the wiper installation position or wiper separation position.
  • the base station includes a storage module for receiving the wiper separated from the wiper board.
  • the base station includes a separation module that acts on the wiper and/or the wiper board to separate the wiper from the loading part of the wiper board.
  • the storage module is located in the moving direction of the wiping plate, so that when the wiping module moves to the separation module, the wiper in the storage module is compressed.
  • the opening of the receiving module to receive the wiper is at least partially lower than the wiper operating position, so that the wiper is recycled to the receiving module at least partially based on gravity.
  • the storage module is detachably installed in the base station.
  • the base station and the cleaning robot are respectively provided with communication modules, and the base station communicates with the cleaning robot so that the base station and the cleaning robot can cooperate to replace the wiper.
  • the base station includes a charging module for charging when the cleaning robot is docked with the base station.
  • the present invention has the beneficial effect that the base station continuously outputs the wipe substrate, and divides the free end of the output wipe substrate to form wipes for installation of the wipe board, so that the cleaning robot can be installed in the base station.
  • the replacement of the wiper is completely automatic.
  • the cleaning robot in this scheme automatically returns to the base station to replace the wiper.
  • the cleaning robot not only does not require the user to replace the wiper after wiping the surface, but also does not require the user to have a lot of intervention in the base station and the cleaning robot. It only needs to install the continuous wiping substrate to the base station, and Throw away the used wipes separated by the cleaning robot.
  • FIGS. 1 to 3 are schematic structural diagrams of the first possible solution of the cleaning system in the first embodiment of the present invention.
  • FIGS. 1 to 3 is a schematic structural diagram of a cleaning module configured by a cleaning robot included in the cleaning system shown in FIGS. 1 to 3;
  • Figure 5 is a top view of the cleaning module shown in Figure 4 in a working state
  • Figure 6 is a side view of the cleaning module shown in Figure 5;
  • FIG. 7 and 8 are partial structural diagrams of the cleaning system of the first embodiment of the present invention.
  • Fig. 9 is a schematic structural diagram of the first feasible scheme of a base station
  • Fig. 10 is a schematic structural diagram of a second feasible solution of a base station
  • Figures 11 to 12 are schematic structural diagrams of a third feasible solution of a base station
  • FIG. 13 is a schematic structural diagram of a fourth feasible solution of a base station
  • FIG. 14 is a schematic structural diagram of a feasible solution for installing the wiping substrate 500 in a base station
  • 15a and 15b are schematic structural diagrams of a fifth possible solution of a base station
  • FIG. 16 is a schematic structural diagram of a sixth feasible solution of a base station
  • FIG. 17 is a schematic structural diagram of a seventh feasible solution of a base station
  • Fig. 18 is a schematic structural diagram of an eighth feasible scheme of a base station
  • Figure 19 is a schematic structural diagram of a ninth possible solution of a base station
  • FIG. 20 is a schematic structural diagram of a tenth possible solution of a base station
  • FIG. 21 is a schematic structural diagram of an eleventh feasible solution of a base station
  • FIG. 22 is a partially enlarged view of the base station of the embodiment shown in FIG. 21;
  • FIG. 23 is a schematic structural diagram of a twelfth possible solution of a base station
  • 24 to 26 are schematic structural diagrams of a second possible solution of the cleaning system of the first embodiment of the present invention.
  • 27 to 29 are schematic structural diagrams of a third possible solution of the cleaning system according to the first embodiment of the present invention.
  • Figure 30 and Figure 31 are schematic diagrams of partial structures of the thirteenth possible scheme of the base station
  • FIG. 32 is a schematic structural diagram of a fourth possible solution of the cleaning system according to the first embodiment of the present invention.
  • FIG. 33 is a schematic structural diagram of a fifth possible solution of the cleaning system according to the first embodiment of the present invention.
  • Figure 34 and Figure 35 are schematic diagrams of partial structures of the thirteenth possible scheme of the base station
  • 36 is a schematic top view of the sixth possible solution of the cleaning system of the first embodiment of the present invention.
  • 37A to 37L are process diagrams of the cleaning robot replacing the wiper in the base station of the first feasible solution in the second embodiment of the present invention.
  • 38A and 38B are schematic diagrams of the structure when the wiper tray is in an unfolded state and a folded state;
  • 39A and 39B are structural schematic diagrams when the loading part is in a clamped state and an opened state, respectively;
  • Figure 40 is an exploded structure diagram of the assembly of the operating module and the cleaning module
  • Figures 41A to 43A are process diagrams of the operation module installing the wiper for the cleaning module
  • Figures 41B to 43B are side views of Figures 41A to 43A, respectively;
  • Figures 41C to 43C are cross-sectional views of Figures 41A to 43A, respectively;
  • 44A to 44I are process diagrams of the cleaning robot replacing the wiper in the base station of the second feasible solution in the second embodiment of the present invention.
  • Fig. 45 is a structural diagram of the translational transposition mechanism in Fig. 44A to Fig. 44I;
  • 46A to 46L are process diagrams of the cleaning robot replacing the wiper in the base station of the third possible solution in the second embodiment of the present invention.
  • FIG. 47 is a schematic structural diagram of the first possible solution of the cleaning system in the third embodiment of the present invention.
  • Fig. 48 is a schematic diagram of the structure of the wiper collecting mechanism in Fig. 47;
  • FIG. 49 is a schematic structural diagram of a base station in a second feasible solution of the cleaning system according to the third embodiment of the present invention.
  • FIG. 50 is a schematic diagram of an exploded structure of the base station shown in FIG. 49;
  • 51 is a schematic diagram of a three-dimensional structure of a base station in a fourth embodiment of the present invention.
  • FIG. 52 is a schematic structural diagram of a cleaning robot located in the base station shown in FIG. 51;
  • Figure 53 is a schematic diagram of the structure of the clamping mechanism
  • Figure 54 is a schematic structural diagram of the base station when the clamping mechanism is in the first working state
  • FIG. 55 is a schematic structural diagram of the base station when the clamping mechanism is in the second working state
  • Figure 56 is a schematic structural diagram of the base station when the clamping mechanism is in the third working state
  • FIG. 57 is a schematic structural diagram of a base station in the fifth embodiment of the present invention.
  • FIG. 58 is a schematic diagram of the structure of the baseband in FIG. 57;
  • Fig. 59 is a schematic diagram of the structure of the first reel, the second reel and the base tape in Fig. 57;
  • FIG. 60 is a schematic diagram of the structure when the cleaning robot is ready to enter the base station
  • Figure 61 is a schematic diagram of the baseband structure of the wiper operating position in the state of Figure 60;
  • Fig. 62 is a schematic diagram of the structure of the cleaning piece removed by the cleaning robot on the base belt;
  • Figure 63 is a schematic diagram of the structure of the base belt moving the new cleaning element to the wiper operating position.
  • the cleaning robot can realize automatic replacement without user intervention during the wipe replacement process.
  • the wipe replacement has a high degree of automation and intelligence, and the user experience is better.
  • the automatic cleaning system 300 includes a cleaning robot 100 and a base station 200.
  • the cleaning robot 100 includes a main body 101 and a wiping plate (122, 1201) installed on the main body 101.
  • a flexible wiper is attached to the wiping plate (122, 1201) to form a wiping surface, so that when the cleaning robot 100 moves on the working surface, the wiping surface Can act on the work surface to wipe.
  • the base station 200 includes a storage module (213, 520) for storing the wiping substrate 500.
  • the base station 200 includes a feeding module (220, 421), and the feeding module (220, 421) transfers the free end of the wiping substrate 500 to the dividing position, so that the free end and the body of the wiping substrate 500 are divided to form a wiper.
  • the length and width of the wiper are related to the length and width of the wiper plate (122, 1201). Generally, the length and width of the wiper are larger than the wiper plate (122, 1201).
  • the wiper is obtained by dividing the free end of the wiping substrate 500 and the body of the wiping substrate 500.
  • the wiping substrate 500 is formed by connecting a number of wipers of standard length, and the connection strength between the wipers is relatively small, for example, a plurality of spaced holes are arranged between the wipers. , So that there are weak connection points with weak connection strength between the wipers. When the two sides of the weak connection points are stretched by force, the wipers can be separated from the wiping substrate 500.
  • the wiping substrate 500 may be composed of a flexible material whose length is much longer than that of the wiping member, and there is no weak connection point in the middle.
  • one end of the wiping substrate 500 is fixed to the rotating shaft 510, and the wiping substrate 500 is wound around the rotating shaft 510 with this end as a starting point.
  • the storage module 520 includes a mounting frame 51 installed on the base station 200, and the mounting frame 51 is matched with the rotating shaft 510 of the winding wiping substrate 500 so that the rotating shaft 510 can be installed on the mounting frame 51.
  • the rotating shaft 510 can rotate relative to the mounting frame 51.
  • the wiping substrate 500 drives the rotating shaft 510 to rotate relative to the mounting frame 51 , Thereby transferring the free end of the wiping substrate 500 to a distance.
  • the rotating shaft 510 is mounted on the mounting frame 51 to be relatively fixed to the mounting frame 51, and the part of the mounting frame 51 connected to the rotating shaft 510 can be rotated by the drive of the feed module (220, 421), thereby driving the rotating shaft 510 to rotate.
  • the free end of the wiping substrate 500 is transferred far away.
  • the feed module (220, 421) includes a motor that drives the mounting frame 51 to rotate.
  • the mounting frame 51 includes a first state and a second state.
  • the shaft 510 can be kept in the installed state to prevent it from being separated from the mounting frame 51; when the user needs to install or remove
  • the rotating shaft 510 and the mounting frame 51 are in the second state, so that the rotating shaft 510 can be separated from the mounting frame 51.
  • the mounting bracket 51 includes a first bracket and a second bracket disposed oppositely, which are respectively fitted to the left and right ends of the rotating shaft 510.
  • the mounting bracket 51 is in the first state, the relative distance between the first bracket and the second bracket is relatively close. ;
  • the mounting bracket 51 is in the second state, the relative distance between the first bracket and the second bracket is relatively far.
  • the first state of the mounting frame 51 is the state of being installed in the base station, and the second state is the disassembly state.
  • the rotating shaft 510 can be installed on the mounting frame 51, or the rotating shaft 510 is removed from the mounting frame 51.
  • the base station 200 includes a wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420) for installing or separating the wiper from the wiper board (122, 1201).
  • the dividing position includes a wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the feeding module (220, 421) transfers the free end of the wiping substrate 500 to the wiper operating position 420, and locks it on one side of the weak connection point of the wiping substrate 500.
  • the wiping substrate 500 When the wiping substrate 500 is installed on the wiping board (122, 1201), a pulling force is generated on the free end of the wiping substrate 500 and the body of the wiping substrate 500, so that the body of the wiping substrate 500 at the weak connection point of the wiping substrate 500 It is divided from the free end of the wiping substrate 500 on the other side of the wiping substrate 500 to form a wiper.
  • the cleaning robot 100 installs the free end of the wiping substrate 500 on the wiping plate ( 122, 1201), when the cleaning robot 100 moves, the free end of the wiping substrate 500 is stretched along with the wiping plate (122, 1201) and the body of the wiping substrate 500, thereby being disconnected from the wiping substrate 500.
  • the feed module (220, 421) transfers the free end of the wiping substrate 500 to the wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), then stop delivery.
  • the feed module (220, 421) pulls the wiping substrate 500 in the opposite direction Stretching, the main body of the wiping substrate 500 on one side of the weak connection point of the wiping substrate 500 and the free end of the wiping substrate 500 on the other side of the wiping substrate 500 are divided to form a wiper.
  • the base station 200 includes a dividing module 280, which acts to wipe the substrate 500 to divide it.
  • the dividing module 280 may include a device such as a metal blade or a plastic blade that generates a force on the wiping substrate 500 to separate it.
  • the feeding module (220, 421) transfers the free end of the wiping substrate 500 to the wiper operating position, and then stops transferring to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the dividing module 280 acts on the wiping substrate 500 to perform Divide to form wipes.
  • the dividing module 280 may also include a laser knife or other devices that do not exert force on the wiping substrate 500 to separate it.
  • the feeding module (220, 421) transfers the free end of the wiping substrate 500 to the wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), and then stops the transfer.
  • the dividing module 280 divides the free end of the wiping substrate 500 and the body of the wiping substrate 500 after the wiping substrate 500 stops transferring.
  • the dividing position includes the intermediate position between the feeding module (220, 421) and the wiper operating position, and the free end of the wiper substrate 500 is transferred to the wiper at the feeding module (220, 421) Before the operation position (2021, 2022, 215, 217, 218, 13, 4221, 420), first divide the free end of the wiping substrate 500 and the body of the wiping substrate 500 to form a wiper, and feed the module (220, 421) Then transfer the wiper to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the feed module (220, 421) includes transfer wheels (2041, 278), and optionally two transfer wheels (2041, 278) clamp each other to clamp the The wiping substrate 500 is transferred outward. Since the wiping substrate 500 is flexible, if the wiping substrate 500 forms wrinkles, the transfer wheels (2041, 278) cannot expand the wrinkles during the continuous rotation of the wiping substrate 500, resulting in freedom to wipe the substrate 500 The wiper formed after the end is divided also maintains a certain wrinkle shape, so that the wiper cannot be installed on the wiper plate in a straight unfolded state. Therefore, the transfer wheels (2041, 278) intermittently clamp the wiping substrate 500, so that the wiping substrate 500 is not subjected to pressure intermittently during the movement, but naturally flattens.
  • the outer contour of the transfer wheel (2041, 278) includes at least two curvatures, such as an ellipse, so that the transfer wheel (2041, 278) is sometimes squeezed and sometimes separated during the rotation process.
  • the conveying wheels (2041, 278) are automatically separated intermittently, so that the conveying wheels (2041, 278) are separated from the other surface in contact with it.
  • a damping can be provided in the storage module (213, 520), or a damping can be provided in the transfer wheel (2041, 278) Wait.
  • the feed module (220, 421) is at least partially higher than the wiper operating position, because the feed module (220, 421) will wipe the substrate 500 freely.
  • the end is transferred to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), and the feed module (220, 421) is higher than the wiper operating position (2021, 2022, 215, 217, 218, 13,4221,420), the wiping substrate 500 can partially rely on gravity to move to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the wiper operating positions (2021, 2022, 215, 217, 218, 13, 4221, 420) extend in a substantially vertical direction, and are located in the feed module (220, 421) is higher than the operation position of the wiper (2021, 2022, 215, 217, 218, 13, 4221, 420), only the feed module (220, 421) is required to output the wipe substrate 500 to the outside.
  • the material 500 can naturally stretch in the wiper operating position by gravity, without the need for other devices to change the moving direction of the wiper substrate 500 to make it match the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221 , 420) corresponds to the extension direction.
  • the base station 200 includes a limit module 260 for detecting the position of the wiper, so that the wiper can be divided into a roughly accurate length and transferred to a roughly accurate position.
  • the limit module 260 includes a sensor assembly 261 for detecting the edge of the wiper.
  • the sensor assembly 261 is arranged on the boundary of the wiper installation position. When the sensor assembly 261 detects the edge of the wiper, the feed module (220, 421) The wiper has been transferred to the wiper operating position, and the feed module (220, 421) stops transferring outward.
  • the sensor assembly 261 is used to detect the position mark of the wiper. As shown in FIG.
  • the sensor assembly 261 is arranged on the other edge of the wiper operating position, and the sensor 261 detects the position mark set on the wiper substrate 500, such as Wipe the holes arranged at intervals at the weak connection points of the substrate 500.
  • the sensor assembly 261 detects the position mark, it indicates that the feeding module (220, 421) has transferred the wiper to the wiper operating position, and the feeding module (220, 421) 421) Stop passing out.
  • the wiping plate (122, 1201) includes a loading portion (123, 127), and the wiping member is fixed to the wiping plate (122, 1201) by combining with the loading portion (123, 127) ).
  • the loading portion (123, 127) may include a clamping structure that mechanically clamps at least part of the edge of the wiper between the loading portion (123, 127) and the wiping plate (122, 1201), or by adhesion The wiper fixes at least part of the edge of the wiper to the wiper plate (122, 1201).
  • the automatic cleaning system 300 includes an operating module (125, 400).
  • the operating module (125, 400) is optionally installed in the main body 101 of the cleaning robot 100 or installed in the base station 200, or partly installed in the cleaning robot.
  • the main body 101 of the robot 100 is partially installed in the base station 200.
  • the operating module (125, 400) corresponds to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) of the base station 200, when the wiper plate (122, 1201) and the wiper are located on the wiper In the operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), the operating module (125, 400) can act on the wiper plate (122, 1201) and/or the wiper, and interact with the wiper plate (122 , 1201)
  • the loading parts (123, 127) cooperate to install the wiper on the wiping board (122, 1201).
  • the operating module (125, 400) is detachably installed in the cleaning robot 100 or the base station 200 for easy maintenance.
  • the operation module (125, 400) can be used to install the wiper on the wiper plate (122, 1201), and can also be used to separate the wiper from the wiper plate (122, 1201).
  • the base station 200 further includes a separation module 422, which acts on the wiper plate (122 , 1201) and/or wiper to separate the wiper from the wiper plate (122, 1201).
  • the base station 200 includes a receiving module (211, 15, 206, 240) for receiving a wiper separated from the wiper board (122, 1201).
  • the opening on the storage module (211, 15, 206, 240) allows the user to place the bag storing the wipes in the storage module (211, 15, 206, 240), when the capacity of the bag storing the wipes is insufficient , The base station 200 can detect and remind the user to replace.
  • the storage module (211, 15, 206, 240) can be disassembled. After the user removes the storage module (211, 15, 206, 240) from the base station 200, the storage module (211, 15, 206, 240) is stored The wipes are discarded.
  • the recovery device 270 generates a force on the wiper separated from the wiper plate (122, 1201), and recovers the wiper into the storage module (211, 15, 206, 240).
  • the specific implementation of the recovery device 270 is described in the following embodiments.
  • the operation module 400 is installed in the base station 200.
  • the base station 200 includes wiping board operation positions (215, 2021, 2022, 2023, 218, 13) for the cleaning robot 100 to install or separate the wiping board (122, 1201) with the wiper from the main body 101.
  • the cleaning robot 100 returns to the base station 200, the cleaning robot 100 separates the wiper board (122, 1201) with the wiper installed from the main body 101.
  • the base station 200 includes drive modules (207, 205, 412), and the drive modules (207, 205, 412) move the wiper plate (122, 1201) separated from the main body 101 to the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420), so that the operating module (125, 400) separates the used wiper from the wipe board (122, 1201).
  • the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) is higher than the wiper operating position, as shown in Figure 37, the wiper operating position (2021, 2022, 215, 217 , 218, 13, 4221, 420) and the wipe board operating position form a space for the cleaning robot 100 to park.
  • This solution can optimize the size of the base station 200 in the horizontal direction, making the structure of the base station 200 more compact.
  • the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221, 420) includes a wiper separation position 4221 and a wiper installation position 420.
  • the wiper is separated
  • the position and the wiper installation position 420 are substantially on the same horizontal plane, so that the driving module (207, 205, 412) can drive the wiper plate to move between the wiper separation position and the wiper installation position 420 in a horizontal direction.
  • the opening of the receiving module (211, 15, 206, 240) for receiving the wiper is lower than the wiper operating position (2021, 2022, 215, 217, 218, 13, 4221) in at least one state. , 420), specifically, lower than the wiper separation position 217.
  • the cleaning robot 100 separates the wiper at the wiper separation position 217, and the storage module (211, 15, 206, 240) is arranged below the wiper separation position 217, so that the wiper Drop into the storage module (211, 15, 206, 240). In this way, the wipers are compressed with each other by their own gravity, so that the storage modules (211, 15, 206, 240) can receive more wipes.
  • the opening of the storage module (211, 15, 206, 240) is higher than the wiper separation position 217 in one state, and lower than the wiper separation position 217 in the other state.
  • the storage module 211 can move in a height direction to form a space in the base station 200 for the cleaning robot 100 to stop.
  • the distance between the storage modules (211, 15, 206, 240) and the bottom surface of the base station 200 is greater than the height of the cleaning robot 100.
  • the storage modules (211, 15, 206, 240) are driven by the drive modules (207, 205, 412) to move in the height direction, that is, the drive modules (207, 205, 412) simultaneously drive the wiper plates (122, 1201) and the storage module (211, 15, 206, 240) move.
  • the storage module 211 is located in the moving direction of the wiper board (122, 1201).
  • the storage modules (211, 15, 206, 240) include a recycling box 206, and the driving module (207, 205, 412) drives the wiper plate (122, 1201) to move to the recycling box 206 to move to the recycling box 206.
  • the driving module (207, 205, 412) drives the wiper plate (122, 1201) to move to 206, the wiper plate (122, 1201) compresses the wiper in the recovery box 206, so as to facilitate the storage of the recovery box 206. Many wipes.
  • control method of the automatic cleaning system 300 includes the following steps:
  • disconnecting the free end of the wiping substrate 500 from the wiping substrate 500 can be performed simultaneously with the installation of the wiper on the wiping board (122, 1201), or the wiper can be installed on the wiping board (122, 1201) first, and then The free end of the wiping substrate 500 is disconnected from the wiping substrate 500.
  • transferring the free end of the continuous wiping substrate 500 to the dividing position includes: transferring the free end of the wiping substrate 500 stored in the storage module 213 to the dividing position through the feeding module (220, 421).
  • Mounting the wiper on the wiper board (122, 1201) includes: installing the wiper on the loading part (123, 127) of the wiper board (122, 1201) through the operation module (125, 400).
  • Separating the free end from the wiping substrate 500 to form a wiper includes: locking and/or stretching the wiping substrate 500 by a feed module (220, 421), and disconnecting the free end from the wiping substrate 500 Form a wiper.
  • Separating the free end from the wiping substrate 500 to form a wiper includes: separating the free end from the wiping substrate 500 by a separating device 280 to form a wiper.
  • the control method of the automatic cleaning system 300 includes the following steps: separating the wiper from the wiper plate (122, 1201). After the wiper is separated from the wiper board (122, 1201), the wiper board is installed with a new wiper through the above steps to realize the automatic replacement of the wiper.
  • the control method of the automatic cleaning system 300 includes the following steps: separating the wiper plate (122, 1201) from the cleaning robot 100 before separating the wiper from the wiper plate (122, 1201). After the wiping board (122, 1201) is separated from the cleaning robot 100, the base station 200 only operates the wiping board (122, 1201) with the wiper after the separation, so that the wiping board can replace the wiper.
  • the control method of the automatic cleaning system 300 includes the following steps: before the wiper is separated from the wiper plate (122, 1201), the wiper plate separated from the cleaning robot is driven Move to the wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the separation of the wiper plate (122, 1201) and the cleaning robot 100 is completed at the wiper operating position, and the separation of the wiper and the wiper plate (122, 1201) is completed at the wiper operating position (2021, 2022, 215, 217). , 218, 13, 4221, 420) completed.
  • the drive module moves the wiper board (122, 1201) from the wiper board operating position to the wiper operating position (2021, 2022, 215,217,218,13,4221,420), and then complete the replacement of the wiper.
  • control method of the automatic cleaning system 300 includes the following steps: after the wiper is installed on the wiper board (122, 1201), the wiper board (122, 1201) is installed on the cleaning robot 100.
  • the control method of the automatic cleaning system 300 includes the following steps: after separating the wiping plate (122, 1201) from the cleaning robot 100, the cleaning robot 100 moves a preset distance in the first direction. As shown in Figure 37-43, since the wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420) is located above the wiper operation position, when the wiper board (122, 1201) is separated from the cleaning robot After that, the driving module (207, 205, 412) drives the wiping module from the wiper operation position to the wiper operation position (2021, 2022, 215, 217, 218, 13, 4221, 420).
  • the cleaning robot 100 stays at the wiping board operating position, the main body 101 of the cleaning robot 100 will obstruct the driving module (207, 205, 412) to drive the mop board (122, 1201) to move in the vertical direction. Therefore, the cleaning robot 100 moves in the first direction, and the preferred first direction is the opposite direction of the moving direction of the cleaning robot 100 to make room for the movement of the mop board (122, 1201).
  • the control method of the automatic cleaning system 300 includes the following steps: as shown in FIG. 44, after the cleaning robot 100 moves a preset distance in the first direction, the wiper plate (122, 1201) is installed on the cleaning Robot 100.
  • the base station 200 includes a wipe board installation position 2022 and a wipe board separation position 2021. After the cleaning robot 100 separates the wipe boards (122, 1201) at the wipe board separation position 2021, the cleaning robot moves in the first direction to wipe For the board installation position, the preferred first direction is the opposite direction of the moving direction of the cleaning robot 100.
  • Fig. 44 shows an embodiment in which the wiping plate installation position and the wiping plate separation position are separately arranged.
  • the separation and installation of the wiping plate (122, 1201) and the cleaning robot 100 are completed respectively.
  • the wiping plate installation position and the wiping plate separation position can be the same position, that is, the separation and installation of the wiping plate (122, 1201) and the cleaning robot 100 are completed at the same position, as shown in Figures 1 to 1 Figure 36, Figure 37, Figure 46, Figure 58 to 63 shown in the embodiment.
  • the wiping plate operation position serves as both the wiping plate installation position and the wiping plate separation position.
  • the control method of the automatic cleaning system 300 includes the following steps: as shown in FIG. 37, in this real-time manner, the wiper operation position of the base station 200 is for the cleaning robot 100 to implement the wiper at the same position (122, 1201). ) Separation and installation, after installing the wiper on the wiper plate (122, 1201), the cleaning robot 100 moves in the second direction for a preset distance to return to the wiper operating position, and installs the wiper plate (122, 1201) on the cleaning robot 100.
  • the first direction is opposite to the second direction.
  • FIGS. 1 to 36 they are the drawings related to the first embodiment of the present invention.
  • 1 to 3 are schematic structural diagrams of the first possible solution of the cleaning system 300 in this embodiment, which includes a cleaning robot 100 and a base station 200.
  • the cleaning robot 100 may be an automatic mopping machine, an automatic mopping and sweeping machine, or an automatic sweeping machine, or the like.
  • the cleaning robot 100 works in the work area and completes tasks such as mopping and sweeping the floor.
  • the base station 200 such as when it is detected that the wiper needs to be replaced or the cleaning robot 100 needs to be charged, the return procedure is started, and the cleaning robot 100 returns to The base station 200 completes the automatic replacement or charging of the wiper.
  • the cleaning robot 100 includes a main body 101 and a mobile module arranged at the bottom of the main body 101 to drive the main body 101 to move on a working surface.
  • the mobile module includes walking wheels 110. It is understood that the mobile module may also include a crawler structure.
  • the cleaning robot 100 also includes a cleaning mechanism.
  • the cleaning module 120 serves as the cleaning mechanism.
  • the cleaning robot 100 uses the cleaning module 120 to perform mopping work on the work surface.
  • the cleaning mechanism of the cleaning robot 100 may also include a rolling brush and a side brush, which are used to clean debris and other debris on the ground, corners, etc., and the debris is relatively concentrated on the rolling brush through the side brush, and Collect the dust in the dust box.
  • the cleaning robot 100 also includes a power mechanism, a power source, and a sensor system.
  • the power mechanism includes a motor and a transmission mechanism connected with the motor, the transmission mechanism is connected with the mobile module, the motor drives the transmission mechanism to work, and the transmission action of the transmission mechanism makes the mobile module move.
  • the transmission mechanism may be a worm gear mechanism, a bevel gear mechanism and the like.
  • the power source of the cleaning robot 100 is configured to provide energy to the cleaning robot 100, and to provide power to the power mechanism so that the cleaning robot 100 can move and perform work.
  • the power source is usually set as a battery pack. When the energy consumption of the battery pack reaches the threshold, the cleaning robot 100 automatically returns to the base station 200 to replenish energy, and continues to work after the charging is completed.
  • the sensor system of the cleaning robot 100 includes a cliff sensor, which detects the presence of a cliff and changes the walking strategy; a side sensor, which detects the side of the work area and produces a strategy for walking along the edge; a tilt sensor, which detects that the machine is tilted and changes the work strategy and faces the user Give instructions; and other common sensors, I won’t repeat them here.
  • the cleaning robot 100 also includes a control module, which may be an embedded digital signal processor, a microprocessor, a specific integrated circuit, a central processing unit, or a field programmable gate array.
  • the control module may control the work of the cleaning robot 100 according to preset conditions or according to instructions received by the cleaning robot 100. Specifically, the control module can control the mobile module to walk randomly in the working area of the cleaning robot 100 or walk according to a preset walking path. While the mobile module drives the cleaning robot 100 to walk, the cleaning mechanism works, thereby removing the stains on the surface of the working area. , Dust, etc. clean up.
  • the cleaning module 120 is equipped with a wiper for wiping dust on the work surface or stains attached to the work surface.
  • the wiping substrate 500 can be divided into at least two wiping parts, the wiping parts are sheet-like, with a thickness of less than 0.5cm, including natural fabrics such as cotton and linen, or chemical fabrics such as polyester and nylon fibers, or sponges such as rubber, wood pulp and cotton Products, paper products such as wood pulp, absorbent cotton, and soft disposable products such as the aforementioned synthetic products.
  • the wiper can generate static electricity by friction with the working surface, such as electrostatic paper, so as to absorb dust on the working surface such as hair.
  • the wiper has a water absorption function and can maintain the integrity of the wiper for a period of time.
  • the base station 200 includes a storage device for storing the wiping substrate 500.
  • the storage device includes a storage module 211 and a storage module 213.
  • the storage module 211 is used to store used wipes
  • the storage module 213 is used to store the wiping substrate 500 to be used.
  • the base station 200 includes a wiper separation position 217 and a wiper installation position 215.
  • the cleaning robot 100 returns to the base station 200, it moves to the wiper separation position 217, so that the wiper installed by the cleaning robot 100 is located above the wiper separation position 217, and the used wiper can be separated, and the separated wiper enters the storage module 211 .
  • the base station 200 includes a feeding module 220 for exporting the wiper in the storage module 213 to the wiper installation position 215 for installation by the cleaning robot 100. Under the action of the feeding module 220, the wiper is led out from the storage module 213 and moved to the wiper installation position 215 in a direction substantially parallel to the wiper installation position 215, so as to keep the wiper as flat as possible.
  • the base station 200 further includes a limit module 260 for detecting the length of the wiper on the wiper installation position 215, and the control module controls the feeding module 220 according to the detection result of the limit module 260.
  • the wiper separation position 217 and the wiper installation position 215 are at different positions of the base station 200. In other embodiments, the wiper separation position 217 and the wiper installation position 215 may partially or completely overlap.
  • the base station 200 includes a flattening module 250. Since the wiper is relatively soft and easy to wrinkle, after the feeding module 220 leads out the free end of the wiping substrate 500, in order to facilitate the cleaning robot 100 to install the wiper normally, the wiper needs to be kept in a relatively flat state, and the flattening module 250 passes Airflow, pressure rod, etc. keep the wiper flat.
  • the base station 200 includes a dividing module 280 for separating the free end of the wiping substrate 500 on the wiper installation position 215 from the wiping substrate 500 in the storage module 213.
  • the wiping substrate 500 stored in the storage module 213 is continuous. If the length of the wiper detected by the limit module 260 meets the preset length, the free end of the wiper substrate 500 on the wiper installation position 215 needs to be separated from the wiper substrate 500 in the storage module 213.
  • the continuous wiping substrate 500 in the storage module 213 is formed by connecting a number of wipers of standard length, and the connection strength is relatively small.
  • the cleaning robot 100 can make the wipers naturally in the process of installing the wipers. Separate.
  • the dividing module 280 operates to separate the free end of the wiper substrate 500 from the body.
  • the wiper installation position 215 includes a first position away from the storage module 213 and a second position close to the storage module 213.
  • the control module can control the feeding module 220 to stop working.
  • the storage module 213 includes an outlet 2111, and the width of the outlet 2111 is greater than the width of the wiper.
  • the feeding module 220 leads the wiping substrate 500 from the exit 2111 to the wiper installation position 215.
  • the storage module 213 includes a pivotable cover 2113 for the user to open to replace the wiping substrate 500.
  • the storage module 211 includes an outlet for the user to open to dispose of the used wipes stored in the storage module 211.
  • the storage module 211 includes a garbage bag storage structure. The user can put the garbage bag into the storage module 211, the used wipes are directly stored in the garbage bag, and the user can directly take out the garbage bag from the outlet.
  • the storage module 213 is provided with a mounting frame 51 parallel to the ground, and both ends of the mounting frame 51 are supported by bearings.
  • the wiping substrate 500 that can be stored in the storage module 213 is in the form of a roll-type wiping substrate 500, which includes a cylindrical hollow rolling body, and is wrapped with a wiping substrate 500 whose length is much longer than that required for a single use. The user can install the hollow rolling body through the mounting frame 51 in the storage module 213 so that the hollow rolling body can rotate around the mounting frame 51.
  • the mobile module includes auxiliary wheels 102.
  • the cleaning module 120 is raised, the auxiliary wheels 102 are lowered, and the moving module drives the cleaning robot 100 into the base station 200.
  • the cleaning module 120 is maintained in a lifted state.
  • the auxiliary wheel 102 is raised, and the cleaning module 120 is lowered to the wiper installation position 215 to complete the wiper installation.
  • the cleaning module 120 includes an obtaining unit 121 for obtaining a new wiper or separating an old wiper, so that the wiper can be replaced without user intervention.
  • the acquisition unit 121 includes a wiper board 122 and a clamping assembly 123.
  • the clamping assembly 123 includes an external clamping member 1231 and an internal clamping member 1233, and is mounted on the wiper board 122 via a transmission assembly 125.
  • the transmission assembly 125 includes a first horizontal gear 1251, a second horizontal gear 1253 and an intermediate gear 1255.
  • the first horizontal gear 1251 and the second horizontal gear 1253 are respectively fixedly connected to the two external clamping members 1231, so that the first horizontal gear 1251, the second horizontal gear 1253 and the two external clamping members 1231 move simultaneously.
  • the first horizontal gear 1251 and the second horizontal gear 1253 are meshed with the intermediate gear 1255, and always reciprocate in opposite directions.
  • the first horizontal gear 1251 is connected with the external clamping member 1231 so that the first horizontal gear 1251 and the external clamping member 1231 reciprocate simultaneously.
  • the intermediate gear 1255 is driven by a motor.
  • the intermediate gear 1255 rotates in the first direction
  • the first horizontal gear 1251 and the second horizontal gear 1253 shrink inward at the same time, driving the two outer clamping members 1231 to shrink inward.
  • the inner clamping member 1233 also shrinks inward.
  • a spring member (not shown in the figure) is connected to the internal clamping member 1233, and the spring member is in a compressed state when the internal clamping member 1233 is contracted inward.
  • a spring (not shown) is provided on the end of the second horizontal gear 1253, and when the first horizontal gear 1251 reciprocates, the spring repeatedly compresses and relaxes.
  • the intermediate gear 1255 drives the first horizontal gear 1251 to move inward, the spring is compressed and the outer clamping member 1231 clamps the wiper.
  • the compression force of the compressed spring is used to separate the outer clamping member 1231 to the outside, releasing the clamp between the inner clamping member 1233 and the external clamping Wipers between members 1231.
  • a spring may also be provided at the end of the second horizontal gear 1251 to form a double compression force.
  • the wiper will be detachably fixed to the cleaning robot 100 under the action of the obtaining unit 121.
  • the intermediate gear 1255 rotates in the first direction (clockwise as shown in FIG. 5)
  • the outer clamping member 1231 moves horizontally inward, and the pawls of the outer clamping member 1231 drive both sides of the wiper to move inward, The part of the wiper close to the pawl is raised upward.
  • the wiper protruding upward is clamped between the two.
  • the inner side of the internal clamping member 1233 includes an inclined surface.
  • the acquisition unit 121 of the cleaning robot 100 includes a wiper board 122 and a sticking assembly 127, and the sticking assembly 127 is installed on both sides of the wiper board 122.
  • the sticking component 127 may be a device that can be detachably connected to the wiper such as a Velcro.
  • the base station 200 includes an operation module 290 for assisting the installation of the wiper on the cleaning robot 100.
  • the operating module 290 is disposed under the wiper installation position 215 and includes a first pressing plate and a second pressing plate. When the cleaning robot 100 reaches the wiper installation position 215, the first pressing plate and the second pressing plate pivot upward to press the wiper thereon to the sticking assembly 127.
  • the first pressing plate and the second pressing plate are respectively mounted on the first gear and the second gear, the first gear is mated with the first rack, and the second gear is mated with the second rack ,
  • the first rack is connected with the first rack and moves in the same direction.
  • the tooth core of the first gear is relatively fixedly installed in the base station 200, and the first gear can rotate relative to the tooth core.
  • the second gear is the same.
  • the first gear is installed above the first rack, and the second gear is installed below the second rack.
  • the corresponding two sides of the wiping plate 122 are inclined surfaces, that is, the sticking component 127 is provided on the two inclined surfaces of the wiping plate 122 so as to adhere to the first pressing plate and the second pressing plate .
  • the feeding module 220 includes a roller assembly 221.
  • the roller assembly 221 includes a driving roller and a driven roller, and the motor drives the driving roller to rotate in a first direction, thereby driving the driven roller to rotate in a second direction.
  • the free end of the wiping substrate 500 is sandwiched between the roller assemblies 221, and the pressure between the driving roller and the driven roller forms a frictional force on the wiping substrate 500, thereby driving the wiping substrate 500 away from the hollow rolling body and arrives at the wiper installation Bit 215.
  • the roller assembly 221 may include more than two rollers, such as two sets of matching rollers.
  • the wiping substrate 500 is led out by the two sets of rollers, which can provide greater traction.
  • the roller assembly 221 may include a roller. The roller acts on a surface of the base station 200 and uses the friction force against the wiping substrate 500 to drive the free end of the wiping substrate 500 to be led out while the roller rotates.
  • the flattening module 250 includes a fan 251.
  • the control module controls the fan 251 to work, and the air outlet of the fan 251 faces the first position, so that the air flow direction of the air outlet of the fan 251 is roughly from the second position to the first position, and the wiper is driven by the airflow Move down toward the first position. Furthermore, since the airflow from the air outlet of the fan 251 exerts a force on the wiper in a direction parallel to the wiper, the wiper maintains a horizontally expanded state.
  • the cavity where the air inlet of the fan 251 is located is in air communication with the wiper installation position 215, and the air outlet faces the outside of the base station 200.
  • the wiper is exported to the wiper installation position 215, the air near the wiper installation position 215 flows into the fan 251, thereby generating a negative pressure at the wiper installation position 215, and attracts the wiper to the wiper installation position 215, making it difficult Affected by external forces, it can stay at the wiper installation position 215 in a relatively stable state, waiting for the cleaning robot 100 to be installed.
  • the air inlet channel of the fan 251 includes two air inlet channels.
  • the first air inlet channel directly communicates with the outside of the base station 200 without affecting other modules of the base station 200.
  • the second air inlet channel communicates with the wiper installation position 215.
  • a valve such as a three-way valve, is installed between the two air inlet channels and the air inlet of the fan 251.
  • the air outlet of the fan 251 acts on the wiper along the direction in which the wiper is led out.
  • the air inlet of the fan 251 communicates with the first air inlet channel, the control module controls the valve to close the second air channel, and the wiper is led out to the wiper installation position 215 with the assistance of the fan 251.
  • the air inlet of the fan 251 communicates with the second air inlet channel, and the control module controls the valve to close the first air inlet channel.
  • the wiper installation position 215 generates a negative pressure under the action of the fan 251 to adsorb the wiper on the wiper installation position 215.
  • the flattening module 250 includes a timing belt assembly 253, which specifically includes a front wheel and a rear wheel, and a timing belt arranged around the front wheel and the rear wheel.
  • the front wheel or the rear wheel drives the timing belt to move.
  • the timing belt drives the wiper to move to the first position.
  • a felt is provided on the timing belt. After the felt contacts the wiper, a relatively large friction force is generated to assist the wiper to move to the first position.
  • the wiper reaches the wiper installation position 215, the wiper will not easily move under the action of the felt, which prevents the wiper from wrinkling.
  • the flattening module 250 includes a pressing rod 255 that acts on the wiper and moves to the second position, so that the wiper is tensioned with the movement of the pressing rod 255.
  • the pressure rod 255 is connected to the four-bar linkage assembly 257.
  • the four-bar linkage assembly 257 includes a frame, a connecting rod, and a crank.
  • the frame is fixed to the base station 200 and is at the second point of the wiper installation position 215 in the height direction. coincide.
  • the connecting rod is driven by the crank to move in the height direction and the horizontal direction, and the pressure rod 255 is connected to the connecting rod through a torsion spring.
  • the pressing rod 255 When the connecting rod is located at the position A, the pressing rod 255 is located at the highest point in the height direction and does not contact the wiper installation position 215. When the connecting rod is at the position B, the pressing rod 255 is in contact with the wiper installation position 215. When the connecting rod is at the position C, the pressing rod 255 reaches the lowest point under the driving of the connecting rod, and the torsion spring generates pressure on the pressing rod 255, thereby generating pressure on the wiper on the wiper installation position 215. When the connecting rod is at the position D, the pressing rod 255 moves to the second position, thereby pulling the wiper between the pressing rod 255 and the wiper installation position 215 to move to the second position.
  • the second position of the wiper installation position 215 is provided with a groove 2150, so that the pressing rod 255 is pressed down into the groove 2150 by the torsion spring, and the wiper is pulled downward to achieve tension.
  • the control link moves upward to the position E, and the pressing rod 255 leaves the wiper installation position 215.
  • the pressing rod 255 is installed on the timing belt assembly 253 to realize synchronous movement with the timing belt assembly 253.
  • the timing belt assembly 253 rotates counterclockwise so that the pressing rod 255 moves downward to the position a.
  • the pressing rod 255 exerts pressure on the wiping substrate 500, and the pressing rod 255 is driven by the timing belt assembly 253 to move to position b, thereby driving the wiping substrate 500 to move.
  • the wiping substrate 500 When the pressing rod 255 reaches the position c, the wiping substrate 500 also reaches the second position to wait for the cleaning robot 100 to be installed, and the wiping substrate 500 is tensioned under the action of the pressing rod 255. After the cleaning robot 100 is installed, the timing belt assembly 253 continues to move, and the pressing rod 255 is raised.
  • the limit module 260 includes a sensor assembly 261 for detecting the length of the wiper derived from the wiper installation position 215, which may specifically include a photoelectric sensor or a Hall sensor.
  • the sensor assembly 261 is installed in the second position of the wiper installation position 215. When the sensor assembly 261 detects the wiper at the second position, it indicates that the length of the wiper has reached the preset length requirement, and the control module controls the entry Stop working for the module 220.
  • the sensor assembly 261 is installed on the roller assembly 221 for detecting the rotation angle of the roller assembly 221.
  • the sensor assembly 261 may include an angular displacement sensor and the like. Since the free end of the wiping substrate 500 is led out to the wiper installation position 215 under the drive of the roller assembly 221, the circumference of one rotation of the roller assembly 221 is the same as the corresponding leading-out length of the wiper without slipping. . Therefore, the lead-out length of the wiper can be calculated by detecting the rotation angle of the roller assembly 221. If the rotation angle of the roller detected by the sensor assembly 261 reaches the preset angle, it means that the length of the wiper has reached the preset length requirement, and the control module controls the roller assembly 221 to stop working.
  • the wiping substrate 500 stored in the storage module 213 may be formed by connecting a plurality of wipers of standard length, and the connection strength between each wiper is small, which is easy to disconnect.
  • the sensor assembly 261 is installed in the second position. If the sensor assembly 261 detects the light-transmitting hole, it indicates that the length of the free end of the wiping substrate 500 reaches the preset length requirement, and the control module controls the feeding module 220 to stop working.
  • the sensor assembly 261 includes a light emitter and a light receiver. When the light receiver detects the light emitted by the light emitter through the light transmission hole between the wipers, the sensor assembly 261 outputs a signal, and the control module The signal output by 261 controls the feeding module 220 to stop working.
  • the limit module 260 includes a sensor assembly 263 for detecting the storage margin of the wiping substrate 500 in the storage module 213.
  • the control module reminds the user to replace it, preventing the cleaning robot 100 from returning to the base station 200 and unable to normally install a new wiper.
  • the sensor component 263 may include a micro switch or a Hall element or an optocoupler element or the like. In this embodiment, the sensor assembly 263 is disposed between the mounting frame 51 and the wiper mounting position 215.
  • the wiping substrate 500 can be continuously exported when the remaining amount is sufficient, if the sensor assembly 263 does not detect the wiping substrate 500, the length of the remaining wiping substrate 500 is less than the usable length or less than the recommended length, and the user needs to be reminded to replace it.
  • a reminder lamp or buzzer is installed on the base station 200, and the control module controls the operation of the reminder lamp or buzzer to achieve the purpose of reminding the user.
  • the base station 200 can communicate with the user equipment. If the sensor component 263 does not detect the wiping substrate 500, the control module sends a prompt message to the user equipment.
  • the sensor assembly 263 is used to detect the height of the wiping substrate 500, thereby detecting the storage margin of the wiping substrate 500.
  • the wiping substrate 500 with a preset margin corresponds to a preset height. If the height of the wiping substrate 500 is lower than the preset height, the length of the remaining wiping substrate 500 is less than the recommended length, and the user needs to be reminded to replace it.
  • the sensor assembly 263 is used to detect the weight of the roll-type wiping substrate 500 to detect the storage margin of the wiping substrate 500.
  • the sensor assembly 263 is mounted on the mounting frame 51 of the roll-type wiping substrate 500. Since the weight of the roll-type wiping substrate 500 in the storage module 213 decreases as the wiping substrate 500 is reduced, when the weight of the wiping substrate 500 is less than the preset weight, or when the weight of the wiping substrate 500 is less than the initial weight When the ratio is less than the preset ratio, the length of the remaining wiping substrate 500 is less than the recommended length, and the user needs to be reminded to replace it.
  • control module counts the signals output by the sensor 261, and each time the length derived from the wiper reaches the preset length requirement, the count is increased by one.
  • the count value is greater than or equal to the preset value, it indicates that the storage margin in the storage module 213 is less than the preset margin, and the control module reminds to replace.
  • the limit module 260 includes a sensor assembly 265 installed in the receiving module 211.
  • the sensor assembly 265 is installed above the height direction of the storage module 211 to detect whether the wiper in the storage module 211 reaches the installation position. It can be understood that the greater the number of wipers in the storage module 211, the higher the height. Therefore, when the sensor assembly 265 detects that the wiper reaches the installation position, it sends a prompt signal to prompt the user to dispose of the wiper in the storage module 211.
  • the sensor component 265 may be used to detect parameters such as the weight of the storage module 211, and remind the user to process by setting a threshold.
  • the wiper dividing module 280 includes a cutting device 281 and a transmission device 283.
  • the control module controls the cutting device 281 to contact and act on the wiping substrate 500 through the transmission device 283, thereby cutting the wiping substrate 500.
  • the cutting device 281 includes a blade mounted on the blade holder
  • the transmission device 283 includes a cam. The lower part of the blade holder is in contact with the cam, and the cam rotates under the action of the motor to move the blade holder in the height direction.
  • the upper part of the blade holder is connected with a spring, and the spring provides a force to move the blade holder downward and keep the blade holder pressed against the cam.
  • the control module drives the cam to rotate around the output shaft of the motor by controlling the motor, and the diameter of the cam changes to form an upward thrust on the blade holder, thereby controlling the blade holder to move in the height direction so that the blade contacts or does not touch the wiping substrate 500.
  • the cutting device 281 is installed in the storage module 213. Since the cutting device 281 includes a sharp cutting device such as a blade, in order to ensure user safety, the width of the exit 2111 of the storage module 213 is less than or equal to 3 cm to prevent the user from reaching into the storage module 213 to contact the cutting device 281. In one embodiment, the cutting device 281 is installed outside the storage module 213. In order to ensure user safety, an additional protective cover needs to be provided.
  • the protective cover includes an outlet whose width is less than or equal to 3 cm.
  • the cutting device 281 moves in the horizontal direction, and the bottom of the cutting device 281 can contact the wiper installation position 215.
  • the transmission device 283 includes a horizontal guide rail, and the cutting device 281 is installed on the sliding block. As the sliding block moves in the guide rail, the cutting device 281 can move in a horizontal direction. When the feed module 250 is working, the cutting device 281 is biased to one side. When the leading-out length of the free end of the wiping substrate 500 reaches the preset length, the control module controls the cutting device 281 to move horizontally to the other side in the width direction of the wiping substrate 500, thereby cutting the wiping substrate 500.
  • the blade is circular and is pivotally mounted on the sliding block. When the sliding block moves, the blade and the wiping substrate 500 generate friction, thereby generating rotation. In other embodiments, blades of other shapes can also cut the wiping substrate 500 under the drive of the slider.
  • the storage module 211 is opened upward, and the wiper separation position 217 is located above the storage module 211.
  • the cleaning module 120 separates the wiper so that the wiper directly falls into the receiving module 211.
  • the wiper separation position 217 and the wiper installation position 215 do not overlap, and the wiper separation position 217 is located at the front side in the moving direction of the cleaning robot 100. After the cleaning robot 100 separates the wiper, it can return to the wiper installation position 215 to install the wiper, and can exit the base station 200 for cleaning after the installation is completed.
  • the base station 200 includes a wiper recovery module 270 for recovering the wipers on the wiper separation position 217 into the storage module 211.
  • the wiper recovery module 270 is installed in the storage module 211.
  • the wiper recovery module 270 includes a receiving member 271 and a rotating shaft 273 connected to the receiving member 271.
  • the rotating shaft 273 is pivotally mounted on one side of the receiving module 211. When the shaft 273 rotates downward, the first side of the receiving member 271 faces upward. At this time, the receiving member 271 is located at the first recycling position, and the first side of the receiving member 271 is used to receive used wipes.
  • the first recovery position and the wiper separation position 217 overlap or partially overlap.
  • the control module controls the rotating shaft 273 to pivot upward, and the receiving member 271 pivots synchronously with the rotating shaft 273.
  • the rotating shaft 273 pivots to the maximum angle
  • the first side of the receiving member 271 faces downward.
  • the storage member 271 is located at the second recovery position, and the wiper on the storage member 271 falls off and enters the storage module 211.
  • the opening position of the receiving module 211 is higher than the wiper separation position 217, and the wiper recovery is achieved by pivoting the wiper recovery module 270 in the height direction.
  • the wiper separation position 217 overlaps or partially overlaps with the wiper installation position 215, and the wiper recovery module 270 is displaced in the height direction during operation, the cleaning robot 100 returns to the base station 200 to replace the wiper as follows :
  • the wiper recovery module 270 includes a receiving member 271 and a lifting assembly 275.
  • the receiving member 271 is mounted on the lifting assembly 275 so that it can move in the height direction with the lifting assembly 275. mobile.
  • the receiving member 271 is located at the first recovery position.
  • the first recovery position and the wiper separation position 217 overlap or partially overlap. After the cleaning module 120 of the cleaning robot 100 moves to the wiper separation position 217, the wiper is separated so that the wiper falls to the receiving member 271.
  • the lifting assembly 275 drives the receiving member 271 to rise, and continues to drive it to rotate to the receiving module 211 so that the first side of the receiving member 271 faces downward.
  • the storage member 271 is located at the second recovery position, and the wiper falls into the storage module 211.
  • the lifting assembly 275 includes a timing belt. When the receiving member 271 reaches the highest point under the action of the timing belt, the timing belt continues to move, and the receiving member 271 rotates with the timing belt and reaches the second recovery position.
  • the lifting assembly 275 may also be a device such as a sliding rod.
  • the wiper recovery module 270 includes a shift lever 277, which is installed on the wiper separation position 217, and pivots in a horizontal direction.
  • the shift lever 277 pivots toward the storage module 211, so that the wiper on the wiper separation position 217 enters the storage module 211 under the action of the shift lever 277.
  • the opening of the storage module 211 and the wiper separation position 217 are equal in height, or the opening of the storage module 211 is lower than the wiper separation position 217; and the wiper recovery module 270 is adjacent to the storage module 211, When the shift lever 277 rotates toward the storage module 211, the wiper can fall into the storage module 211.
  • the wiper installation position 215 can be overlapped with the wiper separation position 217, and the cleaning robot 100 may not move after separating the wiper, and wait for the base station 200 to complete the recovery of the old wiper and export the new wiper before installation. Exit the base station 200.
  • the wiper recovery module 270 includes a fan 279 installed in the storage module 211.
  • the receiving module 211 includes an inlet 2701 facing the wiper separation position 217.
  • the accommodating module 211 includes an outlet 2703, and the air flowing out when the fan 279 works is discharged from the outlet 2703.
  • the position of the exit 2703 may be set above the storage module 211, or in other directions that do not affect the operation of the base station 200.
  • the wiper recovery module 270 also includes a filter device 274 installed between the fan 279 and the inlet 2701 to filter out larger particles in the air to avoid damage to the fan 279.
  • the wiper may move upwards inside the storage module 211 under the action of the fan 279, and the filter device 274 can prevent the wiper from covering the air inlet of the fan 279.
  • the wiper separation position 217 overlaps with the wiper installation position 215, and the wiper recovery module 270 has no displacement in the height direction when it is working. That is, when the cleaning robot 100 is located at the wiper separation position 217, the base station 200 and the cleaning robot 100 do not affect each other when the wiper recovery module 270 is working, and the cleaning robot 100 can wait for the wiper recovery module 270 to complete the wiper recovery after separating the wiper. , And the feeding module 250 exports the wiper, and then installs the wiper without moving. Then the cleaning robot 100 returns to the base station 200 to replace the wiper as follows:
  • the base station 200 exports the wiper to the wiper installation position 215;
  • S50 The cleaning robot 100 installs a wiper.
  • the receiving module 211 is disposed under the wiper separation position 217
  • the wiper recovery module 270 includes a roller assembly 278, including a driving roller driven by a motor and a driven roller driven to rotate by the driving roller.
  • the driving roller rotates clockwise
  • the driven roller rotates counterclockwise.
  • the wiper separation position 217 is higher than the working surface of the cleaning robot 100. Therefore, the surface where the wiper separation position 217 is located is an inclined surface, which facilitates the movement of the cleaning robot 100 from the working surface to the wiper separation position 217.
  • the wiper separation position 217 and the wiper installation position 215 are at the same position, that is, the cleaning robot 100 can complete the wiper separation and installation at the same position after moving to the wiper installation position 215/wiper separation position 217 .
  • the base station 200 includes an interface 201 for installing a hanger of a handheld vacuum cleaner, and the handheld vacuum cleaner is integrated into the base station 200 through the interface 201.
  • the setting of the interface 201 can expand the storage space from the height direction and improve the space utilization rate.
  • the moving direction of the cleaning robot 100 is the length direction
  • the direction perpendicular to the work surface is the height direction
  • the direction perpendicular to the length and height direction is the width direction.
  • the width of the wiper board 122 is smaller than the width of the wiper, so that both sides in the width direction of the wiper can be fixed to the wiper board 122, thereby realizing the installation of the wiper.
  • the width of the cleaning robot 100 is smaller than the width of the wiper, and the compactness of the cleaning robot 100 is improved.
  • the width of the storage module 211 is greater than the width of the wiper, so as to ensure that the wiper can be stored in the storage module 211 evenly. That is, the width of the base station 200 is greater than the width of the wiper. In one embodiment, the width of the cleaning robot 100 is smaller than the width of the base station 200.
  • FIGS. 37A to 46L they are the drawings related to the second embodiment of the present invention. Under the guidance of the technical essence of the second embodiment, three different technical solutions are derived, namely the first solution shown in FIGS. 37A to 37L and the second solution shown in FIGS. 44A to 44I. Scheme and the third scheme shown in Figure 46A to Figure 46L.
  • the second embodiment specifically provides a cleaning module 120 to be assembled or carried by the cleaning robot 100, an operating module 400 that is used in conjunction with the cleaning module 120 to replace a wiper for the cleaning module 120, and includes or configures the operating module 400 A base station 200, and a cleaning system 300 that uses or configures the base station 200.
  • the cleaning robot 100 may be exactly the same as the cleaning robot in the first embodiment above, and will not be repeated here.
  • the bottom of the main body 101 of the cleaning robot 100 may be provided with a connecting mechanism (not shown) between the walking wheel 110 and the auxiliary wheel 102 for connecting the cleaning module 120.
  • the main body 101 may also be provided with a lifting mechanism that drives the connection mechanism to move up and down to drive the cleaning module 120 to rise or fall.
  • the lifting mechanism may adopt a known cam structure.
  • the top of the main body 101 may be provided with a detection element connected to the control module, such as a laser scanning module, for detecting whether there is an obstacle in front of the walking direction of the cleaning robot 100.
  • the control module controls the lifting mechanism to lift the cleaning module 120, and the auxiliary wheel 102 is lowered. At this time, the cleaning robot 100 is in the obstacle crossing mode. After the cleaning robot 100 crosses the obstacle, the control module controls the lifting mechanism to lower the cleaning module 120, and the auxiliary wheel 102 is retracted. At this time, the cleaning robot 100 is in the working mode and can perform cleaning operations.
  • the connection mechanism is detachably connected to the cleaning module 120.
  • the control module may control the cleaning robot 100 to move to the base station 200, and then the cleaning robot 100 will unload the cleaning module 120 and release it to the base station 200.
  • the base station 200 replaces the wiper of the cleaning module 120 removed by the cleaning robot 100, specifically including: removing the dirty wiper originally carried on the cleaning module 120, and replacing the cleaning module 120 with a new or clean wiper .
  • the cleaning module 120 may include a wiper plate 1201 and a loading part 1202 rotatably connected to the wiper plate 1201, and the wiper can be clamped between the wiper plate 1201 and the loading part. Between 1202.
  • the wiping plate 1201 is generally plate-shaped, including but not limited to the rectangular plate shape as shown in FIG. 39A and FIG. 39B.
  • the lower surface of the wiper plate 1201 may be a smooth transition arc shape or a flat shape.
  • the wiping plate 1201 has a first clamping surface 1211
  • the loading portion 1202 has a second clamping surface 1212 opposite to the first clamping surface 1211.
  • the first clamping surface 1211 is a partial area of the upper surface of the wiping plate 1201, which is close to the edge of the upper surface of the wiping plate 1201 and extends along the long side direction of the wiping plate 1201, and may be substantially a long strip area. shape.
  • the second clamping surface 1212 is the lower surface of the loading portion 1202, and is preferably the same or matching the shape of the first clamping surface 1211, and is elongated.
  • the loading part 1202 may include a clamping body 1213 and a pivoting portion 1215 connected with the clamping body 1213.
  • the clamping body 1213 may be substantially in the shape of a long rod, and the lower surface thereof forms a second clamping surface 1212.
  • the pivoting portion 1215 is rotationally connected to the wiping plate 1201, that is, the loading portion 1202 is rotationally connected to the wiping plate 1201 through the pivoting portion 1215.
  • the number of the pivoting portion 1215 connected to one clamping body 1213 is preferably more than one, for example, it may be two or more.
  • Two or more pivoting parts 1215 are located on the same side along the axial direction of the clamping body 1213, and all the pivoting parts 1215 are substantially perpendicular to the clamping body 1213.
  • there are two pivoting portions 1215 which are respectively provided at both ends of the clamping body 1213.
  • the pivoting portion 1215 may be formed by bending both ends of the clamping body 1213 in the same direction (the bending angle is approximately 90°).
  • the pivoting portion 1215 and the clamping body 1213 are integrally constructed, but in practice it is not limited to this.
  • the loading part 1202 Since the loading part 1202 is rotatably connected with the wiping plate 1201, the loading part 1202 has a clamped state capable of clamping the wiper and an open state of releasing the clamp by releasing the wiper.
  • the first clamping surface 1211 and the second clamping surface 1212 are attached, so that the wiper can be clamped between the two. At this time, the wiper can wrap or cover the lower surface of the wiper board 1201, and the end is clamped between the two adjacent clamping surfaces.
  • FIG. 39B when the loading portion 1202 is in an open state, the first clamping surface 1211 is separated from the second clamping surface 1212, and the original wiper is released.
  • the cleaning module 120 may also include a clamping maintenance component, A clamping force for maintaining the clamping state or switching to the clamping state is applied to the loading section 1202. The existence of this clamping force makes the loading part 1202 always have a tendency to be in a clamped state, or always have a tendency to switch movement toward the clamped state. Therefore, without the external force opposite to the clamping force, the loading portion 1202 is normally in a clamping state.
  • the clamping force can be applied by elastic force exerted by an elastic member.
  • the clamping maintenance member may include an elastic member provided between the wiping plate 1201 and the loading portion 1202.
  • the clamping force is the elastic force generated by the elastic member.
  • the pivoting portion 1215 is connected to the wiper plate 1201 through a pin shaft
  • the elastic member may be a torsion spring sleeved outside the pin shaft, and both ends of the torsion spring abut against each other.
  • the wiping plate 1201 and the loading portion 1202 are applied to the loading portion 1202 with an elastic force that always rotates toward the first clamping surface 1211 of the wiping plate 1201.
  • the torsion spring applies an elastic force to the loading portion 1202 to rotate downward or maintain clamping.
  • the elastic member may be a tension spring
  • two ends of the tension spring are respectively connected to the first clamping surface 1211 and the second clamping surface 1212, and the tension spring is always in a stretched state. Therefore, the tension spring can always apply elastic tension to the loading portion 1202.
  • the tension spring can be arranged at a position close to the end of the clamping body 1213.
  • the elastic member may be an elastic piece, the elastic piece is fixed on the wiper board 1201, and the end of the pivoting portion 1215 abuts against the elastic piece.
  • the wiping plate 1201 is provided with an escape groove 1203 corresponding to the pivoting portion 1215, and the rotational connection point between the pivoting portion 1215 and the wiping plate 1201 is located between the two ends of the pivoting portion 1215.
  • the pivotal connection point between the pivoting portion 1215 and the wiping plate 1201 is approximately located in the middle of the pivoting portion 1215.
  • the end of the clamping body 1213 and the pivoting portion 1215 facing away from the clamping body 1213 can form a lever structure, and the fulcrum of the lever structure is the pivoting portion 1215 and the wiper board 1201. Rotate the connection point.
  • the elastic piece is arranged in the avoiding groove 1203, and the lower surface of the trigger end 1214 of the pivoting portion 1215 abuts against the elastic piece, so that the elastic piece always exerts an upward elastic force on the trigger end 1214.
  • the clamping body 1213 always has a tendency to rotate downward or maintain the clamping body 101.
  • the application of the clamping force is not limited to the elastic force of the above embodiment.
  • the clamping force can also be applied by magnetic field force.
  • the clamping maintaining member may include a maintaining element (not shown) provided on the first clamping surface 1211 and a matching element (not shown) provided on the second clamping surface 1212 and corresponding to the maintaining element.
  • one of the sustaining element and the matching element is a magnetic element, and the other is a magnetizable element or a magnetic element.
  • the clamping force is the magnetic attraction force generated by the sustaining element to the matching element.
  • the application of the clamping force is realized by the magnetic field force, without the use of tangible physical connection members, so that the structure can be simplified.
  • the magnetic element can be a magnetic element that can generate a magnetic field, for example, it can be a magnet with its own magnetism (such as a permanent magnet or a hard magnet), or it can be an electromagnetic element (such as an electromagnetic iron).
  • the magnetizable element may be made of a magnetizable material such as iron, cobalt, nickel, etc., which can be attracted by magnetic force.
  • One of the sustaining element and the matching element is a magnetic element and the other is a magnetizable element or the magnetic element includes: one of the sustaining element and the matching element is a magnetic element, and the other is a magnetizable element.
  • both the sustaining element and the matching element are magnetic elements.
  • the entire loading portion 1202 or the clamping body 1213 is made of a magnetizable material.
  • the loading portion 1202 itself or the clamping body 1213 constitute a matching element. In this way, it is possible to avoid an increase in weight caused by additional matching elements provided on the loading portion 1202.
  • the maintaining elements may be magnets, and the number is multiple, and they are evenly arranged along the length direction of the first clamping surface 1211. Therefore, the holding element can uniformly magnetically attract the clamping body 1213 along the length direction, and the clamping effect of the loading portion 1202 is better.
  • the specific arrangement may be that the first clamping surface 1211 is recessed inwardly to form a plurality of accommodating grooves, and the maintaining elements are respectively arranged in the corresponding accommodating grooves.
  • the maintaining element is preferably not higher than the first clamping surface 1211 after being placed in the accommodating groove. In this way, the second clamping surface 1212 can better fit the first clamping surface 1211 to avoid a gap between the two clamping surfaces. In this way, the clamping force on the wiper is improved and the clamping effect is ensured.
  • the clamping force is applied by a magnetic field. It should be noted that the above two embodiments for realizing the clamping force can be configured in the cleaning module 120 at the same time, or any one of them can be configured. That is, the clamping force can be any one of the elastic force generated by the elastic member or the magnetic attraction force generated by the maintaining element to the matching element, or it can be a superposition of the above two forces.
  • the number of loading portions 1202 can be two, and the two loading portions 1202 are respectively provided on opposite sides of the wiping plate 1201 (as shown in Figure 39A and Figure 39B) Left and right sides). In this way, both ends of the wiper can be clamped between the first clamping surface 1211 and the second clamping surface 1212 respectively, and the clamping strength of the wiper is relatively high.
  • the cleaning module 120 as a whole assumes a planar state with a flat upper surface (as shown in FIG. 39A).
  • the outer ends of the two loading portions 1202 are respectively folded or raised upwards, so that the cleaning module 120 as a whole presents a concave state on the upper surface (as shown in FIG. 39B) .
  • the clamping strength of the wiper can be greatly improved, and the cleaning robot 100 carrying or assembling the cleaning module 120 can be avoided to the greatest extent from wiping during the cleaning operation. A situation in which the piece falls off the cleaning module 120 occurs.
  • the loading portion 1202 Since the clamping force applied by the clamping maintainer to the loading portion 1202 always exists, the loading portion 1202 is generally in a clamping state without external force. Therefore, in order to switch the loading portion 1202 from the clamped state to the open state, it is necessary to overcome the clamping force by an external force.
  • the trigger end 1214 of the pivoting portion 1215 facing away from the clamping body 1213 may be configured to receive an external operating force. When the operating force is greater than the preset threshold, the loading portion 1202 can rotate around the rotational connection point between the loading portion 1202 and the wiper board 1201, and switch from the clamped state to the open state.
  • the preset threshold is set according to the size of the force arm.
  • the wiping plate 1201 is provided with an escape groove 1203 corresponding to the pivoting portion 1215.
  • the trigger end 1214 when the clamping member is in a clamped state, the trigger end 1214 is at least partially located outside the avoiding groove 1203 to facilitate the cooperation of external components (specifically, the top protrusion 404 mentioned below) and the trigger end 1214.
  • the loading portion 1202 When the external operating force exceeds the preset threshold, the loading portion 1202 is opened, and the trigger end 1214 rotates downward to enter the avoiding groove 1203. In this way, the wiping plate 1201 is prevented from blocking or interfering with the trigger end 1214, and the loading part 1202 can be smoothly rotated and opened.
  • the pivoting portion 1215 can be at least partially contained therein when the loading portion 1202 is in a clamped state, so as to make the upper surface of the cleaning module 120 as flat as possible to facilitate the cleaning of the module 120 and Installation of cleaning robot 100.
  • the device 400 for replacing the wiper for the cleaning module 120 provided by the embodiment of the present invention may include: a support frame 401 for detachably attaching to the wipe plate 1201 of the cleaning module 120, A first moving mechanism 402 provided on the support frame 401 and a power mechanism 410 that drives the first moving mechanism 402 to move inward or outward along the first direction L1 on the support frame 401.
  • the loading portion 1202 When the wiping plate 1201 of the cleaning module 120 is attached to the support frame 401, the loading portion 1202 is in an open state, and the first moving mechanism 402 can move inward in the first direction L1 under the driving of the power mechanism 410 to move the wiper Push to the first clamping surface 1211 of the wiping plate 1201.
  • the loading part 1202 is switched to the clamping state.
  • the support frame 401 may be substantially in a plate shape similar to the wiping plate 1201 of the cleaning module 120, and also includes but is not limited to a rectangular plate shape as shown in FIG. 40.
  • the first moving mechanism 402 is provided on the supporting frame 401, and can be moved inward or outward along the first direction L1 on the supporting frame 401 under the driving of the power mechanism 410.
  • the first direction L1 is the arrow direction shown by L1 in FIG. 40, or the horizontal left and right directions shown in FIGS. 41A, 41C, 42A, 42C, 43A, and 43C.
  • “Moving inward” means that the first moving mechanism 402 moves toward the inside or center of the support frame 401
  • “moving outward” means that the first moving mechanism 402 moves away from the inside or center of the supporting frame 401.
  • the above explanation is also applicable to the second moving mechanism 403 below.
  • the first moving mechanism 402 can push a new or clean wiper to the first clamping surface 1211 of the wiper board 1201 when it is driven to move inward, so the number of the wiper should match or be equal to the number of the loading part 1202.
  • the number of the first moving mechanisms 402 is also preferably two, and the two first moving mechanisms 402 are provided at two opposite sides of the supporting frame 401 along the first direction L1. The sides are specifically the left and right sides as shown in FIGS. 40, 41A, 41C, 42A, 42C, 43A, and 43C.
  • the two first moving mechanisms 402 are preferably arranged symmetrically.
  • the first moving mechanism 402 may include a translation member 4021 and a rake member 4022 rotatably connected with the translation member 4021.
  • the power mechanism 410 can drive the translation member 4021 to move in the first direction L1, and the translation member 4021 in turn drives the rake member 4022 to move.
  • the translation member 4021 and the rake member 4022 may be substantially in the shape of a long rod, and they are arranged substantially in parallel.
  • the two ends of the rake member 4022 are provided with connecting ears extending to the translation member 4021, and the rake member 4022 is connected to each other through two connecting ears.
  • the two ends of the translation member 4021 are rotationally connected.
  • the outer end of the rake member 4022 is provided with a hook-shaped structure that is bent inward, so as to better contact the wiper and push the wiper to the wiper board 1201.
  • the way in which the first moving mechanism 402 is driven and moved may be directly driven by the power mechanism 410, or may be indirect or passively driven by linkage with the second moving mechanism 403 below.
  • the linkage with the second moving mechanism 403 to achieve indirect or passive driving will be introduced below, and the method of being directly driven by the power mechanism is introduced here.
  • the power mechanism 410 can directly drive the one first moving mechanism 402 to move inward or outward.
  • the power mechanism 410 may be an air cylinder, a hydraulic cylinder, etc., or the power mechanism 410 may also adopt a manner in which a motor-driven gear meshes with a rack provided on the first moving mechanism 402.
  • the two first moving mechanisms 402 need to move outward or inward at the same time. Therefore, the two power mechanisms can drive the two first moving mechanisms 402 outward or simultaneously. Moving inward at the same time, the specific implementation can refer to the above-mentioned embodiment. Alternatively, a set of power mechanisms can also be used to realize that the two first moving mechanisms 402 need to move outward or inward simultaneously.
  • the two first moving mechanisms 402 are respectively provided with racks, the two racks mesh with the same gear, and the two racks are located on opposite sides of the gear.
  • the loading portion 1202 is switched from the clamped state to the open state, as shown in FIG. 43C, the supporting frame 401 may be provided with a top protrusion 404, The top protrusion 404 may be formed by the bottom of the support frame 401 bulging downward.
  • the top protrusion 404 can be pressed against the trigger end 1214 of the pivoting part 1215.
  • the loading part 1202 is opened, and the dirty wiper is released.
  • the cleaning module 120 can also be attached to the support frame 401 by means of magnetic field force.
  • the wiping plate 1201 of the cleaning module 120 may be provided with a first attachment element (not shown), and the support frame 401 may be provided with a second attachment element (not shown) corresponding to the first attachment element.
  • the first attachment element is provided on the upper surface of the wiping plate 1201 and the second attachment element is provided on the lower surface of the support frame 401.
  • One of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetizable element or a magnetic element. Among them, the magnetizable element and the magnetic element can be explained with reference to the above explanation, and will not be repeated here.
  • the first attachment element may generate a magnetic attraction force to the second attachment element so that the cleaning module 120 maintains its attachment to the support frame 401.
  • the cleaning module 120 After the cleaning module 120 completes the replacement of the wiper, the cleaning module 120 needs to be separated from the support frame 401.
  • the support frame 401 is rotatably provided with a separating member 405, and the separating member 405 has a storage state in which it is housed in the support frame 401 and an outgoing state in which its outer end extends to the outside of the support frame 401.
  • the separating piece 405 When the separating piece 405 is in the storage state, the cleaning module 120 is attached to the supporting frame 401; when the separating piece 405 is switched to the disbursed state, the separating piece 405 touches the wiping plate 1201 of the cleaning module 120 to separate it from the supporting frame 401.
  • a through hole 406 is provided near the end of the support frame 401, and the upper end of the separating member 405 can be rotatably connected to the inner wall of the through hole 406 by a pin.
  • the lower end surface of the separating member 405 can be in a smooth transitional arc shape, and when the separating member 405 is gradually switched from the stored state to the disbursed state, the distance that the lower end surface of the separating member 405 protrudes from the supporting frame 401 gradually increases, so that the cleaning module The force applied by the wiper board 1201 of 120 gradually increases, and finally pushes the wiper board 1201 apart.
  • a resetting member may be provided between the separating member 405 and the supporting frame 401, and the resetting member applies a resetting force to the separating member 405 to maintain or switch to the stored state.
  • the restoring member can be a torsion spring, which is sleeved on the pin, and applies force to the separating member 405 to store it inward, so that the separating member 405 is stored in the support frame without external force.
  • a second moving mechanism 403 is provided on the support frame 401.
  • the first moving mechanism 402 moves inward or outward along the first direction L1
  • the second moving mechanism 403 is correspondingly moved along the first direction.
  • the two directions L2 move outward or inward, and the second direction L2 is substantially perpendicular to the first direction L1.
  • the second moving mechanism 403 correspondingly moves outward in the second direction L2.
  • the second direction L2 is the arrow direction shown by L2 in FIG. 40, or the vertical up and down direction shown in FIGS. 41A, 41B, 42A, 42B, 43A, and 43B.
  • the separating member 405 is located outside the second moving mechanism 403 in the second direction L2. As shown in FIGS. 42B and 43B, when the second moving mechanism 403 moves outward in the second direction L2, the second moving mechanism 403 pushes the separating member 405 to switch from the storage state to the disbursement state. Specifically, when the second moving mechanism 403 moves outwards, it will gradually approach the separating member 405 and eventually come into contact with the separating member 405. When the second moving mechanism 403 continues to move outward, it will push the separating member 405 to rotate so that its lower end gradually protrudes from the supporting frame 401.
  • the protruding lower end of the separating member 405 will contact the wiper plate 1201 of the cleaning module 120, and as the protruding length of the lower end of the separating member 405 increases, the force of the separating member 405 against the wiper plate 1201 gradually increases, and finally overcomes The magnetic attraction between the first attachment element and the second attachment element separates the wiper board 1201 from the support frame 401.
  • attachment and detachment of the wiper board 1201 and the support frame 401 is not limited to the above-mentioned embodiment.
  • one of the first attachment element and the second attachment element is an electromagnetic element, and the other is a magnetic element or a magnetizable element.
  • the first attachment element is an electromagnetic element
  • the second attachment element is a magnetic element or a magnetizable element. Or vice versa.
  • the electromagnetic element When the electromagnetic element is energized, a magnetic field can be generated to adsorb the second attachment element, so that the wiper board 1201 is attached to the support frame 401, and then the wiper can be replaced.
  • the power supply of the electromagnetic element is disconnected, the magnetic field disappears, and the wiper board 1201 falls under the action of gravity to achieve natural separation from the support frame 401.
  • the second moving mechanism 403 is composed of a plate-like structure.
  • the two first moving mechanisms 402 are preferably arranged symmetrically.
  • the first moving mechanism 402 is provided with a first profiling portion 4023
  • the second moving mechanism 403 is provided with a Two profiling portions 4032
  • the second profiling portion 4032 is matched with the first profiling portion 4023.
  • the cooperation of the first profiling portion 4023 and the second profiling portion 4032 is used to transmit driving power from one of the moving mechanisms to the other.
  • the other moving mechanism moves in the corresponding direction under the cooperation of the first profiling portion 4023 and the second profiling portion 4032. Move outward or inward.
  • one of the first profiled portion 4023 and the second profiled portion 4032 is a sliding groove, and the other is a protrusion embedded in the sliding groove.
  • the first profiled portion 4023 is a protrusion
  • the second profiled portion 4032 is a sliding groove.
  • the specific arrangement is as follows: the first moving mechanism 402 is arranged between the supporting frame 401 and the second moving mechanism 403, that is, the first moving mechanism 402 is located on the lower layer, and the second moving mechanism 403 is located on the upper layer.
  • the translation member 4021 of the first moving mechanism 402 is provided with two supporting arms 4024, and each supporting arm 4024 is provided with a protrusion.
  • the second moving mechanism 403 is provided with two sliding grooves.
  • the chute is arranged in sections and includes two sections: an inclined section and a straight section, and the straight section is connected to the inner end of the inclined section.
  • the inclined section is inclined outward along the second direction L2, and the straight section is parallel to the second direction L2.
  • the power mechanism 410 may include a gear 407 driven to rotate by a motor, and a rack 408 meshed with the gear 407, and the rack 408 is provided on the first moving mechanism 402 or the second moving mechanism 403.
  • the number of the first moving mechanism 402 and the second moving mechanism 403 are both two
  • one power mechanism 410 is adopted to make the two moving mechanisms move inward or outward at the same time
  • the number of racks 408 is two. They are respectively provided on two first moving mechanisms 402 or two second moving mechanisms 403.
  • two racks 408 are located on both sides of the gear 407.
  • the power mechanism directly drives the first moving mechanism 402 to move in the first direction L1, and the movement of the first moving mechanism 402 drives the second moving mechanism 403 along the way through the cooperation of the first profiling portion 4023 and the second profiling portion 4032. Move in the second direction L2. That is, the first moving mechanism 402 is directly driven and moved by the power mechanism 410, and the second moving mechanism 403 is indirectly driven and moved by the power mechanism 410 through the cooperation of the first profile part 4023 and the second profile part 4032.
  • the power mechanism 410 directly drives the second moving mechanism 403 to move in the second direction L2, and the movement of the second moving mechanism 403 drives the first moving mechanism 402 through the cooperation of the first profiling portion 4023 and the second profiling portion 4032 Move in the first direction L1. That is, the second moving mechanism 403 is directly driven and moved by the power mechanism 410, and the first moving mechanism 402 is indirectly driven and moved by the power mechanism 410 through the cooperation of the first profile part 4023 and the second profile part 4032.
  • Fig. 40, Fig. 41A, Fig. 42A and Fig. 43A is the above-mentioned (second) way.
  • the following is a description of how the power mechanism 410 drives two moving mechanisms simultaneously with reference to Fig. 40, Fig. 41A, Fig. 42A and Fig. 43A process.
  • the first moving mechanism 402 is arranged on the supporting frame 401
  • the second moving mechanism 403 is arranged on the first moving mechanism 402, that is, the first moving mechanism 402 and the second moving mechanism 403 are arranged from bottom to top. They are arranged on the supporting frame 401 in turn.
  • the number of the first moving mechanism 402 and the second moving mechanism 403 are both two, the first profiling portion 4023 is convex, and the second profiling portion 4032 is a sliding groove.
  • Each second moving mechanism 403 is provided with a rack 408, the gear 407 meshes with two racks 408, and the two racks 408 are arranged on opposite sides of the gear 407.
  • the two oppositely arranged racks 408 are driven to drive the second moving mechanism 403 to move toward (inward) or away from each other (outward).
  • the first moving mechanism 402 is correspondingly driven to move back (outward) or opposite (inward).
  • the setting positions of the first moving mechanism 402 and the second moving mechanism 403 can be reversed, and the first profiling portion 4023 and the second profiling
  • the shape portion 4032 may be the same as the above-mentioned embodiment, or it may be opposite, and the rack 408 may be provided on the first moving mechanism 402.
  • the gear 407 is driven to rotate by the motor
  • two oppositely arranged racks 408 are driven to drive the first moving mechanism 402 to move toward (inward) or opposite (outward).
  • the second moving mechanism 403 is correspondingly driven to move back (outward) or opposite (inward).
  • a top cover 409 may be further provided on the support frame 401, and the top cover 409 covers two moving mechanisms.
  • the top cover 409 is provided with an elongated hole, and the rack 408 is accommodated in the elongated hole for guiding and centering the movement of the rack 408.
  • a motor for driving the gear 407 may be provided on the top cover 409.
  • the wiper plate 1201 of the cleaning module 120 is attached to the bottom of the support frame 401 by the magnetic attraction between the first attachment element and the second attachment element.
  • the top protrusion 404 provided at the bottom of the supporting frame 401 touches the trigger end 1214 of the pivoting portion 1215, the pivoting portion 1215 rotates upward, and the loading portion 1202 is opened.
  • the gear 407 is driven to rotate clockwise, as shown in FIG. 41A, the rack 408 on the left is driven to move upward, and the rack 408 on the right is driven to move downward.
  • the lower second moving mechanism 403 moves upward, and the upper second moving mechanism 403 moves downward. That is, the two second moving mechanisms 403 move inward.
  • the first moving mechanism 402 on the left moves to the left
  • the first moving mechanism 402 on the right moves to the right. That is, the two second moving mechanisms 403 move outward.
  • the gear 407 is driven to reverse, and rotates counterclockwise as shown in FIG. 42A, the rack 408 on the left is driven to move downward, and the rack 408 on the right is driven to move upward.
  • the lower second moving mechanism 403 moves downward, and the upper second moving mechanism 403 moves upward. That is, the two second moving mechanisms 403 move outward.
  • the first moving mechanism 402 on the left moves to the right, and the first moving mechanism 402 on the right moves to sitting. That is, the two second moving mechanisms 403 move inward.
  • both ends of the wiper 600 are pushed to the first clamping surface 1211 of the wiper board 1201, and the lower end of the second moving mechanism 403 presses the end of the wiper 600 on the first clamping surface 1211 of the wiper board 1201 . Until the protrusion moves to the junction of the inclined section and the straight section of the chute.
  • the gear 407 is driven by the motor to continue to reverse.
  • the protrusion enters the straight section of the chute and touches the bottom wall of the straight section.
  • the second moving mechanism 403 continues to move outward, and the first moving mechanism 402 does not continue to move inward.
  • the second moving mechanism 403 pushes against the separating member 405, and the separating member 405 protrudes from the supporting frame 401 and pushes the wiper plate 1201 away.
  • the cleaning module 120 is separated from the supporting frame 401 and falls under the action of its own gravity. Under the action of the maintaining element and the matching element, the loading part 1202 of the cleaning module 120 rotates downwards, switches to the clamping state, and clamps the wiper 600.
  • the operation module 400 of the embodiment of the present invention is provided on a base station 200, and the base station 200 is used for the cleaning robot 100 to stop and is used to replace the cleaning module 120 removed by the cleaning robot 100 for cleaning.
  • the base station 200 of the embodiment of the present invention may include a housing 202, and the housing 202 may be provided with an entrance (not shown) for the cleaning robot 100 to enter and exit.
  • the bottom of the housing 202 is provided with a wiper operating position 2023, and the wiper tray 203 is located on the wiper operating position 2023.
  • the cleaning robot 100 enters the base station 200 through the entrance and exit, and unloads the dirty cleaning module 120 on the wiper tray 203 located on the wiper operating position 2023. After the operation module 400 completes the replacement of the wiper, and when the new cleaning module 120 comes to the wiper operating position 2023, the cleaning robot 100 installs it.
  • the operating module 400 is arranged in the housing 202 and is located at a predetermined height in the housing 202.
  • the housing 202 is also provided with a wiper tray 203 for carrying the cleaning module 120 and located below the operating module 400, a supply module 204 for providing wipes to the cleaning module 120, and a wiper tray 203 for providing wipes to the cleaning module 120. The pieces are pulled to the pulling mechanism 205 at the cleaning module 120.
  • the supply module 204 is roughly located above or obliquely above the operation module 400, and it may include a reel and a wiper wound on the reel.
  • the reel is rotatably arranged on the inner wall of the housing 202.
  • the supply module 204 may further include at least a pair of push rollers 2041.
  • the pair of push rollers 2041 are arranged oppositely with a gap for the wiper to pass through. The two are driven by a motor to rotate toward each other, so as to move forward or backward. Push the wiper.
  • “forward” refers to the direction away from the reel
  • backward refers to the direction toward the reel.
  • the traction mechanism 205 may include a transmission member 2051 and a friction member 2052 provided on the transmission member 2051.
  • the transmission member 2051 may be a timing belt that is approximately horizontally wound, and is approximately at the same height as the operation module 400.
  • the housing 202 is provided with a transmission wheel at positions close to the left and right ends.
  • the timing belt is wound around the two transmission wheels.
  • One of the transmission wheels is driven by a motor to actively rotate, thereby driving the timing belt to move.
  • the timing belt may generally include two parallel sections, and the friction member 2052 is arranged on the lower section of the timing belt.
  • the friction member 2052 may specifically be a structure with a brush, including a block body provided on the timing belt and a brush set on the upper and lower surfaces of the block body. In this way, the contact friction with the wiper can be increased, and the wiper can be driven to move accordingly.
  • the transmission member 2051 can drive the friction member 2052 to reciprocate between the first position and the second position.
  • the first position and the second position are the two extreme positions of the movement of the friction member 2052, and specifically may be positions close to the left and right transfer wheels respectively.
  • the first position may be the position of the friction member 2052 as shown in FIG. 37A
  • the first position may be the position of the friction member 2052 as shown in FIG. 37G.
  • the operating module 400 is located between the first position and the second position.
  • the projection of the operating module 400 on the transfer member 2051 may be located between the first position and the second position.
  • the friction member 2052 can pass through the operating module 400 when moving between the first position and the second position, so that the dirty wiper removed by the cleaning module 120 adsorbed on the operating module 400 can be removed, and the supply module 204 can be removed.
  • the provided new or clean wiper is pulled to the cleaning module 120 for installation of the cleaning module 120.
  • the friction member 2052 can interact with the wiper tray 203.
  • the dirty wiper on the upper part contacts and pulls the dirty wiper to the second position.
  • the wiper tray 203 at this time is located below the operating module 400 and slightly lower than the friction member 2052.
  • the friction member 2052 when the transmission member 2051 drives the friction member 2052 to move from the second position to the first position, that is, moves from right to left as shown in FIGS. 37A to 37L, the friction member 2052 can interact with the new supply module 204 The clean or clean wiper contacts and pulls the wiper to the first position. As shown in FIG. 37H, during the movement of the friction member 2052 to the first position, the brush on the upper surface of the friction member 2052 can contact the wiper provided by the supply module 204, thereby pulling the wiper to move to the first position.
  • a recovery box 206 for collecting dirty wipes is provided in the housing 202, and the recovery box 206 is located at the second position. Specifically, as shown in FIGS. 37A to 37L, the recovery box 206 is roughly located in the housing 202 and corresponds to the transfer wheel on the right.
  • the recovery box 206 is approximately in the shape of a shell with an open upper end, and includes a box body 2061 and a support base 2062 provided at the bottom of the box body 2061.
  • the recovery box 206 can be fixedly arranged in the housing 202 in the vertical direction, that is, the position of the recovery box 206 in the housing 202 at least in the vertical direction is fixed.
  • the housing 202 needs to be used for the cleaning robot 100 to enter and exit. Therefore, in order not to block or interfere with the entry and exit of the cleaning robot 100 into and out of the housing 202, the height of the recovery box 206 fixed in the housing 202 in the vertical direction should be at least not lower than the height of the cleaning robot 100, which will cause the housing The height of 202 increases, so that the base station 200 has a larger volume and poor portability.
  • the recovery box 206 can be configured to be vertically liftable in the housing 202, so that when the cleaning robot 100 enters the housing 202, its position is raised to Avoid blocking or interfering with the cleaning robot 100; and when the cleaning robot 100 is moved out of the housing 202, its position can be lowered. In this way, the height space of the housing 202 can be fully utilized.
  • the specific implementation plan will be described in detail below.
  • the housing 202 may be provided with a lifting mechanism 207 connected to the wiper tray 203 and used to drive the wiper tray 203 to move toward or away from the operating module 400, that is, to drive the wiper tray 203 to move up and down.
  • the specific structure of the lifting mechanism 207 may be similar to that of the traction mechanism 205, including two upper and lower transfer wheels and a timing belt wound around the two transfer wheels.
  • the wiper tray 203 can be connected to the timing belt.
  • the recovery box 206 can be driven by another lifting mechanism; of course, it can also be driven by the lifting mechanism 207. That is, one lifting mechanism 207 is used to realize the lifting movement of the wiper tray 203 and the recovery box 206.
  • the lifting mechanism 207 includes at least four transmission wheels and defines at least four corner points, so that the lifting mechanism 207 at least includes a first lifting section 2071 and a second lifting section 2072, and the two lifting sections are respectively connected to two horizontal sections.
  • the two lifting sections are arranged roughly in parallel, so when the timing belt rotates, the movements of the two lifting sections are exactly opposite.
  • the wiper tray 203 and the recovery box 206 are connected to the first lifting section 2071 and the second lifting section 2072 respectively. Therefore, when the lifting mechanism 207 operates, the lifting conditions of the wiper tray 203 and the recovery box 206 are opposite. That is, when the first lifting section 2071 moves upward, the second lifting section 2072 moves downward, driving the wiper tray 203 and the recovery box 206 to move upward and downward, respectively. vice versa.
  • the wiper tray 203 is initially located at the bottom of the housing 202.
  • the recovery box 206 is located at the highest point of the housing 202 at this time. In this way, the recovery box 206 does not block the entrance and exit of the housing 202, so that the cleaning robot 100 can smoothly enter the housing 202 and reach the position of the wiper tray 203. Subsequently, the cleaning robot 100 releases the cleaning module 120 on the wiper tray 203 and drives out of the housing 202.
  • the lifting mechanism 207 operates to make the first lifting section 2071 move upward, and correspondingly, the second lifting section 2072 moves downward.
  • the wiper tray 203 is driven to carry the cleaning module 120 to move upwards until the cleaning module 120 is attached to the operating module 400 to perform the wipe replacement operation, and the recovery box 206 moves downwards for collecting dirty wipes.
  • the wiper tray 203 and the recovery box 206 can be raised and lowered at the same time through a lifting mechanism 207, so that the recovery box 206 is located at a lower position when it performs its function of collecting dirty wipes.
  • the cleaning robot 100 needs to enter and exit the housing 202 It is located at a higher position and can take into account the assembly requirements of the cleaning module 120, the operating module 400 and the cleaning robot 100. Therefore, the structure of the base station 200 is relatively compact, the height is not too high, the volume is small, and the portability is better.
  • the lifting mechanism 207 drives the cleaning module 120 upward through the wiper tray 203 until the wiper 1201 of the cleaning module 120 is attached to the support frame 401 of the operating module 400, the top protrusion 404 at the bottom of the support frame 401 touches the pivoting portion 1215 The upper surface of the trigger end 1214 of the upper surface, so that the pivoting portion 1215 rotates, so that the loading portion 1202 of the cleaning module 120 is switched from the clamped state to the open state.
  • the wiper tray 203 is used to carry the cleaning module 120 or for placing wipers.
  • the wiper tray 203 may be in a plate-like structure as a whole, and arranged substantially horizontally.
  • the wiper tray 203 is designed as a foldable structure, and includes a main board 2031 and positioning members 2032 rotatably arranged on opposite sides of the main board 2031.
  • the main body 101 has a flat plate-like structure. Both ends of the main body 101 are provided with lugs 2033 extending vertically upwards.
  • the outer sides of the two lugs 2033 are recessed inwardly to form a connecting groove 2034, and a sliding block 2035 is provided in the connecting groove 2034.
  • the sliding block 2035 is connected with the timing belt of the lifting mechanism 207, thereby realizing the connection between the lifting mechanism 207 and the wiper tray 203.
  • a buffer (such as a spring) is provided between the slider 2035 and the connecting groove 2034 to buffer the vibration of the wiper tray 203 during the lifting process.
  • connection mode of the recovery box 206 and the timing belt of the lifting mechanism 207 can also refer to the above-mentioned structural design, that is, the box body 2061 is connected to the timing belt through another slider 2053, which will not be repeated here.
  • the positioning member 2032 is generally a long strip structure, and its cross-section can be in a "7"-shaped bending shape. It has an outer end located outside the main board 2031 and an inner end located under the main body 101, and the rotational connection point between the positioning member 2032 and the main board 2031 is located Between the inner and outer ends. Similarly, the positioning member 2032 also forms a lever structure, and the fulcrum of the lever structure is the rotational connection point between the positioning member 2032 and the main board 2031.
  • the wiper tray 203 has a flattened state and a folded state.
  • the upper surfaces of the two positioning members 2032 are substantially flush with the upper surface of the main board 2031.
  • the inner end of the positioning member 2032 is in contact with the lower surface of the main board 2031, and the wiper tray 203 has a flat upper surface as a whole (as shown in FIG. 38A).
  • the outer ends of the two positioning members 2032 are folded upward, and the cleaning module 120 as a whole presents a concave state on the upper surface (as shown in FIG. 39B).
  • the inner end of the positioning member 2032 is separated from the lower surface of the main board 2031, and the entire wiper tray 203 presents a concave state on the upper surface (as shown in FIG. 38B).
  • the wiper tray 203 when the cleaning module 120 is not in contact with the operation module 400, the wiper tray 203 is in a flattened state.
  • the wiper tray 203 is switched to the folded state, and the two positioning members 2032 abut the opposite sides of the cleaning module 120, thereby clamping the cleaning module 120 therein and correcting the cleaning module.
  • the position of 120 makes it connect with the support frame 401 in the best form.
  • the lifting mechanism 207 drives the wiper tray 203 to move downward for a period of time, and the released dirty wipers fall on the wiper tray 203. Subsequently, after the traction mechanism 205 pulls the wiper to the target position, the lifting mechanism 207 then drives the wiper tray 203 to move upwards to make the wiper tray 203 contact the cleaning module 120. At this time, the wiper tray 203 switches from the unfolded state to the folded state. . Therefore, the positioning member 2032 of the wiper tray 203 folds the wiper upward, so that the first moving mechanism 402 of the operating module 400 pushes the wiper to the first clamping surface 1211 of the wiper board 1201.
  • the wiper tray 203 When the positioning member 2032 has no external force, the wiper tray 203 is in a flattened state.
  • a reset member may be provided between the positioning member 2032 and the main board 2031.
  • the outer end of the positioning member 2032 has a larger mass or a longer length, so that under the principle of leverage, the inner end of the positioning member 2032 naturally touches the lower surface of the main board 2031, and the wiper tray 203 is positioned Flattened state.
  • the inner end of the positioning member 2032 is provided with a stopper 2036, and the outer end thereof extends to the outside of the main board 2031.
  • the housing 202 is provided with a stop bar 208 that cooperates with the stopper 2036.
  • the cleaning robot 100 carries the cleaning module 120 and is ready to enter the base station 200.
  • the wiper tray 203 is located at the bottom of the base station 200, and the recovery box 206 is suspended at a high place by a timing belt, thereby opening the entrance and exit on the housing 202, so that the cleaning robot 100 can enter the base station 200 smoothly.
  • the cleaning robot 100 drives into the base station 200 and unloads the cleaning module 120 on the wiper tray 203. At this time, the wiper tray 203 is in a flattened state.
  • the cleaning robot 100 drives out of the base station 200.
  • the lifting mechanism 207 operates. Specifically, the timing belt of the lifting mechanism 207 rotates clockwise to drive the wiper tray 203 to move upwards. At the same time, the recovery box 206 moves downwards. The wiper tray 203 carries the cleaning module 120 placed thereon and moves upward together until the cleaning module 120 contacts the support frame 401. The top protrusion 404 at the bottom of the support frame 401 touches the upper surface of the trigger end 1214, opens the wiper plate 1201, and the dirty wiper is released.
  • the stop bar 208 touches the outer end of the stop 2036, the positioning member 2032 rotates, the wiper tray 203 is switched to the folded state, the positioning member 2032 touches both sides of the wiper 1201 of the cleaning module 120 to correct the wiper 1201, and clamp the wiper board 1201.
  • the lifting mechanism 207 runs in the reverse direction. Specifically, the timing belt of the lifting mechanism 207 rotates counterclockwise, the wiper tray 203 moves downward for a certain distance, and the released dirty wipers fall on the wiper tray 203. Under the action of the first attachment element and the second attachment element, the cleaning module 120 is adsorbed under the supporting frame 401, so that the cleaning module 120 continues to be attached to the supporting frame 401.
  • the traction mechanism 205 operates, specifically the timing belt of the traction mechanism 205 rotates counterclockwise, driving the friction member 2052 to move to the right (the second position direction), and the lower surface of the friction member 2052 falls on the wiper tray 203 Contact with the dirty wiper and push the dirty wiper to the right.
  • the timing belt of the traction mechanism 205 continues to rotate counterclockwise, the friction member 2052 continues to drive the dirty wiper to move to the right, and finally the dirty wiper moves away from the wiper tray 203 and falls into the recovery box 206.
  • the pushing roller 2041 of the supply module 204 is driven by a motor to push the new or clean wiper wound on the reel forward for a certain distance. Subsequently, the timing belt of the traction mechanism 205 rotates clockwise, the friction member 2052 is driven to move to the left (the direction of the first position), and the upper surface of the friction member 2052 contacts the new or clean wiper, thereby rubbing the wiper to the left Traction. At the same time, the pushing roller 2041 also runs synchronously, continuously pushing the wiper forward. Until the friction member 2052 reaches the first position, the pushing roller 2041 stops rotating.
  • the push roller 2041 is reversed and drags the wiper back for a certain distance.
  • the detection element 209 for example, a photoelectric sensor to be arranged above the traction mechanism 205 stops after detecting that the wiper moves back a predetermined distance.
  • the timing belt of the lifting mechanism 207 rotates clockwise, and the wiper tray 203 moves upward until the cleaning module 120 is attached to the support frame 401.
  • the stop bar 208 pushes against the outer end of the stopper 2036, so that the wiper tray 203 is switched to the folded state again, the outer end of the positioning member 2032 is folded upward, and the wiper is folded upward. Subsequently, the push roller 2041 continues to reverse to pull the wiper off at the breaking point.
  • the power mechanism 410 of the operation module 400 operates to drive the first moving mechanism 402 to push the wiper to the first clamping surface 1211 of the wiper board 1201.
  • the second moving mechanism 403 pushes the separating member 405 to extend, pushes the wiper plate 1201 apart, the loading part 1202 is switched to the clamping state, and the wiper is clamped on the cleaning module 120.
  • the timing belt of the lifting mechanism 207 rotates counterclockwise, and the wiper tray 203 moves downward.
  • the recovery box 206 rises. Until the wiper tray 203 reaches the bottom of the housing 202, the recovery box 206 rises to the highest point and stops.
  • the cleaning robot 100 drives into the base station 200 again, reinstalls the cleaning module 120 with the wiper replaced on its bottom, and then drives out of the base station 200. Afterwards, the cleaning operation can be carried out.
  • the cleaning robot 100 in order to avoid interference with the wiper tray 203, the cleaning robot 100 needs to enter and exit the base station 200 twice when replacing the wiper, and the wiper replacement efficiency needs to be improved.
  • the second embodiment of the present invention provides the following further improvements.
  • the housing 202 of the base station 200 is provided with a wiping plate operation position.
  • the wiping plate operation position includes a wiping plate separation position 2021 and a wiping plate installation position 2022.
  • the wiping plate separation position 2021 is used for wiping.
  • the plate tray 203 is placed, and the wiping plate installation position 2022 is located between the entrance and exit of the housing 202 and the wiping plate separation position 2021, and is used to place the cleaning module 120 for replacing a new wiper.
  • the base station 200 also includes a translation and transposition mechanism 212 provided in the housing 202.
  • the translational transposition mechanism 212 includes a rotating arm 2121, which is rotatably arranged on the inner wall of the housing 202 facing the entrance and exit.
  • the rotating arm 2121 is roughly rod-shaped, and has a connecting end (the left end shown in FIG. 45) that is rotatably connected to the inner wall of the housing 202 and a free end facing away from the connecting end (the right end as shown in FIG. 45).
  • a first synchronous wheel and a second synchronous wheel (not shown) are respectively rotatably arranged on the connecting end and the free end.
  • a synchronous belt 2122 is wound around the first synchronous wheel and the second synchronous wheel, and a push block is connected to the synchronous belt 2122. 2123.
  • the first synchronous wheel is connected with a motor, and the motor drives the synchronous belt 2122 and its push block 2123 to move by driving the first synchronous wheel to rotate.
  • the rotating arm 2121 is rotatably arranged on the inner wall of the housing 202 through a support 2124, and the transmission shaft 2125 provided on the connecting end passes through the connecting ear of the support 2124 and is connected to the output shaft of the motor.
  • the push block 2123 is made of a magnetizable material such as iron, cobalt, and nickel, and can be attracted by magnetic force.
  • the push block 2123 is provided with a magnetic element 2127 such as a magnet.
  • the rotating arm 2121 is provided with a first magnet 2126 and a second magnet (not shown) near the connecting end and the free end, respectively.
  • the first magnet 2126 or the second magnet can generate a magnetic attraction force on the push block 2123, so that the push block 2123 has a stable connection or The free-end trend.
  • the working principle of this embodiment is: the rotating arm 2121 is initially in a vertical state, the push block 2123 is close to the connecting end, and is magnetically attracted by the first magnet 2126, and the timing belt 2122 is in a locked state. Since the rotation of the rotating arm 2121 facing away from the wiper plate separating position 2021 and the wiper plate mounting position 2022 is restricted by the inner wall of the housing 202, when the motor drives the transmission shaft 2125 to rotate, the rotating arm 2121 can only wipe the plate separating position 2021 and the wiper plate The installation position 2022 rotates in the direction, and finally the rotating arm 2121 is switched from the vertical state to the horizontal state.
  • the output torque of the motor is increased until the force exerted by the motor on the first synchronization wheel overcomes the magnetic attraction of the first magnet 2126 on the push block 2123, the first synchronization wheel is driven to start rotation, and the timing belt 2122 rotates accordingly.
  • the moving direction of the push block 2123 is from the wiper plate separation position 2021 to the wiper plate installation position 2022, so as to push the wiper plate supported by the wiper plate tray 203 on the wiper plate separation position 2021 to the wiper plate installation that has just completed the wiper replacement. Bit 2022.
  • the push block 2123 is magnetically attracted by the second magnet.
  • the motor rotates in the reverse direction, and the rotating arm 2121 rotates to the vertical position.
  • the cleaning robot 100 is ready to enter the base station 200 to replace the wiper.
  • the rotating arm 2121 is in a vertical state
  • the push block 2123 is magnetically attracted by the first magnet 2126
  • the timing belt 2122 is in a locked state.
  • the cleaning robot 100 enters the base station 200 through the entrance and exit, and unloads the cleaning module 120 to the wipe board tray 203 located at the wipe board separation position 2021.
  • the cleaning robot 100 retreats to the wipe board installation position 2022, and installs the cleaning module 120 provided in the previous operation round and replaced with a new wiper.
  • the cleaning robot 100 exits the base station 200.
  • the cleaning module 120 removed from the cleaning robot 100 in this round is replaced in the base station 200, and then the wiper tray 203 will be replaced.
  • the cleaning module 120 of the wiper is lowered to the wiper plate separation position 2021.
  • the motor drives the translation and transposition mechanism 212 to operate, so that the rotating arm 2121 is rotated from the original vertical position to the horizontal position.
  • the motor drives the first synchronizing wheel to overcome the magnetic attraction of the first magnet 2126 on the push block 2123, and drives the push block 2123 to move to the right, thereby replacing the wiper tray 203 with a clean wipe.
  • the cleaning module 120 of the component is pushed to the wiping board installation position 2022.
  • the translational transposition mechanism 120 can push the cleaning module 120 whose wiper replacement is completed by the operation module 400 from the wipe board tray 203 to the wipe board installation position 2022.
  • the cleaning robot 100 replaces the cleaning module 120, it unloads the dirty cleaning module 120 on the wiper tray 203, and then installs the new cleaning module 120 from the wiper mounting position 2022. Therefore, the cleaning module 120 can be replaced only once in and out of the base station 200, and the replacement efficiency is greatly improved.
  • the difference between the base station 200 in the second solution and the base station 200 in the first solution shown in FIGS. 37A to 3737L is only the addition of a translational transposition mechanism 212 and a wiper plate installation position 2022 ( In essence, the base station 200 in the first solution includes the wiper plate separation position 2021), and the other structures are substantially the same, which can be referred to the above description, and will not be repeated here.
  • the base station 200 of the third feasible solution in the second embodiment of the present invention is a process diagram of replacing the wiper for the cleaning robot 100.
  • the base station 200 in this solution is slightly different from the base station 200 in the first solution shown in FIGS. 37A to 3737L and the second solution shown in FIGS. 44A to 44I.
  • the difference is that the base station 200 in this solution is used to replace the wiper device 400 and the recovery box 206 for the cleaning module 120, which are different from the operation module 400 in the above two solutions.
  • the base station 200 in this solution is used to replace the wiper device 400 and the recovery box 206 for the cleaning module 120, which are different from the operation module 400 in the above two solutions.
  • the wiper tray 203 in this solution may be the same as or different from the above solution.
  • the housing 202 can be provided with a barrier 208 correspondingly.
  • the wiper tray 203 may only include a supporting plate, similar to the main board 2031 in the above solution, without the positioning member 2032. At this time, the wiper tray 203 only includes the unfolded state, not the folded state.
  • the wiper tray 203 is provided on the lifting mechanism 207 and is driven by the lifting mechanism 207 to move up and down.
  • the lifting mechanism 207 can also be the same as the above-mentioned first and second solutions, and other alternatives can also be used.
  • the lifting mechanism 207 may include a belt-shaped structure such as a synchronous belt, a transmission belt, etc. vertically arranged in the housing 202.
  • the transmission belt is wound around the two step wheels, and the wiper tray 203 is fixed on the vertical section on either side of the synchronous belt and the transmission belt.
  • the operation module 400 may only include a suction plate 411 and a magnetic element (not shown) provided at the bottom of the suction plate 411, and the suction plate 411 is similar to the support frame 401 in the above solution.
  • a moving mechanism 412 is provided near the upper end of the housing 202.
  • the moving mechanism 412 may also be a belt-like structure including a timing belt, a transmission belt, etc., which surrounds a plurality of pulleys and forms at least a horizontal traction section 4121.
  • the suction plate 411 is fixedly connected to the horizontal traction section 4121 of the moving mechanism 412 through a connecting component, and the suction plate 411 is rotatably connected to the connecting component.
  • the inner wall of the housing 202 of the base station 200 near the upper end is provided with a horizontal first chute 413 and a second chute 414.
  • the size of the first sliding groove 413 is smaller than the size of the second sliding groove 414, and the two sliding grooves are arranged at the same horizontal position.
  • the inner wall of the housing 202 is further provided with a third sliding groove 419, the third sliding groove 419 is in the shape of a mountain peak, and is smoothly connected to the second sliding groove 414.
  • the third chute 419 corresponds to the position of the lifting mechanism 207.
  • the connecting assembly includes a first roller 415 arranged in the first sliding groove 413 and capable of moving in the horizontal direction in the first sliding groove 413, a first connecting member 416 and a second connecting member 417 rotatably connected with the first roller 415.
  • the first connecting piece 416 is fixedly connected to the horizontal traction section 4121 of the moving mechanism 412.
  • One end of the second connecting piece 417 is connected to the suction plate 411, and the other end is rotatably provided with a second roller 418, which can be installed in the second chute. 414 and the third chute 419 slide.
  • One way of rotationally connecting the first connecting member 416, the second connecting member 417 and the first roller 415 may be that the second connecting member 417 is in the shape of a sheet or plate, and the side facing the first sliding groove 413 is provided with , The first roller 415 is rotatably arranged on this. The end may extend to the side of the first roller 415 facing away from the first sliding groove 413.
  • the first connecting member 416 is also in the shape of a sheet or plate, and is fixedly connected to the end.
  • the second connecting member 417 is provided with a circular hole that matches the shape and size of the first roller 415.
  • the first roller 415 is partially embedded in the circular hole and can rotate in it, and the other part is located in the circular hole. Outside the hole, the part exposed outside the circular hole is then embedded in the first sliding groove 413.
  • the center of the first roller 415 may be provided, which extends away from the first sliding groove 413, and the first connecting member 416 may be provided with a shaft hole passing through the shaft hole.
  • the suction plate 411 has a horizontal position and a vertical position. Specifically, when the lifting mechanism 207 transfers the cleaning module 120 upward to the vicinity of the adsorption plate 411, the cleaning module 120 is attracted to the lower end of the adsorption plate 411 under the action of magnetic force. At this time, the second roller 418 is located in the third chute 419, and the suction plate 411 is in a horizontal position as a whole. When the moving mechanism 412 moves, the suction plate 411 connected to the horizontal traction section 4121 of the moving mechanism 412 through the connecting assembly is turned over.
  • the recovery box 206 is located at one end of the horizontal traction section 4121 (the left side as shown in FIGS. 46A to 46L), and the wiper installation position 420 may be provided outside the other end of the horizontal traction section 4121.
  • the recycling box 206 opens toward the horizontal traction section 4121, and the upper and lower ends of the opening are provided with separation modules 422.
  • the separation modules 422 are in a barbed structure for hooking the wiper and removing the wiper from the wiper plate 1201 of the cleaning module 120 under. Therefore, the position set by the separation module 422 corresponds to the wiper separation position 4221.
  • the wiper installation position 420 is approximately in the shape of a groove that opens toward the inside, and the shape of the groove body is adapted to the shape of the bottom of the wiper plate 1201 of the cleaning module 120.
  • the end of the wiper provided by the supply module 204 can hang down to the wiper installation position 420.
  • a feeding module 421 is also provided between the supply module 204 and the wiper installation position 420, which includes at least two conveying wheels, and the two conveying wheels are intermittently approached and distanced to clamp the wiper.
  • one of the transfer wheels is a circular roller, and the other transfer wheel is a cam.
  • the cleaning robot 100 is ready to enter the base station 200 to replace the wiper.
  • the wiper tray 203 is located at the bottom of the housing 202
  • the second roller 418 is located in the third chute 419
  • the suction plate 411 is in a horizontal position.
  • the cleaning robot 100 enters the base station 200 through the entrance and exit, unloads the cleaning module 120 on the wiper tray 203, and retreats for a certain distance.
  • the lifting mechanism 207 drives the wiping plate tray 203 to move upward, and transports the cleaning module 120 carried by it to the suction plate 411.
  • the cleaning module 120 is attracted by the suction plate 411.
  • the lifting mechanism 207 descends, and the wiper tray 203 returns to the bottom of the base station 200.
  • the moving mechanism 412 rotates clockwise, and the horizontal traction section 4121 moves to the left.
  • the second roller 418 enters the sitting half of the second chute 414 from the third chute 419, and the suction plate 411 rotates 90 degrees to the left to switch to the vertical position state. Subsequently, the moving mechanism 412 continues to operate, and the suction plate 411 fixes the cleaning module 120 and continues to move toward the recovery box 206.
  • the suction plate 411 and the cleaning module 120 enter the recovery box 206 through the opening.
  • the moving mechanism 412 rotates counterclockwise in the reverse direction to drive the suction plate 411 and the cleaning module 120 to move back.
  • the cleaning module 120 passes through the separation module 422, the dirty wiper on it is hooked and scraped off, and then falls into the recycling box 206.
  • the moving mechanism 412 continues to rotate in the reverse direction, and the suction plate 411 and the cleaning module 120 continue to move back (rightward).
  • the second roller 418 enters it again, and the suction plate 411 is switched to the horizontal position.
  • the moving mechanism 412 rotates, the second roller 418 moves to the right half of the second sliding groove 414 again.
  • the suction plate 411 rotates 90 degrees to the right and switches to the vertical position state.
  • the moving mechanism 412 continues to drive the suction plate 411 and the cleaning module 120 to move to the right, until the wiping plate 1201 of the cleaning module 120 just sits in the wiper installation position 420. At this time, the two transfer wheels of the feeding module 421 clamp the new wiper provided by the supply module 204. When the wiper board 1201 of the cleaning module 120 sits on the wiper installation position 420, a pulling force is applied to the wiper to break and clamp it.
  • the moving mechanism 412 reversely drives the suction plate 411 and the cleaning module 120 to move to the left, until the second roller 418 enters the third chute 419 again from the second chute 414, and stops, and the suction plate 411 communicates with the cleaning module.
  • the module 120 returns to the horizontal position state.
  • the lifting mechanism 207 drives the wiping plate tray 203 to rise, and the cleaning module 120 is removed from the suction plate 411. Subsequently, the wiper tray 203 is driven to lower the cleaning module 120 to the bottom.
  • the cleaning robot 100 drives into the base station 200 to install the cleaning module 120, and then exits the base station 200 to start working.
  • the manner in which the suction plate 411 and the cleaning module 120 realize detachable magnetism may be that the magnetic element provided on the suction plate 411 may be an electromagnet.
  • the electromagnet When the cleaning module 120 needs to be adsorbed on the adsorption plate 411, the electromagnet is energized to generate a magnetic field.
  • the electromagnet When the cleaning module 120 needs to be removed from the suction plate 411 (step as shown in FIG. 46K), the electromagnet is de-energized and the magnetic field disappears, and the cleaning module 120 falls on the wiper tray 203 under the action of gravity.
  • the cleaning module 120 is also slightly different from the above two solutions.
  • the cleaning module 120 may only include a wiping plate 1201, which can stick the cleaning module by magic sticking/bristles sticking.
  • the moving mechanism 412 drives the suction plate 411 and the cleaning module 120 to move to the right until the wiping plate 1201 sits in the wiper installation position 420, and the wiping plate 1201 can apply to the wiper.
  • the downward pulling force pulls the wiper off at the weak connection point.
  • pressure can be applied to the wiper so that it can be firmly attached to the magic stick/bristles on the bottom of the wiper board 1201.
  • the third embodiment specifically provides a base station 200 for the cleaning robot 100 to dock, and a cleaning system 300 that uses or configures the base station 200.
  • the cleaning robot 100 may be exactly the same as the cleaning robot in the first and/or second embodiments above, and will not be repeated here.
  • This embodiment describes the recovery process of dirty wipes.
  • the base station 200 mainly includes a storage module and a collection frame 240 for recycling the dirty wipes to the storage module.
  • the base station 200 may include a bottom plate 230 for placing on a supporting surface (for example, the ground), and a bottom plate 230 for collecting and unloading the cleaning robot 100. Under the dirty wipes collection frame 240.
  • the area of the bottom plate 230 is larger than the projected area of the collection frame 240 on the bottom plate 230. In this way, when the collection frame 240 is set on the bottom plate 230, it only occupies a partial area of the upper surface of the bottom plate 230, so that the bottom plate 230 forms an empty area outside the collection frame 240 for the cleaning robot 100 to park (as shown in FIG. 47).
  • the collection frame 240 may be a semi-open structure, including a rear plate 240a, two side plates 240b connected to the rear plate 240a and disposed opposite to each other, and a pressing plate 240c slidably disposed between the two side plates 240b and opposite to the rear plate 240a.
  • the rear plate 240a and the two side plates 240b are arranged on the bottom plate 230 in a vertical state, the two side plates 240b are arranged in parallel, and the pressing plate 240c is clamped between the two side plates 240b.
  • the pressing plate 240c is preferably connected to the rear plate 240a. parallel.
  • the pressing plate 240c can slide up and down relative to the two side plates 240b, so that the collection frame 240 can be opened or closed.
  • the horizontal ends of the pressure plate 240c are formed with lug structures 240d, and the two side plates 240b are respectively provided with vertically extending elongated limits.
  • Position guide hole 240e Position guide hole 240e.
  • the lug structure 240d is embedded in the limit guide holes 240e of the two side plates 240b, and can move up and down in the limit guide holes 240e, thereby realizing the limit of the pressure plate 240c and the guidance of the up and down sliding.
  • the base station 200 further includes a wipe collection mechanism.
  • the wiper collection mechanism includes a drive assembly provided on the collection frame 240 and a rake assembly driven by the drive assembly.
  • the rake assembly is driven by the drive assembly so that its lower end has a working stroke moving in the direction of the collecting frame 240 and a returning stroke moving away from the collecting frame 240.
  • the lower end of the rake assembly contacts the bottom plate 230 to compress the dirty wiper and drag the dirty wiper on the bottom plate 230 toward the collection frame 240.
  • the lower end of the rake assembly is separated from the bottom plate 230.
  • the rake assembly may include a swing member 231.
  • the driving assembly may include a motor 232 and an actuator rotated by the motor 232.
  • the actuating element cooperates with the swing element 231 to drive the lower end of the swing element 231 to move along the working stroke or the return stroke.
  • the driving assembly also includes an input shaft 233 rotatably driven by the motor 232, the input shaft 233 penetrates to the outside of the two side plates 240b of the collection frame 240, and an actuator is respectively provided at both ends. As shown in FIG. 47, the motor 232 can drive the input shaft 233 to rotate through the meshing action of the driving gear and the driven gear. There are also two oscillating members 231, which are arranged on the outside of the collecting frame 240, and respectively cooperate with the two actuating members.
  • the rake assembly may only include the swing member 231, or the swing member 231 alone constitutes the rake assembly.
  • the lower end of the swinging member 231 can touch the bottom plate 230, press the dirty wiper, and drag the dirty wiper to the collection frame 240. At this time, the lower end of the swing member 231 constitutes the lower end of the rake assembly.
  • the rake assembly may further include a connecting piece 234 and a push plate 235.
  • the two ends of the connecting piece 234 are rotatably connected to the lower ends of the two swinging pieces 231, and the push plate 235 is rotatably arranged at The lower end of the connecting piece 234. At this time, the lower end of the push plate 235 constitutes the lower end of the rake assembly.
  • the connecting member 234 is substantially in the shape of a horizontally extending strip, and its two ends are respectively connected to the two side plates 240 b of the collection frame 240.
  • the push plate 235 is roughly in the shape of a horizontally extending plate. In order to increase the contact friction between its lower surface and the dirty wiper, the lower surface of the push plate 235 may form a concave-convex texture extending along its length.
  • the push plate 235 and the connecting member 234 can be connected in rotation by a pin shaft.
  • the lower end of the push plate 235 may be formed with one or more notches, and the upper end of the push plate 235 may be correspondingly provided with one or more connecting protrusions.
  • Both sides of the notch and the connecting protrusion are provided with pin holes, and a pin shaft is penetrated in the pin hole, and the connecting protrusion is clamped into the corresponding notch.
  • the connecting member 234 can move up and down relative to the swinging member 231, so that the push plate 235 can float up and down.
  • the two ends of the connecting member 234 are provided with connecting shafts 236, the lower ends of the two swinging members 231 are provided with shaft holes 237 extending in the vertical direction, and the two connecting shafts 236 are inserted in the two A shaft hole 237.
  • the connecting shaft 236 can move up and down in the shaft hole 237, so that the push plate 235 can float.
  • the push plate 235 presses the dirty wiper onto the bottom plate 230.
  • the pressing force of the push plate 235 on the dirty wiper and the bottom plate 230 gradually increases, pushing the connecting member 234 to move upward.
  • the pressing force of the push plate 235 on the dirty wiper and the bottom plate 230 gradually decreases, and the connector 234 falls back.
  • the push plate 235 can always be kept pressed against the dirty wiper and the bottom plate 230.
  • a guide piece 238 located above the connecting piece 234 can be provided between the two swinging pieces 231.
  • the guide piece 238 is provided with a guide hole 238a.
  • the guide hole 238a is movably provided with a guide pin 239.
  • the lower end of the guide pin 239 is connected to the connecting piece. 234 fixed connection.
  • an elastic member 241 may be provided to push the connecting member 234 and the push plate 235.
  • An elastic member 241 in a compressed state is provided between the guide member 238 and the connecting member 234. In this way, during the entire working stroke, as the connecting member 234 moves up and down relative to the swinging member 231, the biased elastic member 241 can exert different degrees of downward elastic force on the connecting member 234, thereby improving the push.
  • the pressing force of the plate 235 against the dirty wiper and the bottom plate 230 prevents the dirty wiper from being dragged by the pusher plate 235 due to the small pressing force applied by the pusher plate 235, ensuring smooth collection of the dirty wiper Move toward the collection frame 240.
  • a torsion spring may be provided between the push plate 235 and the connecting member 234.
  • the torsion force exerted by the torsion spring on the push plate 235 makes the end of the push plate 235 close to the collection frame 240 have a tendency to rotate toward the bottom plate 230. In this way, under the torsion force exerted by the torsion spring, the end of the push plate 235 close to the collection frame 240 always has a downward tendency to rotate.
  • the push plate 235 when the push plate 235 is switched from the descending stroke to the beginning of the working stroke, the left end of the push plate 235 first contacts the dirty wiper and the bottom plate 230, and as the push plate 235 continues to descend, the push plate 235 and the bottom plate The end of the contact 230 is the fulcrum and rotates until the bottom surface of it is completely in contact with the dirty wiper and the bottom plate 230. In this way, by making the push plate 235 gradually contact and press the dirty wiper and the bottom plate 230, the pressing effect of the push plate 235 on the dirty wiper can be improved.
  • the pressing plate 240c of the collection frame 240 is designed to be opened when the push plate 235 moves to the end of the working stroke.
  • the lower end of the pressing plate 240c may be formed with a wedging inclined surface facing the pushing plate 235, and the end of the pushing plate 235 facing the wedging inclined surface is the wedging end.
  • the wedging inclined surface may be formed by a part of the lower end surface of the pressing plate 240c inclined toward the pusher plate 235, and the wedging end may be a pointed end, and its cross-sectional area along the working stroke direction is gradually reduced.
  • the pressing plate 240c can be pushed upward by the wedging end, thereby opening the collection frame 240 and pressing the dirty wipe at the lower end of the pushing plate 235
  • the pieces enter the collection frame 240 through the opened opening.
  • the push plate 235 moves upward to reach the return stroke.
  • the pressure plate 240c can fall under the action of its own gravity, so that its lower end touches the bottom plate 230, presses the dirty wiper, and keeps the dirty wiper at the current position, so as to avoid dirt caused by external factors (such as wind and airflow).
  • the wiper is displaced.
  • a pivoting portion 242 is provided on the swinging member 231, and a matching portion 243 is provided on the side plate 240b of the collecting frame 240.
  • the pivoting portion 242 may be a long sliding groove provided on the swinging member 231 and extending along the length of the swinging member 231, and the mating portion 243 may be a guide member fixed on the side plate 240b of the collecting frame 240.
  • the guide component is embedded in the long chute and can rotate and slide in the long chute.
  • the actuating member includes an eccentric structure, and the eccentric structure is rotatably connected with the upper end of the swing member 231.
  • the eccentric structure may be an eccentric wheel 244, and the eccentric wheel 244 and the input shaft 233 are eccentrically arranged.
  • the upper end of the swing member 231 may be provided with a wheel ring 245, and the eccentric wheel 244 is provided in the wheel ring 245.
  • the eccentric structure may also be a connecting rod, the extension direction of the connecting rod is perpendicular to the axial direction of the input shaft 233, and the upper end of the swing member 231 is rotatably connected with the connecting rod.
  • the input shaft 233 drives the eccentric structure to rotate, and the eccentric structure can drive the upper end of the swing member 231 rotatably connected with it to rotate around the axis of the input shaft 233, and the rotation track of the upper end of the swing member 231 is circular.
  • the position of the swing member 231 near the middle is restricted by the pivoting portion 242 and the mating portion 243. Therefore, the swinging member 231 rotates with the connection between the pivoting portion 242 and the mating portion 243 as a fulcrum, so that the lower end thereof can swing. Accordingly, the connecting member 234 and the push plate 235 provided at the lower end of the swinging member 231 are driven to swing accordingly.
  • the push plate 235 of the rake assembly is initially in the raised position, the cleaning solar term robot enters the base station 200 after working, and the dirty wiper is released on the bottom plate 230 of the base station 200.
  • the motor 232 drives the input shaft 233 to rotate clockwise.
  • the push plate 235 gradually moves downwards until the dirty wiper is pressed.
  • the motor 232 drives the input shaft 233 to continue to rotate clockwise, and the push plate 235 is driven to move in the direction of the working stroke, thereby dragging the dirty wiper to move together. Until the wedge end of the push plate 235 touches the wedging slope of the pressing plate 240c of the collection frame 240, as the push plate 235 continues to move forward, the pressing plate 240c is pushed open, and the dirty wipes are sent into the collection frame 240.
  • the pusher plate 235 moves to the end of the working stroke, the motor 232 drives the input shaft 233 to continue to rotate clockwise, the pusher plate 235 starts to lift up and move back, until the wedging end is separated from the wedging slope, the pressing plate 240c is under the action of gravity Moving downward, pressing the dirty wiper, a part of the dirty wiper is input into the collection frame 240.
  • the motor 232 drives the input shaft 233 to continue to rotate clockwise, and the push plate 235 moves along the return stroke. The above process is repeated until the dirty wipes are completely collected in the collection frame 240.
  • the side plate 240b of the collection frame 240 is provided with a sliding member 246 that can move in the working stroke direction or the return stroke direction.
  • the sliding member 246 is between the side plate 240b.
  • a first resetting member 247 is provided, and the resetting force applied by the first resetting member 247 to the sliding member 246 has a tendency to move in the direction of the return stroke.
  • the side plate 240b of the collection frame 240 is provided with a guide clamp 248.
  • the sliding member 246 penetrates the guide clamp 248 and is limited by the guide clamp 248 in the vertical direction, so that the sliding member 246 can move horizontally on the side plate 240b .
  • the sliding member 246 is formed with a notch 246a, and a first hanging member 246b is provided in the notch 246a.
  • the outer wall of the side plate 240b may be provided with a second hanging member 240f.
  • the first restoring member 247 may be a spring, and its two ends are respectively hooked on the first hooking member 246b and the second hooking member 240f.
  • the first hook 246b may be a pin structure vertically arranged in the notch 246a, and the second hook 240f may be a protruding structure provided on the outer wall of the side plate 240b.
  • the first restoring member 247 is in a stretched state, and a pulling force is applied to the sliding member 246 toward the return stroke direction.
  • the swinging member 231 is slidably arranged on the side plate 240b, and the swinging member 231 and the sliding member 246 are fixed along the working stroke direction or the returning stroke direction.
  • a second restoring member 249 is provided between the swinging member 231 and the sliding member 246, and the restoring force applied by the second restoring member 249 to the swinging member 231 has a tendency to move away from the bottom plate 230.
  • the outer wall of the upper end of the swing member 231 is provided with a third hooking member 231a
  • the outer wall of the lower end of the sliding member 246 is provided with a fourth hooking member 246c
  • the second resetting member 249 is a spring.
  • the third hooking member 231a may be a protruding structure provided on the outer wall of the swinging member 231
  • the fourth hooking member 246c may be a hook-shaped structure provided on the outer wall of the sliding member 246.
  • the second restoring member 249 is in a stretched state and exerts an upward pulling force on the swinging member 231.
  • the inner side wall of the sliding member 246 is provided with a guiding sliding groove 246d extending in the vertical direction, and the swinging member 231 is inserted in the guiding sliding groove 246d and is restricted in the horizontal direction by the guiding sliding groove 246d.
  • the swing member 231 is provided with a first contour groove 231c, and the actuating member includes a first cam 224 arranged in the first contour groove 231c.
  • the first cam 224 is driven by the input shaft 233 to rotate in the first profiling groove 231c, and can drive the swinging member 231 to move by touching the surface of the first profiling groove 231c. Under the action of the reset member 249, the swing member 231 is reset, and then the movement of the swing member 231 is circulated.
  • the swing member 231 is in an upside-down "F" shape as a whole, and includes a rod body 231d and a first extension 231e provided on the rod body 231d.
  • the right surface of the rod body 231d and the lower surface of the first extension portion 231e define a first profiling groove 231c.
  • the rod body 231d penetrates through the guide chute 246d, and the first extension 231e is located below the sliding member 246.
  • the swing member 231 further includes a second extension portion 231b provided at the lower end of the rod body 231d, and the connecting member 234 is rotatably provided at the end of the second extension portion 231b.
  • the first cam 224 includes two oppositely arranged straight profiling surfaces and a circular arc profiling surface smoothly transitioning with the two straight profiling surfaces.
  • the connection point of the first cam 224 and the input shaft 233 is located in one of the circles.
  • the first profiling groove 231c includes an arc-shaped smooth transition surface between the right surface of the connecting rod body 231d and the lower surface of the first extension portion 231e, the curvature of the arc-shaped smooth transition surface and the curvature of the arc-shaped profiling surface Match.
  • the arc-shaped profiling surface close to the connection point of the first cam 224 and the input shaft 233 forms the lowest point of potential energy of the first cam 224.
  • the arc-shaped contoured surface away from the connection point of the first cam 224 and the input shaft 233 forms the highest potential energy point of the first cam 224.
  • the lowest point of the potential energy of the first cam 224 rotates in the arc-shaped smooth transition surface, and the highest point of the potential energy of the first cam 224 slides on the right surface of the rod body 231d.
  • the lower surface of the first extension portion 231e is in contact with the lowest point of potential energy of the first cam 224, and the swing member 231 is in the lowest position. In this way, the connecting piece 234 and the push plate 235 provided at the lower end of the swinging piece 231 can be press-fitted on the bottom plate 230.
  • the highest point of the potential energy of the first cam 224 slides on the right surface of the rod body 231d, and the distance between the connecting point of the swing member 231 and the input shaft 233 gradually increases. Since the input shaft 233 is fixed relative to the collecting frame 240, the swing member 231 moves gradually away from the input shaft 233. In this way, the connecting member 234 and the push plate 235 provided at the lower end of the swing member 231 move toward the collection frame 240 accordingly. As a result, the push plate 235 presses the dirty wiper on the bottom plate 230, and the swing member 231 is pushed by the first cam 224 to move the push plate 235 toward the collecting frame 240 to realize the recovery of the dirty wiper.
  • the push plate 235 When the push plate 235 is in the return stroke, the lowest point of potential energy of the first cam 224 slides on the right surface of the rod body 231d, and the highest point of potential energy of the first cam 224 slides on the lower surface of the first extension 231e.
  • the lower surface of the first extension 231e is in contact with the highest point of the potential energy of the first cam 224, and the swing member 231 is at the highest position. In this way, the connecting member 234 and the push plate 235 provided at the lower end of the swing member 231 are lifted away from the bottom plate 230.
  • the lowest point of the potential energy of the first cam 224 slides on the right surface of the rod body 231d, then under the action of the first resetting member 247, the sliding member 246 and the swinging member 231 are pulled to move in the direction of the return stroke.
  • the connecting member 234 and the push plate 235 at the lower end of the swing member 231 also move in the direction of the return stroke.
  • the push plate 235 is lifted away from the bottom plate 230, and under the action of the first reset member 247, the swing member 231 and the connecting member 234 and the push plate 235 provided at the lower end of the swing member 231 are moved toward the return stroke direction.
  • the return stroke of the swing member 231 is realized.
  • the surface of the pressing plate 240c facing the return stroke direction is formed with a second contoured groove 240g.
  • the input shaft 233 is provided with a second cam 225 accommodated in the second contoured groove 240 g, and the highest potential energy point of the second cam 225 and the highest potential energy point of the first cam 224 are located on both sides of the input shaft 233.
  • the second contoured groove 240g includes a surface facing the return stroke direction (hereinafter referred to as a front side surface) and a lower surface. Since the highest potential energy point of the second cam 225 and the highest potential energy point of the first cam 224 are located on both sides of the input shaft 233. Therefore, when the push plate 235 is in the working stroke, the highest point of the potential energy of the first cam 224 is located below, and then the highest point of the potential energy of the second cam 225 is located above, touching the lower surface of the second profiling groove 240g , The pressing plate 240c is pushed by the second cam 225 in an open state, and the dirty wiper dragged by the push plate 235 enters the collection frame 240.
  • the highest point of the potential energy of the first cam 224 is located above, then the highest point of the potential energy of the second cam 225 is at the bottom, that is, the lowest point of the second cam 225 touches the first The lower surface of the two profiling grooves 240g, so that the pressing plate 240c falls under the action of its own gravity, thereby pressing the dirty wiper.
  • the fourth embodiment specifically provides a base station 200 capable of automatically recovering dirty wipes removed by the cleaning robot 100.
  • the base station includes a frame 11, which is arranged on the frame 11 for the cleaning robot 100 to release the wipes.
  • the wiper separation position 13 which is provided on the frame 11 for accommodating the wiper, the storage module 15 provided on the frame 11, the conveying device 17 provided on the frame 11, the clamping mechanism 19 provided on the conveying device 17, for driving and conveying The drive mechanism of the device 17.
  • the clamping mechanism 19 has a first working state of moving between the storage module 15 and the wiper separation position 13, a second working state of clamping the wiper on the wiper separation position 13, and releasing the wiper in the storage module 15 The third working state.
  • the driving mechanism drives the conveying device 17 to move the clamping mechanism 19 between the wiper separation position 13 and the storage module 15 and then switch between the first working state, the second working state, and the third working state.
  • the cleaning robot 100 can stop on the wiper separation position 13 after the wiper finishes mopping the floor, and release the wiper to the wiper separation position 13.
  • the driving mechanism is activated to drive the conveying device 17 to move the clamping mechanism 19 between the wiper separation position 13 and the storage module 15 and switch between the first working state, the second working state, and the third working state.
  • the clamping mechanism 19 clamps the wiper on the wiper separation position 13 and clamps the wiper until it moves to the storage module 15, it opens toward the storage module 15 and releases the wiper in the storage module 15. In this way, the automatic recovery of the wiper is realized, and the operator does not need to manually take out the wiper, and manual intervention is avoided.
  • the frame 11 includes a first frame 41 and a second frame 43 vertically arranged.
  • the first frame 41 and the second frame 43 are rectangular as a whole, forming a first opening and a second opening, respectively, and the cleaning robot 100 can pass through the first frame.
  • the opening enters the frame 11 and passes through the second opening.
  • the wiper separation position 13 and the storage module 15 are both arranged between the first frame 41 and the second frame 43.
  • the wiper separation position 13 is a parking plate located at the bottom of the frame 11 for the cleaning robot 100 to park and receive and release Of wipes.
  • the receiving module 15 is located above the wiper separation position 13 with an open upper end for collecting dirty wipers.
  • the conveying device 17 includes a first conveying part 37 and a second conveying part 39.
  • the first conveying part 37 includes a plurality of first synchronization wheels 45 arranged on the first frame 41 and a plurality of first synchronization wheels 45 surrounding the First timing belt 49.
  • the driving mechanism is in transmission connection with each first synchronization wheel 45 so as to drive the rotation of each first synchronization wheel 45.
  • the driving mechanism may be a motor.
  • a controller connected to the driving mechanism is provided on the frame 11 for receiving signals sent by the cleaning robot 100 and controlling the driving mechanism according to the signals sent by the cleaning robot 100.
  • the signal sent by the cleaning robot 100 may be a wiper replacement signal.
  • the controller controls the driving mechanism so that the driving mechanism can drive the conveying device for transmission.
  • the controller is connected to the clamping mechanism 19 for controlling the clamping mechanism to separate and engage.
  • the controller is a control electromagnet.
  • a plurality of third rotating shafts 53 are provided on the first frame 41, corresponding to the plurality of first synchronizing wheels 45, and each first synchronizing wheel 45 is fixedly sleeved on the corresponding third rotating shaft 53, so as to drive the third rotating shaft
  • the rotation of 53 drives the first synchronization wheel 45 to rotate, which in turn drives the first synchronization belt 49 to rotate.
  • the second transmission part 39 includes a plurality of second synchronization wheels 47 arranged on the second frame 43 and a second synchronization wheel 47 surrounding the plurality of second synchronization wheels 47.
  • the driving mechanism is drivingly connected with each second synchronous wheel 47 to drive the rotation of each second synchronous wheel 47.
  • the second frame 43 is provided with a plurality of fourth rotation shafts 55 corresponding to the plurality of second synchronization wheels 47, and each second synchronization wheel 47 can be fixedly sleeved on the corresponding fourth rotation shaft 55. Therefore, the rotation of the fourth rotating shaft 55 drives the rotation of the second synchronization wheel 47, which in turn drives the rotation of the second synchronization belt 51.
  • the clamping mechanism 19 includes a first rotating shaft 31 and a second rotating shaft 33 arranged oppositely, and a first claw 21 and a second claw 23 respectively sleeved on the first rotating shaft 31 and the second rotating shaft 33.
  • the first claw 21 And the second pawl 23 can respectively rotate around the extension direction of the first rotating shaft 31 and the second rotating shaft 33, the two ends of the first rotating shaft 31 and the second rotating shaft 33 are respectively connected with the first timing belt and the second timing belt of the conveying device 17 Connected.
  • a torsion spring 35 is provided between the first pawl 21 and the second pawl 23, and the first pawl 21 and the second pawl 23 are kept in a separated state under the force of the torsion spring 35, so that the clamping mechanism 19 In an open state.
  • An end of the first pawl 21 facing away from the first rotating shaft 31 is provided for engaging with the second pawl 23.
  • the clamping mechanism 19 When the clamping mechanism 19 is in an open state, the magnet distance between the first jaw 21 and the second jaw 23 is large, the force of the torsion spring 35 is greater than the magnetic force between the first jaw 21 and the second jaw 23, and the clamping mechanism 19 can be kept open.
  • the clamping mechanism 19 When the clamping mechanism 19 is in the closed state, the magnet distance between the first jaw 21 and the second jaw 23 is small, the magnetic force between the first jaw 21 and the second jaw 23 is greater than the force of the torsion spring 35, and the clamping mechanism 19 Keep it closed and provide clamping force.
  • the frame 11 is also provided with a first guide 27 on the side of the wiper separation position 13 for applying a force to the second claw 23 so that the second claw 23 can be opposed to
  • the first claw 21 rotates and can be engaged with the first claw 21 to be able to clamp the wiper.
  • the driving mechanism drives the first synchronous wheel 45 and the second synchronous wheel 47 to drive the first synchronous belt 49 and the second synchronous belt 51 to rotate counterclockwise, clamping
  • the holding mechanism 19 moves downward.
  • the first guide portion 27 is a first groove that opens upward.
  • the inner wall of the first groove exerts resistance to the second claw 23.
  • the second pawl 23 rotates around the second rotating shaft 33 under the action of resistance, engages with the magnet on the first pawl 21, and clamps the wiper.
  • the frame 11 is also provided with a second guide 29 on the side of the storage module 15 for applying a force to the second pawl 23 so that the second pawl 23 can rotate relative to the first pawl 21. Separate from the first pawl 21 to release the wiper. Specifically, after the first claw 21 and the second claw 23 are engaged and clamp the wiper, the driving mechanism drives the conveying device 17 to rotate clockwise to move the clamping mechanism 19 upward. When moving to be directly opposite to the second guide portion 29, the second guide portion 29 applies a force to the second pawl 23, causing the second pawl 23 to rotate clockwise and separate from the magnet on the first pawl 21 To release the wiper.
  • the second guide portion 29 is a rod body that can extend between the first claw 21 and the second claw 23 and is used to abut the second claw 23.
  • the clamping mechanism 19 moves toward the rod body along with the conveying device 17, the rod body extends between the first claw 21 and the second claw 23 and exerts a force on the second claw 23.
  • the second pawl 23 rotates around the second rotating shaft 33 under the force of the rod body, and is separated from the magnet on the first pawl 21, and the wiper can fall under the action of gravity.
  • the first claw 21 is provided with a second groove for the rod to pass through, and the second groove is open toward the second claw 23.
  • the second groove can guide the rod body to move toward the second claw 23 to ensure that the second claw 23 is separated from the first claw 21.
  • the fifth embodiment provides a base station 200 for the cleaning robot 100 to stop, and a cleaning system 300 configured with the base station 200.
  • the base station 200 can automatically replace wipes such as mopping paper or mopping cloth for the cleaning robot 100, reducing user intervention and improving user experience.
  • the base station 200 includes: a base belt 216, a plurality of wipers arranged along the base belt 216 and detachably arranged on the base belt 216, a moving mechanism for driving the base belt 216 to move, and a wiper operating position for the cleaning robot 100 to replace wipers 218.
  • the wiper on which the base belt 216 at the wiper operating position 218 is carried by the cleaning robot 100 of the cleaning robot forms an empty area 222.
  • the moving mechanism can move the base belt 216 after receiving the wiper 21 b removed by the cleaning robot 100 in the empty area 222, so that the other wiper 21 a is located at the wiper operating position 218.
  • the base station 200 provided in this embodiment is provided with a base belt 216 that is moved by a moving mechanism and a wiper operation position 218 for the cleaning robot 100 to replace the wiper, so that the cleaning robot 100 enters the wiper when it needs to replace the wiper.
  • Operation position 218, place the used wiper 21b in the empty area 222 on the base belt 216.
  • the base belt 216 is driven by the moving mechanism to switch the wiper 21a to be used to the wiper operation position 218, and the cleaning robot 100 will After the wiper 21a is replaced, the wiper is automatically replaced. Therefore, the base station 200 of this embodiment can facilitate automatic replacement of the wiper, reduce the user's intervention in the replacement of the wiper, and improve the user experience.
  • a plurality of wipers are attached to the surface of the base tape 216 and arranged along the extending direction of the base tape 216.
  • the base belt 216 has a flat structure and is made of cloth material or paper material.
  • the base belt 216 passes through the wiper operating position 218 and carries the wiper to the wiper operating position 218 in a form facing the cleaning robot 100.
  • the cleaning robot 100 enters the wiper operating position 218 and does not interfere with the movement of the base belt 216.
  • the base belt 216 can carry and transport the wiper. In the process of carrying the wiper, the wiper can stay at the wiper operation position 218 to be replaced by the cleaning robot 100 of the cleaning robot.
  • Wipes may be continuously arranged on the base belt 216, and adjacent wipers are not connected to each other. Two adjacent wipers are separated by a certain distance, or are adjacent to each other. Preferably, a plurality of wipers are arranged at intervals on the base belt 216 and distributed in a point-disconnected manner. A plurality of wipers are attached to the surface of the base tape 216 at intervals along the length direction of the base tape 216, and the distance between adjacent wipers is equal. The preset distance between adjacent wipers can make the base tape 216 in the wiper operating position 218 only attach one wiper for replacement by the cleaning robot 100. As shown in FIG.
  • the base tape 216 in the wiper operating position 218 is in an empty state, and no wiper is attached to the empty area 222.
  • the vacant area 222 is located in the wiper operating position 218 and is in a static state until the used wiper 21b is received, and other wipers 21a to be used are still wound on the second reel 227 for storage, avoiding the wiper 21a to be used in advance It is unfolded and exposed to the air, affecting the cleaning effect.
  • the used wiper 21b is wound on the first roll 226 and collected.
  • the multiple wipers sequentially move to the wiper operating position 218 along the movement direction of the base belt 216, and switch to the wiper operating position 218 in a non-repetitive manner. In this way, it is ensured that the wiper replaced by the cleaning robot 100 is an unused wiper, thereby effectively cleaning the ground.
  • the wiper 21a to be used can be stacked in the storage space, and the baseband 216 is carried and removed sequentially through the storage space.
  • the base tape 216 may be folded and stored in the storage space, and by the pulling of the first reel 226, the base tape 216 is moved out of the storage space with the wiper.
  • the base station 200 is provided with a first storage section for storing wipes 21a to be used, and a second storage section for storing wipes removed by the cleaning robot 100.
  • the wiper in the first storage part moves to the wiper operation position 218 through the base belt 216, and moves to the second storage part after the wiper operation position 218 is carried and removed by the cleaning robot 100.
  • the automatic collection and storage of the used wiper 21b is realized by providing a second storage unit.
  • the moving mechanism includes a first reel 226 which can rotate to wind the base tape 216 to drive the base tape 216 to move.
  • the first reel 226 moves the base tape 216 by winding the base tape 216, and the used wiper 21b can be transported to the designated area or designated storage space by the movement of the base tape 216.
  • the first reel 226 forms the above-mentioned second storage part by winding the used wiper 21b, which realizes the automatic collection of the used wiper 21b and reduces the user's intervention.
  • the first reel 226 winds the wipers on the base tape 216 together while winding the base tape 216, thereby forming a collection of the used wipers 21b.
  • the winding of the base tape 216 is combined with the collection of the used wiper 21b, which realizes the automatic collection of the used wiper 21b, with a simple structure and convenient manufacturing.
  • the base station 200 also includes a second reel 227. , It can wind the base tape 216 and the wiper 21a to be used.
  • the first reel 226 winds the base tape 216 to drive the second reel 227 to synchronously release the base tape 216.
  • the wiper 21a to be used enters the wiper operating position 218 along with the base tape 216 for the cleaning robot 100 to replace. In this way, the collection of the used wiper 21b can be combined with the supply of the wiper 21a to be used, which ensures the smooth progress of the automatic wiper replacement by the cleaning robot 100.
  • the second reel 227 forms the aforementioned first storage portion by winding the wiper 21a to be used.
  • part of the base tape 216 is wound on the first reel 226, and part of the base tape 216 may be wound on the second reel 227.
  • most or all of the wipers are wound on the second reel 227, and only a part of the length of the base tape 216 is wound on the first reel 226 or the first reel 226 is only fixedly connected to one end of the base tape 216.
  • the base tape 216 is not wound.
  • a wiper is located at the wiper operating position 218 or has been installed on the pallet of the cleaning robot 100 in advance. When the cleaning robot 100 is replaced, the wiper on the base belt 216 is replaced with the cleaning robot 100 in sequence.
  • the base tape 216 is superimposed and wound on the first reel 226 or the second reel 227, and an attachment space for the wiper is formed between the base tapes 216 of adjacent layers.
  • the base belt 216 can be used as a transmission member to drive the second reel 227 to rotate, and the wiper 21a to be used can be released to the wiper operating position 218, and the used wiper 21b can be automatically collected.
  • the base station 200 is provided with a driving mechanism, such as a motor, which drives the first reel 226 to rotate.
  • the base station 200 includes a housing.
  • the first reel 226 and the second reel 227 are mounted on the housing in a manner parallel to their rotating shafts.
  • the wiper operating position 218 is located in the housing, and the first reel 226 and the second reel 227 are located on the housing.
  • the operation bit 218 is outside.
  • the housing has a bottom plate 219, a front plate 228 and a back plate 229 disposed on the bottom plate 219.
  • the front panel 228 is provided with an entrance and exit 2881 leading into the wiper operating position 218 for the cleaning robot 100 to enter or move out of the wiper operating position 218.
  • the front panel 228 and the back panel 229 suspend the first reel 226 and the second reel 227 to facilitate the rotation of the first reel 226 and the second reel 227.
  • the housing is provided with steering shafts 223 on both sides of the wiper operating position 218 in the horizontal direction, the second reel 227 is located above the wiper operating position 218, and the base tape 216 changes the extending direction from the second reel 227 through the steering shaft 223 It then extends to the first reel 226.
  • the base tape 216 at the wiper operating position 218 is disposed close to the bottom plate 219, and the wiper is attached to the base tape 216 in a form of facing away from the bottom plate 219.
  • the steering shafts 223 arranged on both sides of the wiper operating position 218 in the horizontal direction have the same height relative to the bottom plate 219.
  • the base belt 216 is in a stretched or tight state between the first reel 226 and the second reel 227, so that the wiper can face the cleaning robot 100 in an unfolded form at the wiper operating position 218, which is convenient for cleaning the robot 100 replace.
  • the base station 200 is also provided with a positioning mechanism for positioning the wiper at the wiper operating position 218.
  • the positioning mechanism may be a structural positioning component, for example, a liftable blocking plate.
  • the base band 216 has a limit slot matching it. When the base band 216 needs to be stopped and stopped, the blocking plate is raised or unfolded and extends into the limit slot. In the middle, the base band 216 is stopped to prevent the base band 216 from moving. When the limit needs to be released, the blocking plate is lowered and moved out of the limit slot, and the base belt 216 moves normally.
  • the positioning mechanism includes a controller and a measuring assembly for measuring the number of turns of the steering shaft 223.
  • the controller determines the position of the wiper according to the number of turns measured by the measuring assembly.
  • the measuring component can measure the number of turns made by any one of the two steering shafts 223.
  • Each steering shaft 223 clears the original number of turns after the base belt 216 receives the used wiper 21b, and restarts measuring the number of turns.
  • the base belt 216 stops moving, and the next wiper 21a to be used Move to the wiper operation position 218.
  • the controller can also determine the position of the wiper carried by the base belt 216 according to the number of turns added each time, and determine the remaining number of wipers 21a to be used based on the last accumulated turns.
  • the cleaning robot 100 is provided with a universal wheel and a carriage that can move up and down, and the universal wheel and the carriage can be stowed and put down by moving up and down.
  • the cleaning robot 100 has a cleaning mode and an obstacle-crossing mode. In the cleaning mode, the carriage moves downward to support the cleaning robot 100, and the universal wheels are retracted. In the obstacle crossing mode, the carriage is retracted, and the universal wheels are lowered to support the cleaning robot 100.
  • the cleaning robot 100 enters the wiper operation position 218 in the obstacle crossing mode.
  • the carriage is provided with a clamping mechanism, and the clamping mechanism has a clamping position for fixing the wiper on the lower surface of the carriage and a release position for allowing the wiper to be separated from the carriage.
  • the cleaning robot 100 After the cleaning robot 100 carries the wiper located at the wiper operating position 218 in the base station 200 and moves it out of the wiper operating position 218, the base tape 216 in the wiper operating position 218 assumes an empty state without the wiper, forming an empty area 222.
  • the cleaning robot 100 switches to the obstacle crossing mode through the cleaning mode.
  • the wiper In the cleaning mode, the wiper is clamped and fixed on the mop by the clamping mechanism, and follows the mop to clean the floor. Move the carriage down to contact the wiper with the ground.
  • the cleaning robot 100 In the obstacle crossing mode, the cleaning robot 100 is supported by universal wheels, and the carriage moves to suspend the wiper. Referring to FIG. 60 and FIG. 61, using the obstacle crossing mode, the cleaning robot 100 approaches the base station 200 according to the instruction of the internal controller, enters the wiper operation position 218 from the entrance 2881, and straddles the base belt 216. At this time, the carriage faces the empty area 222. As shown in FIG. 63, the pallet carries the used wiper 21b and moves downward until the wiper contacts and adheres to the base tape 216.
  • the clamping mechanism is switched from the clamping position to the release position, and the wiper is separated from the pallet.
  • the carriage and the clamping mechanism move up, and the used wiper 21b is located on the base belt 216 of the wiper operating position 218.
  • the first reel 226 is driven to rotate by the motor, and the base belt 216 is driven to move until the next wiper 21a to be used is released from the second reel 227 and follows the base belt 216 into the wiper operating position 218.
  • the used wiper 21b is wound on the first reel 226 along with the base tape 216.
  • the carriage moves down until it comes into contact with the wiper 21a to be used.
  • the clamping mechanism is switched from the release position to the clamping position, and the wiper is fixed on the lower surface of the carriage to complete the installation of the wiper.
  • the carriage rises again, and the clamping mechanism remains in the clamping position. This completes the replacement of the wiper.
  • the cleaning robot 100 moves out of the base station 200 from the entrance 2881 in the obstacle crossing mode, and finally switches to the cleaning mode for cleaning.
  • the base belt 216 remains stationary until the cleaning robot 100 repeats the above steps to place the used wiper 21b, and then replaces the wiper 21a to be used.
  • the cleaning system 300 provided in this embodiment includes: the cleaning robot 100 and the base station 200 for the cleaning robot 100 described in the above embodiments.
  • the cleaning robot 100 can communicate with the base station 200.
  • the cleaning robot 100 communicates with the base station 200 for position information, or the base station 200 communicates with the cleaning robot 100 information about whether the wiper is located in the wiper operating position 218.
  • the cleaning system 300 or the base station 200 provided in the embodiment of the present application may further include a reminder mechanism for sending a reminder signal when the number of wipes 21a to be used is lower than a predetermined number.
  • a reminder mechanism for sending a reminder signal when the number of wipes 21a to be used is lower than a predetermined number.
  • the number of wipers 21a used is less than the predetermined number, and the baseband 216 needs to be replaced as a whole to improve the user experience.

Landscapes

  • Cleaning In General (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种供清洁机器人（100）停放的基站（200），清洁机器人（100）包括擦拭板（122），柔性的擦拭件可替换地抵附于擦拭板（122）形成擦拭面，以擦拭清洁机器人（100）行走的工作表面；基站（200）包括：存储模块（213），用于存储连续的擦拭基材（500）；进给模块（220），带动擦拭基材（500）的自由端传递到分割位置，以使自由端从擦拭基材（500）分割形成擦拭件。清洁机器人（100）回归基站（200）后可自动安装擦拭件，不需要用户干预。

Description

基站、机器人清洁系统及其控制方法
本申请要求了申请日为2019年5月5日，申请号为201910369193.0和申请日为2019年08月08日,申请号为201910729481.2和申请日为2019年10月23日，申请号为201911011396.9和申请日为2019年12月5日，申请号为201911233337.6和申请日为2019年12月13日，申请号为201911281590.9和申请日为2020年2月24日，申请号为202010112090.9和申请日为2019年10月25日，申请号为201911023104.3的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种基站、机器人清洁系统及其控制方法，特别是一种能够自动更换擦拭件的机器人清洁系统。
背景技术
随着科技的发展和人们对更高生活品质的不断追求，包括但不限于扫地机、拖地机、擦窗机等家用清洁机器人由于能够帮助人们从繁重的家务劳动中解放出来而日渐受到用户的广泛青睐。
清洁机器人一般采用擦拭件(例如纸巾、擦拭件等)进行清洁作业，清洁机器人在按照设定的路线行进时带动擦拭件在工作表面(例如地板、玻璃)上移动，实现清洁作业。不可避免的是，随清洁作业时间的延长，擦拭件上附着的污渍增多，清洁效果变差。为此，不得不将脏的擦拭件取下，换上干净的擦拭件。
现有的清洁机器人通常采用人工更换擦拭件的方式，用户需要持续关注清洁工作进程，以及时更换已经脏污的擦拭件。这种方式需要人为参与干预进行手动更换擦拭件，用户在更换擦拭件的过程中容易弄脏双手，体验较差。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种正常工作过程中无需用户干预，自动更换擦拭件的清洁机器人。
本发明解决现有技术问题所采用的一种技术方案是：
一种供清洁机器人停放的基站，所述清洁机器人包括擦拭板，柔性的擦拭件可替换地抵附于所述擦拭板形成擦拭面，以擦拭所述清洁机器人行走的工作表面；所述基站包括：存储模块，用于存储连续的擦拭基材；进给模块，带动所述擦拭基材的自由端传递到分割位置，以使所述自由端从所述擦拭基材分割形成所述擦拭件。
本发明解决现有技术问题所采用的另一种技术方案是：
一种机器人清洁系统控制方法，所述机器人清洁系统包括清洁机器人和供所述清洁 机器人停靠的基站，所述清洁机器人包括擦拭板，供柔性的擦拭件可替换地抵附形成擦拭面以擦拭工作表面；其特征在于，所述方法包括：
将连续的擦拭基材的自由端传递到分割位置；
将所述自由端从所述擦拭基材断开形成擦拭件；
将所述擦拭件安装于所述擦拭板。
在一种可行方案中，所述控制方法还包括：将所述擦拭件与所述擦拭板分离。
在一种可行方案中，所述控制方法还包括：将所述擦拭件与所述擦拭板分离之前，将所述擦拭板与所述清洁机器人分离。
在一种可行方案中，所述控制方法还包括：将所述擦拭件与所述擦拭板分离之前，驱动与清洁机器人分离的所述擦拭板移动至擦拭件操作位。
在一种可行方案中，所述控制方法还包括：在所述擦拭件安装于所述擦拭板之后，将所述擦拭板安装于所述清洁机器人。
在一种可行方案中，所述控制方法还包括：将所述擦拭板与所述清洁机器人分离后，所述清洁机器人向第一方向移动预设距离。
在一种可行方案中，所述控制方法还包括：所述清洁机器人向第一方向移动预设距离后，将所述擦拭板安装于所述清洁机器人。
在一种可行方案中，将所述擦拭件安装于所述擦拭板后，所述清洁机器人向第二方向移动预设距离，将所述擦拭板安装于所述清洁机器人，所述第一方向与所述第二方向相反。
本发明解决现有技术问题所采用的另一种技术方案是：
一种机器人清洁系统，包括清洁机器人和供所述清洁机器人停靠的基站，所述清洁机器人包括：主体；移动模块，安装于所述主体，带动清洁机器人在工作表面移动；擦拭板，安装于所述主体，供柔性的擦拭件可分离地抵附形成擦拭面以擦拭工作表面；所述擦拭板包括装载部，用于固定所述擦拭件；所述基站包括：存储模块，存储擦拭基材；进给模块，将所述擦拭基材的自由端传递到分割位置，以使所述自由端从所述擦拭基材分割形成所述擦拭件；操作模块，安装于所述主体或所述基站，作用于所述擦拭板和/或擦拭件，使所述擦拭件与所述擦拭板的装载部结合。
在一种可行方案中，基站包括擦拭件操作位，用于接收待安装于擦拭板的擦拭件。
在一种可行方案中，分割位置位于擦拭件操作位，或进给模块与擦拭件操作位之间。
在一种可行方案中，基站包括分割模块，作用于存储模块与分割位置之间的所述擦拭基材，将自由端与擦拭基材分割以形成擦拭件。
在一种可行方案中，至少基于擦拭基材的自由端到达分割位置，进给模块在擦拭基材的弱连接点的至少一侧锁定擦拭基材，以使自由端通过弱连接点处的拉伸与擦拭基材分割。
在一种可行方案中，进给模块间歇地夹持擦拭基材。
在一种可行方案中，进给模块包括传送轮，传送轮的外轮廓包括至少两种曲率，以使传送轮的表面间歇地接触擦拭基材。
在一种可行方案中，进给模块至少部分地高于擦拭件操作位，使擦拭基材的自由端至少部分地基于重力传递至擦拭件操作位。
在一种可行方案中，擦拭件操作位在大致竖直的方向上延伸，以使擦拭件在重力作用下伸展。
在一种可行方案中，基站包括限位装置，用于检测擦拭件的位置，使进给模块将所述擦拭件传递到擦拭件操作位。
在一种可行方案中，擦拭基材卷绕于转轴，存储模块包括安装架，与转轴配合，以使所述转轴安装于基站。
在一种可行方案中，安装架包括保持转轴安装的第一状态和允许转轴拆卸的第二状态。
在一种可行方案中，基站包括操作模块，作用于擦拭件和/或擦拭板，使擦拭件与擦拭板的装载部结合。
在一种可行方案中，操作模块作用于擦拭件和/或擦拭板，使擦拭件与擦拭板的装载部分离。
在一种可行方案中，操作模块可拆卸地安装于基站。
在一种可行方案中，基站包括擦拭板操作位，用于供清洁机器人安装或分离擦拭板。
在一种可行方案中，擦拭件操作位高于擦拭板操作位，以形成空间供清洁机器人停靠。
在一种可行方案中，基站包括驱动模块，驱动擦拭板在擦拭板操作位和擦拭件操作位之间移动。
在一种可行方案中，擦拭件操作位包括擦拭件安装位和擦拭件分离位，供擦拭板分离或安装擦拭件，驱动模块驱动擦拭板在大致水平方向上移动和/或旋转以使擦拭板移动到擦拭件安装位或擦拭件分离位。
在一种可行方案中，基站包括收纳模块，用于收纳与擦拭板分离的擦拭件。
在一种可行方案中，所述基站包括分离模块，作用于擦拭件和/或擦拭板，使擦拭件与擦拭板的装载部分离。
在一种可行方案中，收纳模块位于擦拭板的移动方向上，使擦拭模块移动至分离模块时压缩收纳模块内的擦拭件。
在一种可行方案中，在至少一个状态下，收纳模块接收擦拭件的开口至少部分地低于所述擦拭件操作位，以使擦拭件至少部分地基于重力作用回收至收纳模块。
在一种可行方案中，收纳模块可拆卸地安装于基站。
在一种可行方案中，基站和清洁机器人上分别设置有通信模块，基站与清洁机器人通信以使基站与清洁机器人协同更换擦拭件。
在一种可行方案中，基站包括充电模块，供所述清洁机器人对接于所述基站时充电。
与现有技术相比，本发明的有益效果是：基站通过连续输出擦拭基材，并对输出的擦拭基材的自由端进行分割形成擦拭件，供擦拭板安装，使得清洁机器人能够在基站内完全自动地实现擦拭件的更换。在现有的清洁机器人自动回归基站充电的基础上，本方 案中清洁机器人自动回归基站更换擦拭件。与传统的清洁机器人相比，清洁机器人在擦拭表面后不仅不需要用户更换擦拭件，也不需要用户对基站和清洁机器人有很多的干预，仅需要将连续的擦拭基材安装到基站，并将清洁机器人分离的已使用的擦拭件扔掉即可。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1至图3为本发明第一实施例中的清洁系统的第一种可行方案的结构示意图；
图4为图1至图3所示的清洁系统包含的清洁机器人配置的清洁模块的结构示意图；
图5为图4所示的清洁模块在一个工作状态下的俯视图；
图6为图5所示的清洁模块的侧视图；
图7和图8为本发明第一实施例的清洁系统的部分结构示意图；
图9为基站的第一种可行方案的结构示意图；
图10为基站的第二种可行方案的结构示意图；
图11至图12为基站的第三种可行方案的结构示意图；
图13为基站的第四种可行方案的结构示意图；
图14为擦拭基材500的安装于基站的一种可行方案的结构示意图；
[根据细则26改正26.05.2020]　
图15a和图15b为基站的第五种可行方案的结构示意图；
图16为基站的第六种可行方案的结构示意图；
图17为基站的第七种可行方案的结构示意图；
图18为基站的第八种可行方案的结构示意图；
图19为基站的第九种可行方案的结构示意图；
图20为基站的第十种可行方案的结构示意图；
图21为基站的第十一种可行方案的结构示意图；
图22为图21所示实施例的基站的部分放大图；
图23为基站的第十二种可行方案的结构示意图；
图24至图26为本发明第一实施例的清洁系统的第二种可行方案的结构示意图；
图27至图29为本发明第一实施例的清洁系统的第三种可行方案的结构示意图；
图30和图31为基站的第十三种可行方案的部分结构示意图；
图32为本发明第一实施例的清洁系统的第四种可行方案的结构示意图；
图33为本发明第一实施例的清洁系统的第五种可行方案的结构示意图；
图34和图35为基站的第十三种可行方案的部分结构示意图；
图36为本发明第一实施例的清洁系统的第六种可行方案的俯视结构示意图；
图37A至图37L为本发明第二实施例中第一种可行方案的基站为清洁机器人更换擦拭件的过程图；
图38A和图38B为擦拭板托盘分别处于展开状态和折叠状态时的结构示意图；
图39A和图39B为装载部分别处于夹紧状态和打开状态时的结构示意图；
图40为操作模块与清洁模块装配的分解结构示意图；
图41A至图43A为操作模块为清洁模块安装擦拭件的过程图；
图41B至图43B分别为图41A至图43A的侧视图；
图41C至图43C分别为图41A至图43A的剖视图；
图44A至图44I为本发明第二实施例中第二种可行方案的基站为清洁机器人更换擦拭件的过程图；
图45为图44A至图44I中平移换位机构的结构示意图；
图46A至图46L为本发明第二实施例中第三种可行方案的基站为清洁机器人更换擦拭件的过程图；
图47为本发明第三实施例中的清洁系统的第一种可行方案的结构示意图；
图48为图47中擦拭件收集机构的结构示意图；
图49为本发明第三实施例的清洁系统的第二种可行方案基站的结构示意图；
图50为图49所示的基站的分解结构示意图；
图51为本发明第四实施例中的基站的立体结构示意图；
图52为清洁机器人位于图51所示的基站内的结构示意图；
图53为夹持机构的结构示意图；
图54为夹持机构处于第一工作状态时基站的结构示意图；
图55为夹持机构处于第二工作状态时基站的结构示意图；
图56为夹持机构处于第三工作状态时基站的结构示意图；
图57为本发明第五实施例中的基站的结构示意图；
图58为图57中基带的结构示意图；
图59为图57中第一卷筒、第二卷筒和基带的结构示意图；
图60为清洁机器人准备进入基站中时的结构示意图；
图61为图60状态下的擦拭件操作位的基带结构示意图；
图62为清洁机器人卸下的清洁件位于基带上结构示意图；
图63为基带将新的清洁件移动到擦拭件操作位结构示意图。
具体实施方式
借由本发明各个实施例所提供的技术方案，清洁机器人在擦拭件更换过程中无需用户干预，即可实现自动更换，擦拭件更换的自动化和智能化程度较高,用户使用体验较佳。
如图1至图63所示，自动清洁系统300包括清洁机器人100和基站200。清洁机器人100包括主体101和安装于主体101的擦拭板(122，1201)，柔性的擦拭件抵附于擦拭板(122，1201)形成擦拭面，使得清洁机器人100在工作表面移动时，擦拭面能够作用于工作表面进行擦拭。
在一个可行方式中，如图1和图14所示，基站200包括存储模块(213，520)，用于存储擦拭基材500。基站200包括进给模块(220，421)，进给模块(220，421)将擦拭基材500的自由端传递至分割位置，使自由端与擦拭基材500本体进行分割，以形成 擦拭件。
在一个可行方式中，擦拭件的长度和宽度与擦拭板(122，1201)的长度和宽度相关，一般的，擦拭件的长度和宽度均大于擦拭板(122，1201)。擦拭件是将擦拭基材500的自由端与擦拭基材500的本体分割得到的。可选的，如图19所示，擦拭基材500由若干个标准长度的擦拭件连接而成的，擦拭件之间的连接强度较小，如：在擦拭件之间设置多个间隔的孔，使擦拭件之间存在连接强度较弱的弱连接点，当弱连接点两侧受力进行拉伸时，擦拭件能够从擦拭基材500上分割出来。可选的，如图23所示，擦拭基材500可以是长度远大于擦拭件，且中间不设置弱连接点的柔性材料组成的。当擦拭基材500安装于基站200后，通过基站200的分割模块280将擦拭基材500的自由端与擦拭基材500的本体分割得到擦拭件。
在一个可行的方式中，如图14所示，擦拭基材500的一端固定于转轴510，以该一端为起点将擦拭基材500卷绕于转轴510。存储模块520包括安装架51，安装架51安装于基站200，安装架51与卷绕擦拭基材500的转轴510进行匹配，以使得转轴510能够安装在安装架51上。可选的，转轴510能够相对于安装架51旋转，当擦拭基材500的自由端在进给模块(220，421)的作用下受力，擦拭基材500带动转轴510相对于安装架51旋转，从而将擦拭基材500的自由端向远处传递。可选的，转轴510安装在安装架51上与安装架51相对固定，安装架51的与转轴510连接的部分可在进给模块(220，421)的驱动下旋转，从而带动转轴510旋转，使擦拭基材500的自由端向远处传递。在这种方式中，进给模块(220，421)包括驱动安装架51旋转的电机。
在一个可行的方式中，安装架51包括第一状态和第二状态，当安装架51处于第一状态，能够将转轴510保持在安装状态，防止其脱离安装架51；当用户需要安装或拆卸转轴510，安装架51处于第二状态，使得转轴510能够脱离安装架51。可选的，安装架51包括相对设置的第一支架和第二支架，分别于转轴510的左端和右端配合，当安装架51处于第一状态，第一支架和第二支架的相对距离较近；当安装架51处于第二状态，第一支架和第二支架的相对距离较远。在一个可行的方式中，安装架51的第一状态为安装于基站的状态，第二状态为拆卸状态，当安装架51处于拆卸状态时，可将转轴510安装于安装架51，或将转轴510从安装架51拆卸。
基站200包括擦拭件操作位(2021，2022，215，217，218，13，4221，420)，供擦拭板(122，1201)安装或分离擦拭件。在一个可行方式中，分割位置包括擦拭件操作位(2021，2022，215，217，218，13，4221，420)。如图46I所示，进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位420，并在擦拭基材500的弱连接点的一 侧锁定。擦拭基材500安装于擦拭板(122，1201)的过程中，对擦拭基材500自由端与擦拭基材500本体产生拉力，从而使擦拭基材500弱连接点一侧的擦拭基材500本体与擦拭基材500另一侧的擦拭基材500自由端分割，形成擦拭件。可选的，当擦拭基材500的自由端达到操作位(2021，2022，215，217，218，13，4221，420)之后，清洁机器人100将擦拭基材500的自由端安装于擦拭板(122，1201)，当清洁机器人100移动时，擦拭基材500的自由端随擦拭板(122，1201)与擦拭基材500的本体产生拉伸，从而与擦拭基材500断开。
在一个可行的方式中，如图46I所示，进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位(2021，2022，215，217，218，13，4221，420)，然后停止传递。在擦拭件安装位(2021，2022，215，217，218，13，4221，420)将擦拭基材500的自由端固定后，进给模块(220，421)将擦拭基材500向相反方向拉伸，使擦拭基材500弱连接点一侧的擦拭基材500本体与擦拭基材500另一侧的擦拭基材500自由端分割，形成擦拭件。
在一个可行的方式中，如图1所示，基站200包括分割模块280，作用于擦拭基材500使其分割。可选的，分割模块280可包括金属刀片或塑料刀片等对擦拭基材500产生作用力使其分离的装置。进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位，然后停止向擦拭件操作位(2021，2022，215，217，218，13，4221，420)传递。擦拭件操作位(2021，2022，215，217，218，13，4221，420)上的擦拭基材500自由端与擦拭基材500本体分别被锁定后，分割模块280作用于擦拭基材500进行分割，形成擦拭件。可选的，分割模块280还可包括激光刀或其他不对擦拭基材500产生作用力而使其分离的装置。进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位(2021，2022，215，217，218，13，4221，420)，然后停止传递。分割模块280在擦拭基材500停止传递后将擦拭基材500自由端与擦拭基材500本体进行分割。
在一个可行的方式中，分割位置包括进给模块(220，421)与擦拭件操作位之间的中间位置，在进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位(2021，2022，215，217，218，13，4221，420)之前，先将擦拭基材500的自由端与擦拭基材500本体进行分割形成擦拭件，进给模块(220，421)再将擦拭件传递至擦拭件操作位(2021，2022，215，217，218，13，4221，420)。
在一个可行的方式中，进给模块(220，421)包括传送轮(2041，278)，可选的由两个传送轮(2041，278)相互夹持，以在旋转过程中将夹持的擦拭基材500向外传递。由于擦拭基材500是柔性的，若擦拭基材500形成了褶皱，传送轮(2041，278)在持续 夹持擦拭基材500进行旋转的过程中无法将褶皱展开，导致擦拭基材500的自由端分割后形成的擦拭件也保持一定的褶皱形态，造成擦拭件不能以平直展开的状态安装于擦拭板。因此，传送轮(2041，278)间歇性地夹持擦拭基材500，使得擦拭基材500在运动过程中间歇性的不受到压力，而自然的展平。可选的，传送轮(2041，278)的外轮廓包括至少两种曲率，如椭圆，使得传送轮(2041，278)在旋转过程时而挤压，时而分离。可选的，传送轮(2041，278)间歇地自动分离，使得传送轮(2041，278)与其接触的另一表面分离。可选的，为了防止在进给模块(220，421)分离时擦拭集采500的自由端掉落，可在存储模块(213，520)设置阻尼，或者在传送轮(2041，278)设置阻尼等。
在一个可行的方式中，如图1和图37所示，进给模块(220，421)至少部分地高于擦拭件操作位，由于进给模块(220，421)将擦拭基材500的自由端传递至擦拭件操作位(2021，2022，215，217，218，13，4221，420)，进给模块(220，421)高于擦拭件操作位(2021，2022，215，217，218，13，4221，420)时，擦拭基材500能够部分地依靠重力移动至擦拭件操作位(2021，2022，215，217，218，13，4221，420)。
在一个可行的方式中，如图44所示，擦拭件操作位(2021，2022，215，217，218，13，4221，420)在大致竖直的方向上延伸，在进给模块(220，421)高于擦拭件操作位(2021，2022，215，217，218，13，4221，420)的基础上，只需要进给模块(220，421)将擦拭基材500向外输出，擦拭基材500就能依靠重力在擦拭件操作位自然地伸展，而不需要其他装置改变擦拭基材500的移动方向，使其与擦拭件操作位(2021，2022，215，217，218，13，4221，420)的延伸方向对应。
在一个可行的方式中，基站200包括限位模块260，用于检测擦拭件的位置，使得擦拭件能够以一个大致准确的长度被分割，并传递到一个大致准确的位置。可选的，限位模块260包括传感器组件261，用于检测检测擦拭件边缘，传感器组件261设置于擦拭件安装位的边界，当传感器组件261检测到擦拭件边缘，说明进给模块(220，421)已经将擦拭件传递至擦拭件操作位，则进给模块(220，421)停止向外传递。可选的，传感器组件261用于检测擦拭件的位置标记，如图19所示，传感器组件261设置于擦拭件操作位的另一边缘，传感器261检测擦拭基材500上设置的位置标记，如擦拭基材500的弱连接点处间隔设置的孔，当传感器组件261检测到位置标记，说明进给模块(220，421)已经将擦拭件传递至擦拭件操作位，则进给模块(220，421)停止向外传递。
在一个可行方式中，如图4-8所示，擦拭板(122，1201)包括装载部(123，127)，擦拭件通过与装载部(123，127)结合固定于擦拭板(122，1201)。具体的，装载部(123，127)可以包括通过机械方式将擦拭件的至少部分边缘夹紧在装载部(123，127)和擦拭 板(122，1201)之间的夹紧结构，或通过粘连擦拭件将擦拭件的至少部分边缘固定于擦拭板(122，1201)。
在一个可行的方式中，自动清洁系统300包括操作模块(125，400)，操作模块(125，400)可选的安装于清洁机器人100的主体101或安装于基站200，也可以部分安装于清洁机器人100的主体101，部分安装于基站200。操作模块(125，400)与基站200的擦拭件操作位(2021，2022，215，217，218，13，4221，420)相对应，当擦拭板(122，1201)和擦拭件均位于擦拭件操作位(2021，2022，215，217，218，13，4221，420)时，操作模块(125，400)可以作用于擦拭板(122，1201)和/或擦拭件，并与擦拭板(122，1201)的装载部(123，127)配合，将擦拭件安装于擦拭板(122，1201)。可选的，操作模块(125，400)可拆卸地安装于清洁机器人100或基站200，以便于维修。可选的，操作模块(125，400)既可以用于将擦拭件安装于擦拭板(122，1201)，又可以用于将擦拭件与擦拭板(122，1201)分离。可选的，如图46所示，操作模块(125，400)仅用于将擦拭件安装于擦拭板(122，1201)，基站200还包括分离模块422，分离模块422作用于擦拭板(122，1201)和/或擦拭件，使擦拭件与擦拭板(122，1201)分离。
在一个可行的方式中，如图1和图51所示，基站200包括收纳模块(211，15，206，240)，用于收纳与擦拭板(122，1201)分离的擦拭件。可选的，收纳模块(211，15，206，240)上的开口供用户将存储擦拭件的袋子放置于收纳模块(211，15，206，240)中，当存储擦拭件的袋子容量不足时，基站200可以检测并提醒用户进行更换。可选的，收纳模块(211，15，206，240)可以拆卸，用户将收纳模块(211，15，206，240)从基站200拆卸后，将收纳模块(211，15，206，240)存储的擦拭件倒掉。
在一个可行的方式中，回收装置270对与擦拭板(122，1201)分离的擦拭件产生作用力，将擦拭件回收至收纳模块(211，15，206，240)中。回收装置270的具体实现方式在下面的实施例中展开叙述。
在一个可行的方式中，如图37-43所示，操作模块400安装于基站200。本实施例中，基站200包括擦拭板操作位(215、2021、2022、2023、218、13)，供清洁机器人100将安装有擦拭件的擦拭板(122，1201)与主体101安装或分离。当清洁机器人100回归基站200，清洁机器人100将安装有擦拭件的擦拭板(122，1201)与主体101分离。基站200包括驱动模块(207、205、412)，驱动模块(207、205、412)将与主体101分离的擦拭板(122，1201)移动至擦拭件操作位(2021，2022，215，217，218，13，4221，420)，使得操作模块(125，400)将已使用的擦拭件与擦拭板(122，1201)分离。可选 的，擦拭件操作位(2021，2022，215，217，218，13，4221，420)高于擦拭板操作位，如图37所示，擦拭件操作位(2021，2022，215，217，218，13，4221，420)和擦拭板操作位之间形成空间供清洁机器人100停放。此方案可以优化基站200在水平方向上的尺寸，使得基站200的结构更加紧凑。
在一个可行的方式中，如图46所示，擦拭件操作位(2021，2022，215，217，218，13，4221，420)包括擦拭件分离位4221和擦拭件安装位420，擦拭件分离位和擦拭件安装位420在基本同一水平面上，使得驱动模块(207、205、412)能够水平方向上驱动擦拭板在擦拭件分离位和擦拭件安装位420之间移动。
在一个可行的方式中，收纳模块(211，15，206，240)用于收纳擦拭件的开口在至少一个状态下低于擦拭件操作位(2021，2022，215，217，218，13，4221，420)，具体的，低于擦拭件分离位217。如图1所示，在一个实施方式中，清洁机器人100在擦拭件分离位217将擦拭件分离，收纳模块(211，15，206，240)设置在擦拭件分离位217的下方，使擦拭件掉落至收纳模块(211，15，206，240)中。在该方式中，擦拭件依靠自身重力相互压缩，使得收纳模块(211，15，206，240)可以收纳更多地擦拭件。如图37所示，在一个实施方式中，收纳模块(211，15，206，240)的开口在一个状态下高于擦拭件分离位217，在另一状态下低于擦拭件分离位217。本实施方式中，收纳模块211可以在高度方向上移动，以在基站200内形成空间供清洁机器人100停靠。当清洁机器人100停靠在基站200内时，收纳模块(211，15，206，240)与基站200底面的距离大于清洁机器人100的高度。可选的，收纳模块(211，15，206，240)由驱动模块(207、205、412)驱动在高度方向上移动，即，驱动模块(207、205、412)同时驱动擦拭板(122，1201)和收纳模块(211，15，206，240)移动。
在一个可行的方式中，收纳模块211位于擦拭板(122，1201)的移动方向上。如图46所示，收纳模块(211，15，206，240)包括回收盒206，驱动模块(207、205、412)驱动擦拭板(122，1201)向回收盒206运动，以在回收盒206内将擦拭件与擦拭板(122，1201)。进一步的，当驱动模块(207、205、412)驱动擦拭板(122，1201)向206运动，擦拭板(122，1201)对回收盒206内的擦拭件进行压缩，以利于回收盒206存放更多的擦拭件。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：
将连续的擦拭基材500的自由端传递到分割位置；
将擦拭基材500的自由端从擦拭基材500断开形成擦拭件；
将擦拭件安装于擦拭板(122，1201)。
其中，将擦拭基材500的自由端从擦拭基材500断开可以与擦拭件安装于擦拭板(122，1201)同时进行，也可以先将擦拭件安装于擦拭板(122，1201)，再将擦拭基材500的自由端从擦拭基材500断开。
具体的，将连续的擦拭基材500的自由端传递到分割位置，包括：通过进给模块(220，421)，将存储模块213存储的擦拭基材500的自由端传递到分割位置。
将擦拭件安装于擦拭板(122，1201)，包括：通过操作模块(125，400)，将擦拭件安装于擦拭板(122，1201)的装载部(123，127)。
将自由端从擦拭基材500断开形成擦拭件，包括：通过进给模块(220，421)对所述擦拭基材500的锁定和/或拉伸，将自由端从擦拭基材500断开形成擦拭件。
将自由端从擦拭基材500断开形成擦拭件，包括：通过分割装置280，将自由端从所述擦拭基材500断开形成擦拭件。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：将擦拭件与擦拭板分离(122，1201)。当擦拭件与擦拭板(122，1201)分离之后，擦拭板通过上述步骤安装新的擦拭件，以实现擦拭件的自动更换。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：将擦拭件与擦拭板(122，1201)分离之前，将擦拭板(122，1201)与清洁机器人100分离。当擦拭板(122，1201)与清洁机器人100分离之后，基站200仅对分离后的带有擦拭件的擦拭板(122，1201)进行操作，使擦拭板更换擦拭件。
在一个可行的方式中，如图37-43所示，自动清洁系统300的控制方法包括以下步骤：将擦拭件与擦拭板(122，1201)分离之前，驱动与清洁机器人分离的所述擦拭板移动至擦拭件操作位(2021，2022，215，217，218，13，4221，420)。本实施方式中，擦拭板(122，1201)与清洁机器人100的分离在擦拭板操作位完成，擦拭件与擦拭板(122，1201)的分离在擦拭件操作位(2021，2022，215，217，218，13，4221，420)完成。因此，当擦拭板(122，1201)与清洁机器人100分离后，驱动模块(207、205、412)将擦拭板(122，1201)从擦拭板操作位移动至擦拭件操作位(2021，2022，215，217，218，13，4221，420)，然后完成擦拭件的更换。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：在擦拭件安装于擦拭板(122，1201)之后，将擦拭板(122，1201)安装于所述清洁机器人100。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：将擦拭板(122，1201)与清洁机器人100分离后，清洁机器人100向第一方向移动预设距离。如图37-43所示，由于擦拭件操作位(2021，2022，215，217，218，13，4221，420)位于擦拭板 操作位的上方，当擦拭板(122，1201)与清洁机器人分离后，驱动模块(207、205、412)将擦拭模块从擦拭板操作位驱动至擦拭件操作位(2021，2022，215，217，218，13，4221，420)。若清洁机器人100停留在擦拭板操作位，清洁机器人100的主体101会阻碍驱动模块(207、205、412)带动拖布板(122，1201)在竖直方向上移动。因此，清洁机器人100向第一方向移动，优选的第一方向清洁机器人100移动方向的相反方向，为拖布板(122，1201)的移动腾出空间。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：如图44所示，清洁机器人100向第一方向移动预设距离后，将擦拭板(122，1201)安装于所述清洁机器人100。本实施方式中，基站200包括擦拭板安装位2022和擦拭板分离位2021，当清洁机器人100在擦拭板分离位2021将擦拭板(122，1201)分离之后，清洁机器人向第一方向移动到达擦拭板安装位，优选的第一方向为清洁机器人100移动方向的相反方向。
如图44所示的为擦拭板安装位和擦拭板分离位分离设置的实施例，在该实施例中，擦拭板(122，1201)与清洁机器人100的分离和安装分别在不同的完成。当然，在某些实施例中，擦拭板安装位和擦拭板分离位可以为同一个位置，即擦拭板(122，1201)与清洁机器人100的分离和安装在同一个位置完成，如图1至图36、图37、图46、图58至63所示的实施例中。在这些实施例中，擦拭板操作位既作为擦拭板安装位，又作为擦拭板分离位。
在一个可行的方式中，自动清洁系统300的控制方法包括以下步骤：如图37所示，本实时方式中，基站200的擦拭板操作位供清洁机器人100在同一位置实现擦拭板(122，1201)的分离和安装，将擦拭件安装于擦拭板(122，1201)后，清洁机器人100向第二方向移动预设距离回到擦拭板操作位，将擦拭板(122，1201)安装于清洁机器人100，第一方向与第二方向相反。
如图1至图36所示，为本发明第一实施例所涉及的附图。图1至图3为该实施例中清洁系统300的第一种可行方案的结构示意图，其包括清洁机器人100和基站200。清洁机器人100可以是自动拖地机，或自动拖扫一体机，或自动扫地机等。清洁机器人100在工作区域内工作，完成拖地、扫地等任务，在需要回归基站200的时候，如检测到擦拭件需要更换时或者清洁机器人100需要充电时，启动回归程序，清洁机器人100回归到基站200完成擦拭件自动更换或充电。
如图1所示，清洁机器人100包括主体101、设于主体101底部用于在工作表面带动主体101移动的移动模块。移动模块包括行走轮110，可以理解的是，移动模块也可以包括履带结构。清洁机器人100还包括清洁机构，在本实施例中，清洁模块120作为 清洁机构，清洁机器人100通过清洁模块120在工作表面执行拖地工作。在其他实施例中，该清洁机器人100的清洁机构还可以包括滚刷、边刷，用于清洁地面、墙角等的尘屑等杂物，通过边刷将杂物相对集中于滚刷处理，并将尘屑收集至集尘盒。
清洁机器人100还包括动力机构、动力源和传感器系统。动力机构包括电机以及与电机连接的传动机构，传动机构与移动模块连接，电机驱动传动机构工作，传动机构的传动作用使得移动模块运动。其中，传动机构可以是蜗轮蜗杆机构、锥齿轮机构等。
清洁机器人100的动力源设置为给清洁机器人100提供能量，向动力机构提供动力使得清洁机器人100能够移动及执行工作。动力源通常设置为电池包，当电池包能量消耗达到阈值时，清洁机器人100自动返回基站200补充能量，充电结束后继续进行工作。
清洁机器人100的传感器系统包括悬崖传感器，检测到悬崖存在改变行走策略；侧边传感器，检测到工作区域的侧边产生沿边行走的策略；倾斜传感器，检测到机器发生倾斜时改变工作策略以及向用户发出指示；以及其他各种常见的传感器，此处不再赘述。
清洁机器人100还包括控制模块，可以是嵌入式数字信号处理器、微处理器、特定集成电路、中央处理器或者现场可编程门阵列等。控制模块可根据预设条件或根据清洁机器人100接收到的指令控制清洁机器人100的工作。具体地，控制模块可以控制移动模块在清洁机器人100的工作区域内随机行走或按照预设的行走路径行走，在移动模块带动清洁机器人100行走的同时，清洁机构工作，从而将工作区域表面的污渍、尘屑等处理干净。
本实施例中，清洁模块120安装擦拭件，用于擦拭工作表面上的灰尘或附着于工作表面的污渍。擦拭基材500可分割为至少两个擦拭件，擦拭件为片状，厚度小于0.5cm,包括棉、麻等天然织物或聚酯纤维、尼龙纤维等化工织物，或橡胶、木浆棉等海绵制品，原木浆、脱脂棉等纸制品，及前述合成制品等柔软的一次性用品。在一个实施例中，擦拭件能够通过与工作表面的摩擦产生静电，如静电纸，从而吸附头发等工作表面的灰尘。在一个实施例中，擦拭件具有吸水功能且能在一段时间内保持擦拭件的完整性。
本实施例中，基站200包括存储装置，用于存储擦拭基材500。存储装置包括收纳模块211和存储模块213，收纳模块211用于存储已使用的擦拭件，存储模块213用于存储待使用的擦拭基材500。
如图2所示，基站200包括擦拭件分离位217和擦拭件安装位215。当清洁机器人100回归基站200，移动到擦拭件分离位217，使得清洁机器人100安装的擦拭件位于擦拭件分离位217上方，可将已使用的擦拭件分离，分离后的擦拭件进入收纳模块211。
如图3所示，当清洁机器人100在擦拭件分离位217分离了擦拭件后，后退至擦拭 件安装位215。本实施例中，基站200包括进给模块220，用于将存储模块213内的擦拭件导出至擦拭件安装位215，以供清洁机器人100安装。在进给模块220的作用下，擦拭件从存储模块213导出，且以大致平行于擦拭件安装位215的方向移动到擦拭件安装位215，尽可能保持擦拭件平整。
由于存储模块213中的擦拭基材500是连续的，当擦拭件安装位215上的擦拭件长度满足预设长度后，进给模块220停止工作。基站200还包括限位模块260，用于检测擦拭件安装位215上擦拭件的长度，控制模块根据限位模块260的检测结果控制进给模块220。本实施例中，擦拭件分离位217与擦拭件安装位215在基站200的不同位置上。在其他实施例中，擦拭件分离位217与擦拭件安装位215可以部分或完全重合。
可选的，基站200包括展平模块250。由于擦拭件较为柔软，易褶皱，当进给模块220将擦拭基材500的自由端导出后，为了便于清洁机器人100正常安装擦拭件，擦拭件需要保持较为平整的状态，展平模块250则通过气流、压杆等方式保持擦拭件的平整。
可选的，基站200包括分割模块280，用于分离擦拭件安装位215上的擦拭基材500自由端与存储模块213中的擦拭基材500。为了保证存储模块213中的擦拭基材500在用户安装完毕后能够在进给模块220的作用下继续导出，存储模块213中存储的擦拭基材500是连续的。若限位模块260检测到的擦拭件长度满足预设长度，需要将擦拭件安装位215上的擦拭基材500自由端与存储模块213中的擦拭基材500分离开。
一种情况下，存储模块213中连续的擦拭基材500是由若干个标准长度的擦拭件连接而成的，且连接强度较小，清洁机器人100在安装擦拭件的过程中可以将擦拭件自然分离。另一种情况，当擦拭件安装位215上的擦拭件满足预设长度，分割模块280工作使擦拭基材500的自由端与本体分离。
本实施例中，擦拭件安装位215包括远离存储模块213的第一位置和靠近存储模块213的第二位置。当擦拭件到达第二位置，则说明擦拭件安装位215上的擦拭件长度满足预设长度要求，控制模块可控制进给模块220停止工作。存储模块213包括出口2111，出口2111的宽度大于擦拭件宽度。进给模块220从出口2111将擦拭基材500导出到擦拭件安装位215。可选的，存储模块213包括可枢转的盖体2113，供用户打开以更换擦拭基材500。收纳模块211包括出口，供用户打开以将收纳模块211中存储的已使用的擦拭件处理掉。可选的，收纳模块211包括垃圾袋收纳结构，用户可将垃圾袋装入收纳模块211，已使用的擦拭件直接存储于垃圾袋中，用户可直接从出口将垃圾袋取出。
在一个实施例中，存储模块213设有平行于地面的安装架51，安装架51两端由轴承支撑。相应的，存储模块213可存储的擦拭基材500形式为卷筒式擦拭基材500，包 括圆柱状中空滚动体，包裹有长度远远大于单次使用所需的擦拭基材500。用户可将中空滚动体穿过安装架51安装于存储模块213内，使得中空滚动体能够绕着安装架51旋转。
在一个实施例中，移动模块包括辅助轮102。当清洁机器人100回归基站200，清洁模块120被抬起，辅助轮102降下，移动模块带动清洁机器人100进入基站200。在清洁机器人100启动擦拭件安装程序前，保持清洁模块120的抬升状态。当清洁机器人100启动擦拭件安装程序，辅助轮102抬起，清洁模块120下降至擦拭件安装位215完成擦拭件安装。
如图4所示，清洁模块120包括获取单元121，用于获取新擦拭件或分离旧擦拭件，从而在无需用户干预的状态下进行擦拭件更换。如图4所示，本实施例中，获取单元121包括擦拭板122和夹持组件123。夹持组件123包括外部夹持构件1231和内部夹持构件1233，通过传动组件125安装于擦拭板122。
传动组件125包括第一水平齿轮1251、第二水平齿轮1253和中间齿轮1255。外部夹持构件1231为两个，分别设在擦拭板122相对的两侧。第一水平齿轮1251、第二水平齿轮1253分别与两个外部夹持构件1231固定连接，使得第一水平齿轮1251、第二水平齿轮1253和两个外部夹持构件1231同时运动。第一水平齿轮1251和第二水平齿轮1253通过中间齿轮1255啮合起来，始终向相反方向做往复运动。第一水平齿轮1251与外部夹持构件1231连接，使得第一水平齿轮1251和外部夹持构件1231同时往复运动。中间齿轮1255由电机驱动，当中间齿轮1255向第一方向旋转时，第一水平齿轮1251和第二水平齿轮1253同时向内侧收缩，带动两个外部夹持构件1231向内侧收缩。外部夹持构件1231向内侧收缩时，内部夹持构件1233也向内收缩。弹簧构件(图未示)与内部夹持构件1233连接，在内部夹持构件1233向内收缩的状态下弹簧构件成压缩状态。当电机带动中间齿轮1255向第二方向旋转时，弹簧构件的压缩力向外侧推压，连接到其上的内部夹持构件1233也一起向外侧分离。
在一个实施例中，第二水平齿轮1253的端部上设有弹簧(图未示)，并且当第一水平齿轮1251往复运动时，弹簧反复压缩和松弛。在中间齿轮1255带动第一水平齿轮1251向内运动的情况下，弹簧被压缩，外部夹持构件1231夹持擦拭件。在中间齿轮1255带动外部第一水平齿轮1251向外运动的情况下，利用被压缩的弹簧的压缩力使外部夹持构件1231向外部侧分离开，释放夹在内部夹持构件1233和外部夹持构件1231之间的擦拭件。在其他实施例中，在第二水平齿轮1251的端部也可以设有弹簧，从而形成两倍压缩力。
如图5和图6所示，当清洁机器人100移动到基站200获取擦拭件时，擦拭件会在获取单元121的作用下可拆卸地固定于清洁机器人100。当中间齿轮1255向第一方向(如图5所示意的顺时针方向)旋转时，外部夹持构件1231水平向内移动，外部夹持构件1231的棘爪带动擦拭件的两侧向内移动，使得擦拭件靠近棘爪的部分向上隆起。当外部夹持构件1231与内部夹持构件1233接触时，向上隆起的擦拭件被夹持在两者之间。内部夹持构件1233的内侧包括斜面，当外部夹持构件1231带动内部夹持构件1233进一步向内运动时，内部夹持构件1233的斜面与擦拭板122相抵，使得内部夹持构件1233沿斜面方向运动，并带动外部夹持构件1231沿斜面方向运动。相应的，外部夹持构件1231与内部夹持构件1233之间的擦拭件也随之向上运动，擦拭板122下方的擦拭件被张紧。当中间齿轮1255无法继续旋转之后，外部夹持构件1231与内部夹持构件1233达到张紧位置。此时，擦拭件已经最大程度地张紧并夹紧在外部夹持构件1231与内部夹持构件1233之间，不容易在工作过程中脱落。
如图7和图8所示，在一个实施例中，清洁机器人100的获取单元121包括擦拭板122和粘贴组件127，粘贴组件127安装于擦拭板122的两侧。当擦拭件与粘贴组件127接触时，即可相对稳定地粘连于粘贴组件127，使得擦拭件安装于擦拭板122。具体的，粘贴组件127可以是魔术贴等与擦拭件可拆卸连接的装置。
基站200包括操作模块290，用于辅助擦拭件安装于清洁机器人100上。操作模块290设于擦拭件安装位215下方，包括第一压板和第二压板。当清洁机器人100到达擦拭件安装位215时，第一压板和第二压板向上枢转，将其上的擦拭件压附于粘贴组件127。
如图8所示，本实施例中，第一压板和第二压板分别安装于第一齿轮和第二齿轮，第一齿轮与第一齿条配接，第二齿轮与第二齿条配接，第一齿条与第一齿条相连，向同一方向运动。具体的，第一齿轮的齿芯相对固定地安装于基站200，第一齿轮可相对于齿芯旋转。第二齿轮同理。第一齿轮安装在第一齿条上方，第二齿轮安装在第二齿条下方。当第一齿条和第二齿条向第一齿条方向移动时，第一齿轮顺时针旋转，从而带动第一压板顺时针旋转。而第二齿轮逆时针旋转，从而带动第二压板逆时针旋转。为了与第一压板和第二压板的作用面相匹配，擦拭板122的相应两侧为斜面，即粘贴组件127设于擦拭板122的两个斜面上，从而与第一压板和第二压板贴合。
如图9所示，进给模块220包括滚轮组件221。本实施例中，滚轮组件221包括主动滚轮和从动滚轮，电机带动主动滚轮以第一方向转动，从而带动从动滚轮以第二方向旋转。擦拭基材500的自由端夹在滚轮组件221之间，主动滚轮和从动滚轮之间的压力形成对擦拭基材500的摩擦力，从而带动擦拭基材500离开中空滚动体，到达擦拭件安 装位215。在其他所实施例中，滚轮组件221可以包括2个以上的滚轮，如两组相互配合的滚轮，擦拭基材500在两组滚轮的带动下导出，可以提供更大的牵引力。在其他实施例中，滚轮组件221可以包括1个滚轮，滚轮作用于基站200的一个表面，利用对擦拭基材500的摩擦力，在滚轮转动的同时带动擦拭基材500的自由端导出。
如图10所示，展平模块250包括风机251。当进给模块220工作时，控制模块控制风机251工作，风机251的出风口朝向第一位置，使得风机251出风口气体的流向大致为从第二位置到第一位置，擦拭件在气流的带动下朝向第一位置移动。进一步的，由于风机251出风口的气流在平行于擦拭件的方向对擦拭件产生了作用力，使得擦拭件保持水平方向的展开状态。
在一个实施例中，风机251进风口所在腔体与擦拭件安装位215空气连通，出风口朝向基站200外侧。当擦拭件导出到擦拭件安装位215后，擦拭件安装位215附近的气体向风机251内流动，从而在擦拭件安装位215产生负压，将擦拭件吸附于擦拭件安装位215，从而不易受到外力影响，能够以较为稳定的状态停留在擦拭件安装位215，等待清洁机器人100安装。
如图11所示，风机251的进风通道包括两个，第一进风通道直接与基站200外连通，不对基站200的其他模块产生影响，第二进风通道与擦拭件安装位215连通。两个进风通道与风机251的进风口之间安装有阀门，如三通阀。风机251的出风口沿擦拭件导出方向作用于擦拭件。在擦拭件导出过程中，风机251的进风口与第一进风通道连通，控制模块控制阀门将第二进风通道封闭，在风机251的辅助下将擦拭件导出到擦拭件安装位215。如图12所示，当擦拭件到达擦拭件安装位215后，风机251的进风口与第二进风通道连通，控制模块控制阀门将第一进风通道封闭。擦拭件安装位215在风机251的作用下产生负压，将擦拭件吸附在擦拭件安装位215上。
如图13所示，展平模块250包括同步带组件253，具体包括前轮和后轮，以及绕设于前轮和后轮的同步带，前轮或后轮带动同步带移动。当进给模块220将擦拭件导出到前轮位置后，同步带带动擦拭件向第一位置移动。本实施例中，为了使同步带对擦拭件起到更好的带动作用，在同步带上设有毛毡，毛毡与擦拭件接触后产生较大的摩擦力，辅助擦拭件向第一位置移动。并且，当擦拭件到达擦拭件安装位215之后，擦拭件在毛毡的作用下不会轻易移动，防止擦拭件褶皱。
如图15所示，展平模块250包括压杆255，压杆255作用于擦拭件并向第二位置移动，使得擦拭件随着压杆255的运动张紧。本实施例中，压杆255与四连杆组件257连接，四连杆组件257包括机架、连杆和曲柄，机架固定于基站200，高度方向上与擦拭 件安装位215的第二点重合。连杆在曲柄的带动下在高度方向和水平方向上运动，压杆255通过扭簧与连杆连接。当连杆位于位置A时，压杆255位于高度方向上的最高点，与擦拭件安装位215不接触。当连杆位于位置B时，压杆255与擦拭件安装位215接触。当连杆位于位置C时，压杆255在连杆的带动下达到最低点，扭簧对压杆255产生压力，从而对擦拭件安装位215上的擦拭件产生压力。当连杆位于位置D时，压杆255向第二位置移动，从而牵引压杆255与擦拭件安装位215之间的擦拭件向第二位置运动。本实施例中，擦拭件安装位215的第二位置设有一个凹槽2150，使得压杆255被扭簧向下压入凹槽2150，牵引擦拭件向下实现张紧。当清洁机器人100安装完成，则控制连杆向上运动到位置E，压杆255离开擦拭件安装位215。
如图16所示，压杆255安装于同步带组件253，与同步带组件253实现同步运动。当擦拭基材500自由端从存储模块213导出至第一位置，同步带组件253逆时针转动使得压杆255向下移动至位置a。当压杆255位于最低位置时，压杆255对擦拭基材500形成压力，压杆255在同步带组件253的带动下向位置b移动，从而带动擦拭基材500移动。当压杆255到达位置c时，擦拭基材500也到达第二位置等待清洁机器人100安装，并且擦拭基材500在压杆255的作用下实现张紧。当清洁机器人100安装完毕后，同步带组件253继续运动，将压杆255抬起。
如图17所示，限位模块260包括传感器组件261，用于检测擦拭件安装位215上导出的擦拭件长度，具体可以包括光电传感器或霍尔传感器等。本实施例中，传感器组件261安装于擦拭件安装位215的第二位置，当传感器组件261在第二位置检测到擦拭件时，说明擦拭件导出的长度达到预设长度要求，控制模块控制进给模块220停止工作。
如图18所示，传感器组件261安装于滚轮组件221，用于检测滚轮组件221转动的角度。传感器组件261可以包括角位移传感器等。由于擦拭基材500自由端是在滚轮组件221的带动下导出到擦拭件安装位215，在不打滑的情况下，滚轮组件221转动的一圈的周长与相应的擦拭件导出长度是一致的。因此，通过检测滚轮组件221转动的角度可以计算擦拭件的导出长度。若传感器组件261检测到的滚轮转动的角度达到预设角度，则说明擦拭件导出的长度达到预设长度要求，控制模块控制滚轮组件221停止工作。
如图19所示，存储模块213存储的擦拭基材500可以为多个标准长度的擦拭件连接而成的，每个擦拭件之间的连接强度较小，便于断开。本实施例中，每个擦拭件之间存在多个透光孔.因此，可以通过检测透光孔检测擦拭基材500自由端的导出长度。传感器组件261安装于第二位置，若传感器组件261检测到透光孔，说明擦拭基材500自由端导出的长度达到预设长度要求，控制模块控制进给模块220停止工作。本实施例中，传 感器组件261包括光发射器和光接收器，当光接收器通过擦拭件之间的透光孔检测到光发射器发射的光时，传感器组件261输出信号，控制模块根据传感器组件261输出的信号控制进给模块220停止工作。
如图20所示，限位模块260包括传感器组件263，用于检测存储模块213内擦拭基材500的存储余量。当存储余量小于预设余量时，控制模块提醒用户更换，防止清洁机器人100回到基站200无法正常安装新擦拭件。传感器组件263可以包括微动开关或霍尔元件或光耦元件等。本实施例中，传感器组件263设于安装架51与擦拭件安装位215之间。由于擦拭基材500余量足够的情况下能够连续导出，若传感器组件263没有检测到擦拭基材500，则剩余擦拭基材500长度小于可使用长度或小于建议长度，需要提醒用户更换。本实施例中，基站200上安装有提示灯或蜂鸣器等，控制模块控制提示灯或蜂鸣器工作，达到提醒用户的目的。在其他实施例中，基站200可与用户设备进行通信，若传感器组件263没有检测到擦拭基材500，控制模块发送提示信息至用户设备。
如图21所示，传感器组件263用于检测擦拭基材500的高度，从而检测擦拭基材500的存储余量。对于卷筒式的擦拭基材500而言，擦拭基材500在中空滚动体上包裹的圈数越多，高度越高。因此预设余量的擦拭基材500对应了一个预设高度。若擦拭基材500的高度低于预设高度，则剩余擦拭基材500长度小于建议长度，需要提醒用户更换。
在一个实施例中，传感器组件263用于检测卷筒式擦拭基材500的重量，从而检测擦拭基材500的存储余量。本实施例中，传感器组件263安装于卷筒式擦拭基材500的安装架51上。由于存储模块213内卷筒式擦拭基材500的重量随着擦拭基材500的减少而减少，因此当擦拭基材500的重量小于预设重量，或当擦拭基材500的重量与初始重量的比值小于预设比值时，则剩余擦拭基材500长度小于建议长度，需要提醒用户更换。
在一个实施例中，控制模块对传感器261输出的信号进行计数，每一次擦拭件导出的长度达到预设长度要求，计数加1。当计数值大于等于预设值时，说明存储模块213内的存储余量小于预设余量，控制模块提醒更换。
如图21所示，在一个实施例中，限位模块260包括传感器组件265，传感器组件265安装于收纳模块211。本实施例中，传感器组件265安装于收纳模块211高度方向的上方，检测收纳模块211中的擦拭件是否到达安装位置。可以理解的是，收纳模块211中的擦拭件数量越多，高度越高。因此，当传感器组件265检测擦拭件到达安装位置时，发出提示信号，提示用户将收纳模块211中的擦拭件处理掉。在其他实施例中，传感器组件265可以用于检测收纳模块211的重量等参数，通过设置阈值提醒用户进行处理。
如图2所示，在一个实施例中，擦拭件分割模块280包括切割装置281和传动装置283。当擦拭基材500自由端导出长度达到预设长度时，控制模块通过传动装置283控制切割装置281接触并作用于擦拭基材500，从而切断擦拭基材500。本实施例中，切割装置281包括安装于刀片架的刀片，传动装置283包括凸轮，刀片架下方与凸轮接触，凸轮在电机的作用下旋转，使得刀片架在高度方向上移动。刀片架上方与弹簧连接，弹簧提供使刀片架向下移动的力，保持刀片架压紧于凸轮。控制模块通过控制电机带动凸轮绕电机输出轴旋转，由凸轮变化的直径对刀片架形成向上的推力，从而控制刀片架在高度方向上移动，使得刀片接触或不接触擦拭基材500。
如图22所示，在一个实施例中，切割装置281安装在存储模块213内。由于切割装置281包括刀片等锋利的切割装置，为了保证用户安全，存储模块213的出口2111的宽度小于等于3cm，防止用户伸入存储模块213接触到切割装置281。在一个实施例中，切割装置281安装在存储模块213外，为了保证用户安全，需要设置额外的保护罩，该保护罩包括出口，该出口的宽度小于等于3cm。
如图23所示，切割装置281在水平方向上移动，切割装置281底部可与擦拭件安装位215接触。本实施例中，传动装置283包括水平导轨，切割装置281安装于滑块，随着滑块在导轨中的移动，切割装置281可在水平方向上移动。当进给模块250工作时，切割装置281偏置于一侧。当擦拭基材500自由端导出长度达到预设长度时，控制模块控制切割装置281向擦拭基材500宽度方向上的另一侧水平移动，从而切断擦拭基材500。本实施例中，刀片为圆形，可枢转地安装在滑块上，当滑块移动时，刀片与擦拭基材500产生摩擦，从而产生旋转。在其他实施例中，其他形状的刀片也可以在滑块的带动下将擦拭基材500切断。
如图1所示，在一个实施例中，收纳模块211向上开口，擦拭件分离位217位于收纳模块211的上方。当清洁机器人100移动到擦拭件分离位217，清洁模块120分离擦拭件，使得擦拭件直接掉落到收纳模块211中。本实施例中，擦拭件分离位217与擦拭件安装位215不重合，且擦拭件分离位217位于清洁机器人100移动方向上的前侧。当清洁机器人100分离擦拭件后，可退回到擦拭件安装位215进行擦拭件安装，完成安装后可退出基站200进行清洁工作。
如图24至图26所示，在一个实施例中，基站200包括擦拭件回收模块270，用于将擦拭件分离位217上的擦拭件回收到收纳模块211中。本实施例中，擦拭件回收模块270安装于收纳模块211。擦拭件回收模块270包括收纳件271，以及与收纳件271连接的转轴273，转轴273可枢转的安装于收纳模块211的一侧。当转轴273向下旋转，使 收纳件271的第一面朝上。此时，收纳件271位于第一回收位，收纳件271的第一面用于接收已使用的旧擦拭件。第一回收位与擦拭件分离位217重合或部分重合。清洁机器人100的清洁模块120移动到擦拭件分离位217后，将擦拭件分离，使得擦拭件掉落于收纳件271的第一面上。当清洁机器人100分离擦拭件，并离开擦拭件分离位217后，控制模块控制转轴273向上枢转，收纳件271与转轴273同步枢转。当转轴273枢转到达最大角度时，收纳件271的第一面朝下。此时，收纳件271位于第二回收位，收纳件271上的擦拭件掉落，进入收纳模块211中。可以理解的是，本实施例中，收纳模块211的开口位置高于擦拭件分离位217，通过擦拭件回收模块270在高度方向上的枢转实现擦拭件回收。
在一个实施例中，擦拭件分离位217与擦拭件安装位215重合或部分重合，而擦拭件回收模块270工作时在高度方向上存在位移，则清洁机器人100回归基站200更换擦拭件的步骤如下：
S1：清洁机器人100移动到擦拭件安装位215，使得获取单元121与擦拭件分离位217对准；
S2：清洁机器人100分离擦拭件；
S3：清洁机器人100移动至擦拭件分离位217以外；
S4：基站200回收擦拭件；
S5：基站200导出新擦拭件至擦拭件安装位215；
S6：清洁机器人100移动至擦拭件安装位215；
S7：清洁机器人100安装擦拭件。
如图27至图29所示，在一个实施例中，擦拭件回收模块270包括收纳件271和升降组件275，收纳件271安装于升降组件275，使其能随着升降组件275在高度方向上移动。当收纳件271在升降组件275的最低点时，收纳件271位于第一回收位。本实施例中，第一回收位与擦拭件分离位217重合或部分重合。清洁机器人100的清洁模块120移动到擦拭件分离位217后，将擦拭件分离，使得擦拭件下落到收纳件271。当清洁机器人100分离已使用擦拭件，并离开擦拭件分离位217后，升降组件275带动收纳件271抬升，并继续带动其向收纳模块211旋转，使得收纳件271的第一面朝下。此时，收纳件271位于第二回收位，擦拭件掉落进入收纳模块211中。本实施例中，升降组件275包括同步带。当收纳件271在同步带的作用下达到最高点时，同步带继续运动，则收纳件271随同步带一起旋转，到达第二回收位。在其他实施例中，升降组件275也可以是滑杆等装置。
如图30和图31所示，擦拭件回收模块270包括拨杆277，安装于擦拭件分离位217上，在水平方向上枢转。当清洁机器人100分离已使用擦拭件，拨杆277向收纳模块211方向枢转，使得擦拭件分离位217上的擦拭件在拨杆277的作用下进入收纳模块211。本实施例中，收纳模块211的开口与擦拭件分离位217在高度方向上等高，或收纳模块211的开口低于擦拭件分离位217；且擦拭件回收模块270与收纳模块211相邻，当拨杆277向收纳模块211旋转，擦拭件即可掉落进入收纳模块211。本实施例中，擦拭件安装位215可与擦拭件分离位217重合，且清洁机器人100分离擦拭件后可不作移动，等待基站200完成旧擦拭件的回收并导出新擦拭件后进行安装，然后退出基站200。
如图32所示，擦拭件回收模块270包括风机279，风机279安装于收纳模块211内。收纳模块211包括朝向擦拭件分离位217的入口2701，风机279工作时，擦拭件安装位215附近的气流从入口2701进入风机279。收纳模块211包括出口2703，风机279工作时流出的气体从出口2703排出。出口2703的位置可以设置在收纳模块211的上方，或其他不影响基站200工作的方向上。当风机279工作时，收纳模块211内的空气在风机279的作用下被排出，收纳模块211内形成负压，使得擦拭件分离位217上的擦拭件从入口2701进入收纳模块211内。擦拭件回收模块270还包括安装在风机279与入口2701之间的过滤装置274，将空气中较大的颗粒物滤除，以避免损坏风机279。并且，擦拭件在风机279的作用下可能会在收纳模块211内部向上运动，过滤装置274能够防止擦拭件遮住风机279的进风口。
在一个实施例中，擦拭件分离位217与擦拭件安装位215重合，且擦拭件回收模块270工作时在高度方向上没有位移。也就是说，当清洁机器人100位于擦拭件分离位217，擦拭件回收模块270工作时基站200与清洁机器人100互不影响，清洁机器人100在分离擦拭件可等待擦拭件回收模块270完成擦拭件回收，且进给模块250导出擦拭件，然后进行擦拭件安装，整个过程无需移动。则清洁机器人100回归基站200更换擦拭件的步骤如下：
S10：清洁机器人100移动到基站200，使得获取单元121与擦拭件分离位217对准；
S20：清洁机器人100分离擦拭件；
S30：基站200回收擦拭件；
S40：基站200导出擦拭件至擦拭件安装位215；
S50：清洁机器人100安装擦拭件。
如图33所示，收纳模块211设于擦拭件分离位217下方，擦拭件回收模块270包括滚轮组件278，包括由电机驱动的主动滚轮和由主动滚轮带动旋转的从动滚轮。本实施 例中，主动滚轮顺时针旋转，从动滚轮逆时针旋转。当擦拭件位于擦拭件分离位217时，主动滚轮和从动滚轮与擦拭件直接接触，擦拭件在滚轮278的作用下从中间折叠并向下运动。当滚轮278进一步旋转，擦拭件即进一步向下掉落到收纳模块211中。在一个实施例中，由于收纳模块211设于擦拭件分离位217下方，若基站200底面与清洁机器人100的工作表面在同一水平面上，擦拭件分离位217则高于清洁机器人100的工作表面。因此，擦拭件分离位217所在表面为斜面，便于清洁机器人100从工作表面移动到擦拭件分离位217。本实施例中，擦拭件分离位217与擦拭件安装位215为同一位置，即清洁机器人100可在移动到擦拭件安装位215/擦拭件分离位217后，在同一位置完成擦拭件分离及安装。
如图34和图35所示，基站200包括接口201，用于安装手持吸尘器的挂架，通过接口201将手持吸尘器集成于基站200。对于使用清洁机器人100的同时，使用手持吸尘器或其他手持设备的用户，接口201的设置能从高度方向上扩展存储空间，提高空间利用率。
如图36所示，以清洁机器人100的移动方向为长度方向，垂直于工作表面的方向为高度方向，垂直于长度方向和高度方向的方向为宽度方向。在一个实施例中，擦拭板122的宽度小于擦拭件的宽度，使得擦拭件宽度方向上的两侧能够被固定于擦拭板122，从而实现擦拭件的安装。在其他实施例中，为了清洁机器人100主体101的宽度等于或略大于擦拭板122的宽度，使得清洁机器人100的宽度小于擦拭件的宽度，提高清洁机器人100的紧凑度。
在一个实施例中，收纳模块211的宽度大于擦拭件的宽度，从而保证擦拭件能够平整地存放于收纳模块211内。也就是说，基站200的宽度大于擦拭件的宽度。在一个实施例中，清洁机器人100的宽度小于基站200的宽度。
如图37A至图46L所示，为本发明第二实施例所涉及的附图。在该第二实施例的技术精髓的指引下，衍生出三种不同的技术方案，分别为如图37A至图37L所示的第一种方案、如图44A至图44I所示的第二种方案以及如图46A至图46L所示的第三种方案。
该第二实施例具体提供了一种供清洁机器人100装配或携带的清洁模块120、与该清洁模块120配合使用以便为清洁模块120更换擦拭件的操作模块400、包含或配置该操作模块400的基站200，以及运用或配置该基站200的清洁系统300。在一个可行的实施例中，清洁机器人100可与上文第一实施例中的清洁机器人完全相同，在此不作赘述。
如图37A所示，在第一种方案中，清洁机器人100的主体101底部可设有位于行走轮110和辅助轮102之间的、用于连接清洁模块120的连接机构(未示出)。主体101内 还可设置驱动连接机构上下运动进而带动清洁模块120上升或下降的升降机构，该升降机构可采用已知的凸轮结构。主体101的顶部可设有与控制模块连接探测元件例如激光扫描模块，用于检测清洁机器人100行走方向的前方是否有障碍物。当探测元件检测到清洁机器人100行走方向的前方存在障碍物时，控制模块控制升降机构将清洁模块120抬起，辅助轮102放下。此时，清洁机器人100处于越障模式。当清洁机器人100越过障碍物之后，控制模块再控制升降机构将清洁模块120放下，辅助轮102收起。此时，清洁机器人100处于工作模式，即可进行清洁作业。
连接机构与清洁模块120可拆卸连接，当清洁机器人100工作一定时间后，擦拭件变脏。则控制模块可控制清洁机器人100移动至基站200，随后清洁机器人100将清洁模块120卸下释放至基站200中。随后，由基站200对清洁机器人100卸下的清洁模块120更换擦拭件，具体包括：将清洁模块120上原本携带的脏擦拭件卸下，并为清洁模块120换上新的或干净的擦拭件。
如图39A和图39B所示，在本发明一个实施例中，清洁模块120可包括擦拭板1201以及与擦拭板1201转动连接的装载部1202，擦拭件可被夹持在擦拭板1201和装载部1202之间。擦拭板1201大致呈板状，包括但不限于如图39A和图39B所示意的矩形板状，其下表面可呈平滑过渡的弧形，亦或者是平面状。
擦拭板1201具有第一夹持面1211，装载部1202具有与第一夹持面1211相对的第二夹持面1212。在一个实施例中，第一夹持面1211为擦拭板1201上表面的部分区域，其靠近擦拭板1201的上表面边缘，并沿擦拭板1201的长边方向延伸，大致可为长条形区域形状。相应地，第二夹持面1212为装载部1202的下表面，并优选为与第一夹持面1211的形状相同或相匹配，呈长条形。
装载部1202可包括夹持主体1213以及与夹持主体1213连接的枢转部分1215。其中，夹持主体1213大致可呈长条形杆状，其下表面形成第二夹持面1212。枢转部分1215与擦拭板1201转动连接，即装载部1202通过枢转部分1215与擦拭板1201实现转动连接。
为提高装载部1202与擦拭板1201转动连接的稳定性，一个夹持主体1213连接的枢转部分1215的数量优选为不止一个，例如可以为两个或者更多个。两个或者更多个枢转部分1215沿夹持主体1213的轴线方向位于同一侧，并且所有枢转部分1215与夹持主体1213大致垂直设置。如图39A和图39B所示，在一个示意性的实施例中，枢转部分1215为两个，分别设在夹持主体1213的两端。优选地，枢转部分1215可以由夹持主体1213的两端朝同一个方向弯折(弯折角度大约为90°)形成。该实施例中，枢转部分1215 与夹持主体1213为一体构造，但实际中并不以此为限。
由于装载部1202与擦拭板1201转动连接，因此装载部1202具有能够夹紧擦拭件的夹紧状态，以及解除对擦拭件的夹紧而将其释放的打开状态。
如图39A所示，当装载部1202处于夹紧状态时，第一夹持面1211与第二夹持面1212贴合，从而可以将擦拭件夹紧在两者之间。此时，擦拭件可包裹或覆盖擦拭板1201的下表面，端部被夹紧在两个贴合的夹持面之间。如图39B所示，当装载部1202处于打开状态时，第一夹持面1211与第二夹持面1212分离，原本擦拭件被释放。
为提高对擦拭件的夹持强度，以尽量避免携带或装配清洁模块120的清洁机器人100在执行清洁作业的过程中擦拭件从清洁模块120上脱落，清洁模块120还可以包括夹紧维持部件，用于向装载部1202施加使其维持夹紧状态或向夹紧状态切换的夹紧力。该夹紧力的存在使得装载部1202始终具有处于夹紧状态的趋势，或者始终具有朝向夹紧状态切换运动的趋势。因此，在没有与夹紧力反向的外力作用下，装载部1202通常情况下处于夹紧状态。
在一个可行的实施例中，夹紧力可通过弹性件施加的弹力实现施加。具体的，夹紧维持部件可以包括设在擦拭板1201和装载部1202之间的弹性件。则在该实施例中，夹紧力为弹性件产生的弹力。
一种实现上述实施例的方案可以为，枢转部分1215通过销轴实现与擦拭板1201的转动连接，该弹性件可以为套设在销轴外的扭簧，扭簧的两端分别抵接擦拭板1201和装载部1202，并向装载部1202施加使其始终具有朝向擦拭板1201的第一夹持面1211方向转动的弹力。具体可以为，如图39A和图39B所示，扭簧向装载部1202施加使其向下转动或维持夹紧的弹力。
或者，另一种可实现方案可以为，弹性件可以为拉簧，拉簧的两端分别连接第一夹持面1211和第二夹持面1212，拉簧始终处于拉伸状态。从而，拉簧可以始终向装载部1202施加弹性拉力。为减少拉簧对两个夹持面的占用，尽量避免对擦拭件形成阻挡或干涉，拉簧可设在夹持主体1213靠近端部的位置。
亦或者，再一种可实现的方案可以为，弹性件可以为弹片，弹片固定在擦拭板1201上，枢转部分1215的端部顶抵在弹片上。具体的，如图39A和图39B所示，擦拭板1201上设有对应枢转部分1215的避让凹槽1203，枢转部分1215与擦拭板1201的转动连接点位于枢转部分1215的两端之间，即枢转部分1215与擦拭板1201的转动连接点大致位于枢转部分1215的中部位置。此时，夹持主体1213及枢转部分1215背对夹持主体1213的端部(命名为触发端1214)可形成一杠杆结构，该杠杆结构的支点即为枢转部分1215 与擦拭板1201的转动连接点。弹片设在避让凹槽1203中，枢转部分1215的触发端1214下表面顶抵在弹片上，从而弹片始终向触发端1214施以向上的弹力。进而根据杠杆原理，夹持主体1213始终具有向下转动或维持夹紧主体101的趋势。
上述实施例通过弹性件(扭簧、拉簧、弹片)实现夹紧力的施加。需要说明的是，实际中，可采用上述三种实现方式中的任意一种，也可以采用上述三种实现方式中的任意两种或全部的叠加。
当然，夹紧力的施加并不限于上述实施例的弹力。在另一个可行的实施例中，夹紧力还可以通过磁场力来实现施加。具体的，夹紧维持部件可以包括设在第一夹持面1211上的维持元件(未示出)和设在第二夹持面1212上并与维持元件对应的匹配元件(未示出)。其中，维持元件和匹配元件中的一个为磁性元件，另一个为可磁化元件或磁性元件。则在该实施例中，夹紧力为维持元件对匹配元件产生的磁吸力。
通过磁场力来实现夹紧力的施加，无需借助有形的物理连接构件，从而可简化结构。
在本实施例中，磁性元件可以为能够产生磁场的带磁元件，例如可以为自身带有磁性的磁体(如永磁体或硬磁体)，也可以是通电后能够产生磁性的电磁元件(例如电磁铁)。可磁化元件可以由可被磁化的材料例如铁、钴、镍等制成，其能够被磁力吸引。
维持元件和匹配元件中的一个为磁性元件，另一个为可磁化元件或磁性元件包括：维持元件和匹配元件中的一个磁性元件，另一个为可磁化元件。或者，维持元件和匹配元件均为磁性元件。当维持元件和匹配元件均为磁性元件时，则维持元件面对匹配元件的极性与匹配元件面对维持元件的极性相异。
在进一步优选的方案中，为减轻清洁模块120整体的重量，装载部1202整体或夹持主体1213由可磁化材料制成。如此，装载部1202自身或夹持主体1213即构成匹配元件。如此，可避免在装载部1202上额外设置匹配元件而造成重量的增加。
维持元件可以为磁体，数量为多个，沿第一夹持面1211的长度方向均匀排布。从而，维持元件可沿长度方向均匀的对夹持主体1213实现磁吸，装载部1202的夹紧效果较佳。具体设置方式可以为，第一夹持面1211向内凹陷形成有多个容置凹槽，维持元件分别设在对应的容置凹槽中。并且，维持元件在置入容置凹槽中后优选不高出第一夹持面1211。这样，第二夹持面1212能够与第一夹持面1211较佳的贴合，避免两个夹持面之间存在间隙。以此提高对擦拭件的夹紧力，保证夹紧效果。
上述即为通过磁场实现夹紧力施加的实施例。需要说明的是，上述两种实现夹紧力的实施例可同时被配置在清洁模块120中，也可以择其中任意一种配置。也即是，夹紧力可以为弹性件产生的弹力或维持元件对匹配元件产生的磁吸力中的任意一种，也可以 是上述两种力的叠加。
为进一步提高对装载部1202对擦拭件的夹持强度，装载部1202的数量可以为两个，两个装载部1202分别设在擦拭板1201相对的两侧(如图39A和图39B所示意的左右两侧)。这样，擦拭件的两端可分别被夹紧在第一夹持面1211和第二夹持面1212之间，擦拭件的夹紧强度较高。
在设置两个装载部1202的情况下，当装载部1202处于夹紧状态时，清洁模块120整体呈现上表面平整的平面状态(如图39A所示)。而但装载部1202处于打开状态时，两个装载部1202的外端(夹持主体1213)分别向上折起或掀起，从而清洁模块120整体呈现上表面内凹的状态(如图39B所示)。
借助上述施加夹紧力以及对称设置两个装载部1202的实施例，可大大提升擦拭件的夹紧强度，最大限度的避免携带或装配清洁模块120的清洁机器人100在执行清洁作业的过程中擦拭件从清洁模块120上脱落的情况发生。
由于夹紧维持件向装载部1202施加的夹紧力始终存在，因此在无外力作用下，装载部1202一般处于夹紧状态。因此，为实现装载部1202由夹紧状态向打开状态切换，需要由外力来克服夹紧力。具体的，承接上文描述，枢转部分1215的背对夹持主体1213的触发端1214可被配置为接收外部的操作力。当操作力大于预设阈值时，装载部1202可围绕其与擦拭板1201的转动连接点转动，而由夹紧状态切换至打开状态。
在本实施例中，预设阈值为根据力臂大小进行设置。根据杠杆原理F1S1＝F2S2可知，在触发端1214与转动支点的距离S1、夹持主体1213与转动支点的距离S2以及夹持主体1213受到的夹紧力F2已知的情况下，操作力F1＝F2S2/S1。因此，实际中，外界对触发端1214施加的操作力达到或超过F2S2/S1这一预设阈值时，即可打开装载部1202。
进一步地，为使触发端1214受到外界的操作力的作用下能顺利的打开，擦拭板1201上设有对应枢转部分1215的避让凹槽1203。如图39A所示，当夹持件处于夹紧状态时，触发端1214至少部分位于避让凹槽1203外，以方便外界部件(具体为下文提及的顶凸404)与触发端1214的配合。而当外界操作力超过预设阈值时，装载部1202打开，触发端1214向下转动，进入避让凹槽1203中。如此，避免擦拭板1201对触发端1214形成阻挡或干涉，保证装载部1202能顺利转动打开。此外，通过设置避让凹槽1203，可在装载部1202处于夹紧状态时使枢转部分1215至少部分容置在其中，从而尽可能的使清洁模块120的上表面平整，以便于清洁模块120与清洁机器人100的安装。
如图40至图43C所示，本发明实施例提供的用于为上述清洁模块120更换擦拭件的装置400可以包括：用于与清洁模块120的擦拭板1201可分离附接的支撑框架401、设 在支撑框架401上的第一移动机构402以及驱动第一移动机构402在支撑框架401上沿第一方向L1向内或向外移动的动力机构410。
当清洁模块120的擦拭板1201附接在支撑框架401上时，装载部1202处于打开状态，第一移动机构402能在动力机构410的驱动下沿第一方向L1向内移动，以将擦拭件向擦拭板1201的第一夹持面1211推送。当清洁模块120与支撑框架401分离时，装载部1202切换至夹紧状态。
在本实施例中，支撑框架401大致可呈与清洁模块120的擦拭板1201形状相似的板状，同样包括但不限于如图40所示意的矩形板状。第一移动机构402设在支撑框架401上，可在动力机构410的驱动下在支撑框架401上沿第一方向L1向内或向外移动。其中，第一方向L1为如图40中L1所示的箭头方向，或者为图41A、图41C、图42A、图42C、图43A和图43C所示意的水平左右方向。“向内移动”为第一移动机构402朝靠近支撑框架401的内部或中心移动，“向外移动”为第一移动机构402远离支撑框架401内部或中心移动。上述解释同样适用于下文的第二移动机构403。
第一移动机构402在被驱动向内移动时可以将新的或干净的擦拭件向擦拭板1201的第一夹持面1211推送，因此其数量应与装载部1202的数量匹配或相等。在上文阐述装载部1202优选为两个的情况下，第一移动机构402的数量也优选地为两个，并且两个第一移动机构402沿第一方向L1设在支撑框架401相对的两侧，具体为如图40、图41A、图41C、图42A、图42C、图43A和图43C所示意的左右两侧。并且，两个第一移动机构402优选为对称设置。
如图40所示，在一个可行的实施例中，第一移动机构402可包括一平移件4021以及与平移件4021转动连接的搂耙件4022。动力机构410可驱动平移件4021沿第一方向L1移动，平移件4021进而带动搂耙件4022移动。平移件4021和搂耙件4022大致可呈长条杆状，两者大致平行设置，搂耙件4022的两端设有向平移件4021延伸的连接耳，搂耙件4022通过两个连接耳与平移件4021的两端转动连接。搂耙件4022的外端设有向内弯折的钩状结构，以便更好的与将擦拭件接触，将擦拭件向擦拭板1201推送。
第一移动机构402被驱动移动的方式可以为被动力机构410直接驱动，也可以为通过与下文的第二移动机构403的联动实现间接或被动式驱动。其中，与第二移动机构403联动实现间接或被动式驱动将在下文介绍，在此介绍被动力机构直接驱动的方式。
当第一移动机构402为一个时，动力机构410可直接驱动该一个第一移动机构402向内或向外移动。则在该实施例中，动力机构410可以为气缸、液压缸等，或者动力机构410也可以采用马达驱动齿轮与设在第一移动机构402上的齿条啮合的方式。
而当第一移动机构402为两个时，两个第一移动机构402需同时向外或同时向内移动，因此可分别由两个动力机构分别驱动两个第一移动机构402同时向外或同时向内移动，具体实现方式可参照上述实施例。或者，也可由一套动力机构实现两个第一移动机构402需同时向外或同时向内移动。具体可以为：两个第一移动机构402上分别设有齿条，两个齿条与同一个齿轮啮合，并且两个齿条位于齿轮的相对的两侧。
进一步地，为使清洁模块120的擦拭板1201附接在支撑框架401上时，装载部1202由夹紧状态切换至打开状态，如图43C所示，支撑框架401上可设有顶凸404，顶凸404可以为支撑框架401的底部向下凸起形成。当清洁模块120附接在支撑框架401上时，顶凸404可以顶触在枢转部分1215的触发端1214上。从而，使装载部1202打开，将脏擦拭件释放。
实际上，顶凸404顶触触发端1214上之后仍需要外力施加在清洁模块120上，才能打开装载部1202，具体过程将下文介绍。当装载部1202打开后，为实现新擦拭件能安装至清洁模块120上，清洁模块120仍需与支撑框架401附接在一起。
为实现该目的，清洁模块120同样可以借助磁场力实现与支撑框架401的附接。具体的，清洁模块120的擦拭板1201上可设有第一附接元件(未示出)，支撑框架401上可设有与第一附接元件对应的第二附接元件(未示出)。具体的，第一附接元件设在擦拭板1201的上表面，第二附接元件设在支撑框架401的下表面。第一附接元件和第二附接元件中的一个为磁性元件，另一个为可磁化元件或磁性元件。其中，可磁化元件和磁性元件可参照上文解释，在此不作赘述。第一附接元件可向第二附接元件产生的磁吸力，以使清洁模块120维持其与支撑框架401的附接。
当清洁模块120完成擦拭件的更换后，需将清洁模块120与支撑框架401分离。为此，支撑框架401上可转动设有分离件405，分离件405具有收纳至支撑框架401内的收纳状态，以及使其外端延伸至支撑框架401外部的支出状态。当分离件405处于收纳状态时，清洁模块120附接在支撑框架401上；当分离件405切换至支出状态时，分离件405顶触清洁模块120的擦拭板1201使其与支撑框架401分离。
如图40、图41B、图42B和图43B所示，支撑框架401靠近端部的位置处设有通孔406，分离件405的上端可通过销轴转动连接在通孔406的内壁上。分离件405的下端面可呈平滑过渡的弧状，并且当分离件405由收纳状态逐渐向支出状态切换过程中，分离件405的下端面伸出支撑框架401的距离逐渐增大，从而对清洁模块120的擦拭板1201施加的力逐渐增大，并最终将擦拭板1201顶开。
进一步地，分离件405与支撑框架401之间可设有复位件，复位件向分离件405施 加使其维持收纳状态或向收纳状态切换的复位力。在本实施例中，复位件可以为扭簧，套设在销轴上，向分离件405施加使其向内收纳的力，从而使分离件405在无外力作用的情况下被收纳在支撑框架401内。
为了驱动分离件405向支出状态切换，支撑框架401上设有第二移动机构403，当第一移动机构402沿第一方向L1向内或向外移动时，第二移动机构403相应地沿第二方向L2向外或向内移动，第二方向L2与第一方向L1大致垂直。具体的，当第一移动机构402沿第一方向L1向内移动时，第二移动机构403相应地沿第二方向L2向外移动。同样的，当第一移动机构402沿第一方向L1向外移动时，第二移动机构403相应地沿第二方向L2向内移动。其中，第二方向L2为如图40中L2所示的箭头方向，或者为图41A、图41B、图42A、图42B、图43A和图43B所示意的竖直上下方向。
分离件405沿第二方向L2位于第二移动机构403的外侧。如图42B和图43B所示，当第二移动机构403沿第二方向L2向外移动时，第二移动机构403推动分离件405由收纳状态切换至支出状态。具体的，当第二移动机构403向外移动时，会逐渐接近分离件405，并最终与分离件405发生接触。当第二移动机构403继续向外移动时，会推动分离件405转动，使其下端逐渐从支撑框架401中伸出。分离件405伸出的下端会顶触在清洁模块120的擦拭板1201上，并且随着分离件405的下端伸出长度的增长，分离件405顶触擦拭板1201的力也逐渐增大，最终克服第一附接元件和第二附接元件之间的磁吸力，使擦拭板1201与支撑框架401分离。
当然，擦拭板1201与支撑框架401的附接与分离的实现方式并不限于上述实施例。在另一个可行的实施例中，可以不必设置分离件405和第二移动机构403，而仅依靠第一附接元件和第二附接元件的变化，即可实现上述目的。
具体的，第一附接元件和第二附接元件中的一个为电磁元件，另一个为磁性元件或可磁化元件。例如，第一附接元件为电磁元件，第二附接元件为磁性元件或可磁化元件。或者反之。当电磁元件通电时，可产生磁场，从而吸附第二附接元件，使擦拭板1201附接在支撑框架401上，随后即可进行擦拭件的更换操作。而当完成擦拭件的更换后，断开电磁元件的电源，磁场消失，擦拭板1201在重力作用下下落，实现与支撑框架401的自然分离。
在本实施例中，第二移动机构403由板状结构构成。并且，第二移动机构403也优选为两个，沿第二方向L2设在支撑框架401另一相对的两侧。具体为如图40、图41A、图41B、图42A、图42B、图43A和图43B所示意的上下两侧。并且，两个第一移动机构402优选为对称设置。
为使一个动力机构410能同时实现对两个移动机构的驱动，结合图41A、图42A和图43A，第一移动机构402上设有第一仿形部4023，第二移动机构403设有第二仿形部4032，第二仿形部4032与第一仿形部4023配合。其中，第一仿形部4023与第二仿形部4032的配合用于将驱动动力由其中一个移动机构传递至另一个移动机构。当两个移动机构中的其中一个沿其对应的方向向内或向外移动时，另一个移动机构在第一仿形部4023和第二仿形部4032的配合作用下沿与之对应的方向向外或向内移动。
在一个实施例中，第一仿形部4023和第二仿形部4032中的一个为滑槽，另一个为嵌入滑槽中的凸起。如图40所示意的实施例中，第一仿形部4023为凸起，第二仿形部4032为滑槽。具体设置方式为：第一移动机构402设在支撑框架401和第二移动机构403之间，也就是第一移动机构402位于下层，第二移动机构403位于上层。第一移动机构402的平移件4021上设有两个支臂4024，每个支臂4024上各设置一个凸起。相应的，第二移动机构403上设有两个滑槽。当其中一个移动机构被动力机构驱动移动时，凸起与滑槽的配合作用使得另一个移动机构被带动移动。
如图41A、图42A和图43A所示，滑槽为分段设置，包括两段：倾斜段和直段，直段与倾斜段的内端连接。倾斜段沿第二方向L2向外倾斜，直段与第二方向L2平行。
在一个实施例中，动力机构410可以包括被马达驱动旋转的齿轮407、与齿轮407啮合的齿条408，齿条408设在第一移动机构402或第二移动机构403上。在第一移动机构402和第二移动机构403的数量均为两个的情况下，采用一个动力机构410使两个移动机构同时实现向内或向外移动，齿条408的数量为两个，分别设在两个第一移动机构402上或者两个第二移动机构403上。并且，两个齿条408位于齿轮407的两侧。
动力机构同时驱动两个移动机构的方式包括两种，分别是：
(一)动力机构直接驱动第一移动机构402沿第一方向L1移动，而第一移动机构402的移动通过第一仿形部4023与第二仿形部4032的配合驱动第二移动机构403沿第二方向L2移动。亦即，第一移动机构402被动力机构410直接驱动移动，而第二移动机构403通过第一仿形部4023和第二仿形部4032的配合被动力机构410间接驱动移动。
(二)动力机构410直接驱动第二移动机构403沿第二方向L2移动，而第二移动机构403的移动通过第一仿形部4023与第二仿形部4032的配合驱动第一移动机构402沿第一方向L1移动。亦即，第二移动机构403被动力机构410直接驱动移动，而第一移动机构402通过第一仿形部4023和第二仿形部4032的配合被动力机构410间接驱动移动。
如图40、图41A、图42A和图43A所示意的实施例为上述第(二)种方式，下面结合图40、图41A、图42A和图43A介绍动力机构410同时驱动两个移动机构的过程。
在该示意性的实施例中，第一移动机构402设在支撑框架401上，第二移动机构403设在第一移动机构402上，即第一移动机构402、第二移动机构403由下至上依次设在支撑框架401上。第一移动机构402和第二移动机构403的数量均为两个，第一仿形部4023凸起，第二仿形部4032为滑槽。每个第二移动机构403上各设置一个齿条408，齿轮407与两个齿条408啮合，并且两个齿条408分列在齿轮407的相对两侧。当齿轮407被马达驱动旋转时，驱动两个相对设置的齿条408驱动，进而带动第二移动机构403相向(向内)或相背(向外)移动。而借助凸起与滑槽的配合作用，第一移动机构402相应的被驱动相背(向外)或相向(向内)移动。
而为实现上述第(一)种的驱动方式，在上述示意性实施例的基础上，第一移动机构402和第二移动机构403的设置位置可对调，第一仿形部4023和第二仿形部4032可以与上述实施例相同，也可以相反，齿条408可设在第一移动机构402上。相应的，当齿轮407被马达驱动旋转时，驱动两个相对设置的齿条408驱动，进而带动第一移动机构402相向(向内)或相背(向外)移动。而借助凸起与滑槽的配合作用，第二移动机构403相应的被驱动相背(向外)或相向(向内)移动。
进一步地，支撑框架401上还可设有顶盖409，顶盖409覆盖两个移动机构。顶盖409上设有长条形孔，齿条408容置在该长条形孔中，用于对齿条408的移动起到导向和扶正作用。此外，用于驱动齿轮407的马达可设在顶盖409上。
下面结合图41A至图43C来说明本发明实施例的操作模块400为清洁模块120换上新的或干净的擦拭件600的过程。
如图41A至图41C所示，通过第一附接元件与第二附接元件之间的磁吸作用，清洁模块120的擦拭板1201被附接在支撑框架401的底部。支撑框架401底部设置的顶凸404顶触枢转部分1215的触发端1214，枢转部分1215向上转动，装载部1202打开。齿轮407被驱动正转，如图41A所示意的顺时针旋转，左侧的齿条408被驱动向上运动，右侧的齿条408被驱动向下运动。相应的，下方的第二移动机构403向上运动，上方的第二移动机构403向下运动。即，两个第二移动机构403向内运动。与此同时，在凸起与滑槽的倾斜段的配合作用下，左侧的第一移动机构402向左运动，右侧的第一移动机构402向右运动。即，两个第二移动机构403向外运动。
如图42A至图42C所示，齿轮407被驱动反转，如图42A所示意的逆时针旋转，左侧的齿条408被驱动向下运动，右侧的齿条408被驱动向上运动。相应的，下方的第二移动机构403向下运动，上方的第二移动机构403向上运动。即，两个第二移动机构403向外运动。与此同时，在凸起与滑槽的倾斜段的配合作用下，左侧的第一移动机构402 向右运动，右侧的第一移动机构402向坐运动。即，两个第二移动机构403向内运动。从而，将擦拭件的600两端向擦拭板1201的第一夹持面1211推送，并且第二移动机构403的下端将擦拭件600的端部压在擦拭板1201的第一夹持面1211上。直至凸起运动到滑槽的倾斜段与直段相接处。
如图43A至图43C所示，齿轮407被马达驱动继续反转，此时凸起进入滑槽的直段中并顶触直段的底壁。则第二移动机构403继续向外运动，而第一移动机构402不再继续向内移动。随后，第二移动机构403顶触分离件405，分离件405从支撑框架401中伸出并将擦拭板1201顶开。从而，清洁模块120与支撑框架401分离，并在自身重力的作用下下落。在维持元件和匹配元件的作用下，清洁模块120的装载部1202向下转动，切换至夹紧状态，将擦拭件600夹紧。
参照上述，操作模块400为清洁模块120卸下脏擦拭件的过程与上述相反，不再赘述。
本发明实施例的操作模块400设置在基站200上，该基站200用于供清洁机器人100停靠，并用于为清洁机器人100卸下的清洁模块120更换清洁清洁。
如图37A至图37L所示，本发明实施例的基站200可以包括一壳体202，壳体202上可设有供清洁机器人100进出的出入口(未示出)。壳体202底部设有擦拭件操作位2023，擦拭板托盘203位于擦拭件操作位2023上。清洁机器人100经出入口驶入基站200，将脏清洁模块120卸载在位于擦拭件操作位2023上的擦拭板托盘203上。待操作模块400完成擦拭件的更换后，并且新的清洁模块120将至擦拭件操作位2023上时，清洁机器人100将其安装。
操作模块400设在壳体202内，并位于壳体202内预定高度。此外，壳体202内还设有用于承载清洁模块120并位于操作模块400下方的擦拭板托盘203、用于向清洁模块120提供擦拭件的供应模块204，以及用于将供应模块204提供的擦拭件牵引至清洁模块120处的牵引机构205。
供应模块204大致位于操作模块400的上方或斜上方，其可以包括卷轴以及卷绕在卷轴上的擦拭件，卷轴转动设置在壳体202的内壁。供应模块204进一步还可以包括至少一对推送滚轮2041，一对推送滚轮2041相对设置且两者之间具有供擦拭件穿过的缝隙，两者被电机驱动而相向旋转，从而向前或向后推送擦拭件。其中，“向前”为背离卷轴的方向，“向后”为指向卷轴的方向。
牵引机构205可包括传送件2051以及设在传送件2051上的摩擦件2052。如图37A至图37L所示，传送件2051可以为大致在水平方向上旋绕的同步带，其与操作模块400 大致处于同一高度。壳体202内靠近左右两端的位置各设有一个传送轮，同步带绕在两个传送轮外，其中一个传送轮被电机驱动而主动旋转，进而驱动同步带运动。同步带大体可包括上下平行的两段，摩擦件2052设在同步带的下段上。摩擦件2052具体可以为具有毛刷的结构，包括设在同步带上的块状本体以及设在块状本体上下表面的毛刷。籍此，可增大与擦拭件之间的接触摩擦，进而可带动擦拭件随之运动。
传送件2051可带动摩擦件2052在第一位置和第二位置之间往复运动。其中，第一位置和第二位置为摩擦件2052运动的两个极限位置，具体可以为分别靠近左右两个传送轮的位置。具体的，第一位置可以为摩擦件2052在如图37A所示意的位置，第一位置可以为摩擦件2052在如图37G所示意的位置。
此外，操作模块400位于第一位置和第二位置之间，具体可以为操作模块400向传送件2051的投影位于第一位置和第二位置之间。这样，摩擦件2052在第一位置和第二位置之间运动时可经过操作模块400，以便将吸附在操作模块400上的清洁模块120卸下的脏擦拭件移走，并可以将供应模块204提供的新的或干净的擦拭件牵引至清洁模块120处，供清洁模块120安装。
具体的，在传送件2051带动摩擦件2052由第一位置移动至第二位置的过程中，即如图37A至图37L所示由左向右运动，摩擦件2052可以与落在擦拭板托盘203上的脏擦拭件接触，并将脏擦拭件向第二位置牵引。具体可以为，参见图37F所示，此时的擦拭板托盘203位于操作模块400的下方，并略低于摩擦件2052。当摩擦件2052向第二位置运动经过擦拭板托盘203时，摩擦件2052下表面的毛刷与落在擦拭板托盘203上的脏擦拭件接触，从而将脏擦拭件向第二位置扫略，并最终将脏擦拭件移出擦拭板托盘203。
相应的，在传送件2051带动摩擦件2052由第二位置移动至第一位置的过程中，即如图37A至图37L所示由右向左运动，摩擦件2052可以与供应模块204提供的新的或干净的擦拭件接触，并将擦拭件向第一位置牵引。参见图37H所示，在摩擦件2052向第一位置运动的过程中，摩擦件2052上表面的毛刷可以与供应模块204提供的擦拭件接触，从而牵引擦拭件向第一位置移动。
进一步地，壳体202内设有可用于收集脏擦拭件的回收盒206，回收盒206位于第二位置。具体的，如图37A至图37L所示，回收盒206大致位于壳体202内并对应右边的传送轮。回收盒206大致呈上端开口的壳状，其包括盒体2061及设在盒体2061底部的托底2062。
在一个可行的实施例中，回收盒206沿竖直方向可固定设置在壳体202内，即回收盒206在壳体202中至少沿竖直方向的位置是固定不变的。
不过，由于壳体202需要供清洁机器人100进出。因此，为了不对清洁机器人100进出壳体202造成阻挡或干涉，沿竖直方向固定设置在壳体202内的回收盒206的高度，至少应不低于清洁机器人100的高度，这样将造成壳体202的高度增大，进而使基站200的体积较大，便携性不佳。
有鉴于此，在另一个可行的实施例中，回收盒206可被配置为在壳体202中沿竖直可升降，以在清洁机器人100进入壳体202内时，使其位置升高，以避免阻挡或干涉清洁机器人100；而在清洁机器人100由壳体202移出时，其位置可下降。如此，可充分利用壳体202的高度空间。具体实现方案将在下文详细介绍。
壳体202内可设有升降机构207，升降机构207与擦拭板托盘203连接，用于带动擦拭板托盘203朝向或远离操作模块400运动，即带动擦拭板托盘203上下运动。在一个可行的实施例中，升降机构207的具体结构可与牵引机构205相似，包括上下两个传送轮以及旋绕在两个传送轮外的同步带，擦拭板托盘203可与同步带连接。
而为实现回收盒206在壳体202中的升降，回收盒206可被另一个升降机构驱动；当然，也可由升降机构207驱动。即，采用一个升降机构207实现擦拭板托盘203和回收盒206的升降运动。具体的，升降机构207包括至少四个传送轮，限定至少四个角点，从而升降机构207至少包括第一升降段2071和第二升降段2072，两个升降段分别与两个水平段连接。两个升降段大致平行设置，因此同步带旋转时，两个升降段的运动恰好相反。擦拭板托盘203和回收盒206分别与第一升降段2071和第二升降段2072连接，因此当升降机构207运行时，擦拭板托盘203与回收盒206的升降情况相反。即当第一升降段2071向上运动时，第二升降段2072向下运动，分别驱动擦拭板托盘203和回收盒206向上和向下运动。反之亦然。
参照图37A至图37C所示，擦拭板托盘203初始时位于壳体202的底部。相应的，回收盒206此时位于壳体202的最高处。如此，回收盒206不会遮挡壳体202的进出口，从而清洁机器人100可顺利进入壳体202内，并到达擦拭板托盘203的位置处。随后，清洁机器人100将清洁模块120释放在擦拭板托盘203上，驶出壳体202。升降机构207运行，使第一升降段2071向上运动，相应的，第二升降段2072向下运动。从而，带动擦拭板托盘203承载着清洁模块120向上运动，至清洁模块120与操作模块400附接以进行擦拭件的更换操作，而回收盒206则向下运动，用于收集脏擦拭件。如此，通过一个升降机构207可同时实现擦拭板托盘203和回收盒206的升降，使得回收盒206发挥其收集脏擦拭件的功能时位于较低的位置，在需要清洁机器人100进出壳体202时位于较高的位置，并可兼顾清洁模块120与操作模块400和清洁机器人100的装配需要。从 而，使得基站200的结构较为紧凑，高度不至于过高，体积较小，便携性较佳。
当升降机构207通过擦拭板托盘203带动清洁模块120向上运动，至清洁模块120的擦拭板1201与操作模块400的支撑框架401附接时，支撑框架401底部的顶凸404顶触枢转部分1215的触发端1214上表面，从而枢转部分1215转动，使清洁模块120的装载部1202由夹紧状态切换至打开状态。
在本实施例中，擦拭板托盘203用于承载清洁模块120，或者供擦拭件放置。在一个可行的实施例中，擦拭板托盘203可整体呈板状结构，大致水平设置。如图38A和图38B所示，在另一个可行的实施例中，擦拭板托盘203被设计为能够可折叠式结构，包括主板2031以及转动设置在主板2031相对两侧的定位件2032。主体101呈平整的板状结构，其两端设有竖直向上延伸的凸耳2033，两个凸耳2033的外侧向内凹陷形成有连接凹槽2034，连接凹槽2034中设有滑块2035，滑块2035与升降机构207的同步带连接，籍此实现升降机构207与擦拭板托盘203的连接。参照图37A和图37L所示，进一步地，滑块2035与连接凹槽2034之间还设有缓冲件(例如弹簧)，以缓冲擦拭板托盘203在升降过程中的震荡。
同样的，回收盒206与升降机构207的同步带的连接方式，也可参照上述结构设计，即在盒体2061通过另一个滑块2053与同步带连接，在此不作水赘述。
定位件2032大致呈长条结构，其截面可呈“7”字形弯折形状，具有位于主板2031外的外端和位于主体101下的内端，并且定位件2032与主板2031的转动连接点位于内端和外端之间。同样的，定位件2032也形成一杠杆结构，该杠杆结构的支点即为定位件2032与主板2031的转动连接点。
擦拭板托盘203具有展平状态和折叠状态。当处于展平状态时，两个定位件2032的上表面与主板2031上表面大致平齐。此时，定位件2032的内端顶触在主板2031的下表面，擦拭板托盘203整体呈现上表面平整的平面状态(如图38A所示)。当处于折叠状态时，两个定位件2032的外端向上折起，清洁模块120整体呈现上表面内凹的状态(如图39B所示)。此时，定位件2032的内端与主板2031的下表面脱离，擦拭板托盘203整体呈现上表面内凹的状态(如图38B所示)。
进一步地，当清洁模块120与操作模块400未接触时，擦拭板托盘203处于展平状态。而当清洁模块120与操作模块400接触时，擦拭板托盘203切换至折叠状态，两个定位件2032顶抵清洁模块120的相对两侧，从而将清洁模块120夹持在其中，并纠正清洁模块120的位置，使其与支撑框架401以最佳的形态连接。
如图37E所示，在清洁模块120的装载部1202切换至打开状态后，升降机构207随 后带动擦拭板托盘203向下运动一段，被释放的脏擦拭件落在擦拭板托盘203上。随后，牵引机构205将擦拭件牵引至目标位置后，升降机构207再带动擦拭板托盘203向上运动，使擦拭板托盘203与清洁模块120接触，此时擦拭板托盘203由展开状态切换至折叠状态。从而，擦拭板托盘203的定位件2032将擦拭件向上折起，从而便于操作模块400的第一移动机构402将擦拭件向擦拭板1201的第一夹持面1211推送。
在定位件2032无外力作用的情况下，擦拭板托盘203处于展平状态，具体实现方式同上文描述，可以为定位件2032与主板2031之间设有复位件。或者，定位件2032的外端质量被设置的较大，或者长度被设置的较长，从而在杠杆原理的作用下，定位件2032的内端自然顶触主板2031下表面，擦拭板托盘203处于展平状态。
为使擦拭板托盘203由展平状态向折叠状态切换，如图38A和图38B所示，定位件2032的内端设有止挡件2036，其外端延伸至主板2031的外部。壳体202内设有与止挡件2036配合的挡条208，挡条208为两个，位于第一升降段2071的两侧。如图37D所示，在升降机构207通过擦拭板托盘203承载着清洁模块120向上运动的过程中，当清洁模块120与操作模块400接触时，挡条208也刚好顶触止挡件2036的外端，从而使擦拭板托盘203由展平状态切换至折叠状态。
下面结合图37A至图37L来说明本发明实施例的基站200为清洁机器人100更换擦拭件的完整过程。
如图37A所示，清洁机器人100携带着清洁模块120准备驶入基站200。此时，擦拭板托盘203位于基站200底部，回收盒206被同步带悬吊在高处，从而将壳体202上的进出口打开，以便能供清洁机器人100顺利进入基站200中。
如图37B所示，清洁机器人100驶入基站200内，将清洁模块120卸在擦拭板托盘203上。此时，擦拭板托盘203处于展平状态。
如图37C所示，清洁机器人100驶出基站200。
如图37D所示，升降机构207运行，具体为升降机构207的同步带顺时针旋转，带动擦拭板托盘203向上运动，与此同时，回收盒206向下运动。擦拭板托盘203承载着放置在其上的清洁模块120一起向上运动，直至清洁模块120与支撑框架401接触。支撑框架401底部的顶凸404顶触触发端1214的上表面，将擦拭板1201打开，脏擦拭件被释放。与此同时，挡条208顶触止挡件2036的外端，定位件2032转动，擦拭板托盘203切换至折叠状态，定位件2032顶触清洁模块120的擦拭板1201的两侧，纠正擦拭板1201的位置，并将擦拭板1201夹住。
如图37E所示，升降机构207反向运行，具体为升降机构207的同步带逆时针旋转， 擦拭板托盘203向下运动一段距离，被释放的脏擦拭件落在擦拭板托盘203上。而在第一附接元件和第二附接元件的作用下，清洁模块120被吸附在支撑框架401下，使清洁模块120继续保持与支撑框架401附接的状态。
如图37F所示，牵引机构205运行，具体为牵引机构205的同步带逆时针旋转，带动摩擦件2052向右(第二位置方向)运动，摩擦件2052下表面与落在擦拭板托盘203上的脏擦拭件接触，并将脏擦拭件向右推送。
如图37G所示，牵引机构205的同步带继续逆时针旋转，摩擦件2052继续带动脏擦拭件向右运动，最终脏擦拭件移离擦拭板托盘203并掉落入回收盒206中。
如图37H所示，供应模块204的推送滚轮2041被电机驱动运转，将卷绕在卷轴上的新的或干净的擦拭件向前推送一段距离。随后，牵引机构205的同步带顺时针旋转，摩擦件2052被带动向左(第一位置方向)运动，摩擦件2052的上表面与新的或干净的擦拭件接触，从而将擦拭件向左剐蹭牵引。与此同时，推送滚轮2041也同步运转，持续的向前推送擦拭件。直至摩擦件2052到达第一位置，推送滚轮2041停转。
如图37I所示，推送滚轮2041反转，将擦拭件往回拖曳一段距离。待设在牵引机构205上方的检测元件209(例如可以为光电传感器)检测到擦拭件往回移动预定距离后停止。
如图37J所示，升降机构207的同步带顺时针旋转，擦拭板托盘203向上运动，至清洁模块120与支撑框架401附接。与此同时，挡条208顶触止挡件2036的外端，使擦拭板托盘203再次切换至折叠状态，定位件2032的外端向上折起，将擦拭件向上折起。随后，推送滚轮2041继续反转，将擦拭件在断点处拉断。
如图37K所示，操作模块400的动力机构410运转，驱动第一移动机构402将擦拭件向擦拭板1201的第一夹持面1211推送。与此同时，第二移动机构403推送分离件405伸出，将擦拭板1201顶开，装载部1202切换至夹紧状态，擦拭件被夹持在清洁模块120上。再然后，升降机构207的同步带逆时针旋转，擦拭板托盘203向下运动。与此同时，回收盒206上升。直至擦拭板托盘203到达壳体202底部，此时回收盒206上升至最高处，停止。
如图37L所示，清洁机器人100再次驶入基站200，将更换完擦拭件的清洁模块120重新安装在其底部后，驶出基站200。随后，即可进行清洁作业。
上述更换流程可以看出，在上述实施例中，为避免对擦拭板托盘203形成的干涉，清洁机器人100更换擦拭件时，需二次进出基站200，擦拭件更换效率有待于提高。有鉴于此，本发明第二实施例提供了以下的进一步改进方案。
如图44A至图44I所示，基站200的壳体202中设置设有擦拭板操作位，擦拭板操作位包括擦拭板分离位2021和擦拭板安装位2022，擦拭板分离位2021用于供擦拭板托盘203放置，擦拭板安装位2022位于壳体202的出入口与擦拭板分离位2021之间，用于供更换新的擦拭件的清洁模块120放置。
基站200还包括设在壳体202中的平移换位机构212。如图45所示，该平移换位机构212包括：旋转臂2121，转动设在壳体202面对出入口的内壁上。旋转臂2121大致呈杆状，具有与壳体202内壁转动连接的连接端(如图45所示左端)和背对连接端的自由端(如图45所示右端)。连接端和自由端上分别转动设置有第一同步轮和第二同步轮(未示出)，第一同步轮和第二同步轮外绕设有同步带2122，同步带2122上连接有推块2123。第一同步轮与马达连接，马达通过驱动第一同步轮旋转，带动同步带2122及其推块2123运动。具体的，旋转臂2121通过支座2124转动设置在壳体202内壁上，连接端上设置的传动轴2125穿过支座2124的连接耳与马达的输出轴连接。
推块2123由可磁化材料例如铁、钴、镍制成，能够被磁力吸引，或者，推块2123上设有磁性元件2127例如磁体。旋转臂2121靠近连接端和自由端分别设有第一磁体2126和第二磁体(未示出)。当推块2123被同步带2122带动而运动至靠近连接端或自由端时，第一磁体2126或第二磁体可分别对推块2123产生磁吸力，以使推块2123具有稳定的处于连接端或自由端的趋势。
本实施例的工作原理为：旋转臂2121一开始为竖直状态，推块2123靠近连接端，被第一磁体2126磁吸，同步带2122处于锁定状态。由于旋转臂2121背对擦拭板分离位2021和擦拭板安装位2022方向的旋转被壳体202内壁所限制，因此马达驱动传动轴2125旋转时，旋转臂2121只能擦拭板分离位2021和擦拭板安装位2022所在方向旋转，并最终使旋转臂2121由竖直状态切换至水平状态。随后，增大马达的输出扭力，直至马达对第一同步轮施加的作用力克服第一磁体2126对推块2123的磁吸力时，第一同步轮被驱动启动旋转，同步带2122随之旋转，带动推块2123运动。推块2123的运动方向为由擦拭板分离位2021指向擦拭板安装位2022，从而将位于擦拭板分离位2021上的擦拭板托盘203所承托刚完成擦拭件更换的擦拭板推动至擦拭板安装位2022。此时，推块2123被第二磁铁磁吸。然后，马达反向旋转，旋转臂2121旋转运动到竖直位置。
下面结合图44A至图44I来说明本发明实施例的基站200为清洁机器人100更换擦拭件的完整过程。
如图44A所示，清洁机器人100准备进入基站200更换擦拭件。此时，旋转臂2121处于竖直状态，推块2123被第一磁体2126磁吸，同步带2122处于锁定状态。
如图44B所示，清洁机器人100经出入口进入基站200，将清洁模块120卸载至位于擦拭板分离位2021的擦拭板托盘203上。
如图44C所示，清洁机器人100回退到擦拭板安装位2022，安装上一个操作轮次提供的更换了新擦拭件的清洁模块120。
如图44D所示，清洁机器人100机器退出基站200。
如图44E所示，依照如图37A至图37L所示的流程，基站200内对本轮次清洁机器人100卸下来的清洁模块120进行擦拭件的更换操作，随后擦拭板托盘203将更换了干净的擦拭件的清洁模块120降至擦拭板分离位2021。
如图44F所示，马达驱动平移换位机构212操作，使旋转臂2121由原来的竖直位置旋转至水平位置。
如图44G和图44H所示，马达驱动第一同步轮克服第一磁体2126对推块2123的磁吸力，带动推块2123向右运动，进而将放置在擦拭板托盘203上的更换了干净擦拭件的清洁模块120推动至擦拭板安装位2022。
如图44I所示，随后，马达反转，旋转臂2121旋转至竖直位置。
由此可见，借助上述改进实施例的技术方案，通过在基站200中增设平移换位机构212和用于暂存更换了新的擦拭件的清洁模块120的擦拭板安装位2022，平移换位机构120可以将由操作模块400完成了擦拭件更换的清洁模块120由擦拭板托盘203推至擦拭板安装位2022。如此，清洁机器人100在更换清洁模块120时，将脏的清洁模块120卸在擦拭板托盘203上，随后再从擦拭板安装位2022上安装新的清洁模块120。从而，只需进出一次基站200，即可完成清洁模块120的更换，更换效率大大提升。
需要说明的是，该第二种方案中的基站200与如图37A至图3737L所示的第一种方案中的基站200的区别仅在于增设了平移换位机构212和擦拭板安装位2022(实质上，第一种方案中的基站200包含有擦拭板分离位2021)，其他的结构大体相同，可参照上文描述，在此不作赘述。
如图46A至图46L所示，为本发明第二实施例中第三种可行方案的基站200为清洁机器人100更换擦拭件的过程图。该方案中的基站200与如图37A至图3737L所示的第一种方案、如图44A至图44I所示的第二种方案中的基站200略有不同。区别在于，本方案中的基站200用于为清洁模块120更换擦拭件的装置400、回收盒206，与上述两方案中的操作模块400是不同的，其他相似之处可参照上文描述，在此不作赘述。
此外，本方案中的擦拭板托盘203可以与上述方案中相同，也可以不同。当擦拭板托盘203采用上述方案中相同的结构时，壳体202中可对应设置挡条208。而当擦拭板 托盘203采用上述方案中不同的结构时，擦拭板托盘203可以仅包括一承托板，类似于上述方案中的主板2031，而不包括定位件2032。则此时，擦拭板托盘203仅包括展开状态，而不包括折叠状态。
擦拭板托盘203设在升降机构207上，被升降机构207带动上下移动。在本方案中，升降机构207同样可以与上述第一和第二方案相同，也可以采用其他替换方式。例如，在本实施例中，升降机构207可以包括在壳体202中竖直设置的同步带、传动带等带状结构，壳体202内靠近上端和底部的位置分别设置一个步轮，同步带、传动带绕设在两个步轮外，擦拭板托盘203固定在同步带、传动带的任意一侧的竖直段上。
如图46A所示，在本方案中，操作模块400可以仅包括一吸附板411以及设在吸附板411底部的磁性元件(未示出)，吸附板411类似于上述方案中的支撑框架401。壳体202靠近上端的位置设有移动机构412，移动机构412也可以为包括同步带、传动带等带状结构，其环绕在多个带轮外，并且至少形成有水平牵引段4121。
结合图46E所示，吸附板411通过一连接组件与移动机构412的水平牵引段4121固定连接，而吸附板411与该连接组件转动连接。具体的，基站200的壳体202靠近上端的内壁设有水平的第一滑槽413和第二滑槽414。其中，第一滑槽413的尺寸小于第二滑槽414的尺寸，两个滑槽设在同一个水平位置。壳体202内壁还设有第三滑槽419，第三滑槽419呈山峰状，与第二滑槽414平滑过渡连通。并且，第三滑槽419与升降机构207的位置相对应。
连接组件包括设在第一滑槽413中并能在第一滑槽413中沿水平方向移动的第一滚轮415、与第一滚轮415转动连接的第一连接件416和第二连接件417。第一连接件416与移动机构412的水平牵引段4121固定连接，第二连接件417的一端与吸附板411连接，另一端转动设置有第二滚轮418，第二滚轮418可在第二滑槽414和第三滑槽419中滑动。第一连接件416、第二连接件417与第一滚轮415转动连接的一种方式可以为，第二连接件417呈片状或板状，其面对第一滑槽413的一侧设有，第一滚轮415转动设在该上。该的端部可延伸至第一滚轮415背对第一滑槽413的一侧。第一连接件416也呈片状或板状，与端部固定连接。
或者，第二连接件417中设有与第一滚轮415形状大小相适配的圆形孔，第一滚轮415部分嵌设在该圆形孔中，并能在其中转动，另一部分位于圆形孔外，该露出圆形孔外的部分再嵌入第一滑槽413中。第一滚轮415的圆心位置可设有，其背对第一滑槽413方向延伸，第一连接件416上可设有轴孔，穿设在该轴孔中。
吸附板411具有水平位置和竖直位置。具体的，当升降机构207将清洁模块120向 上传递至吸附板411附近时，在磁力的作用下，清洁模块120被吸在吸附板411的下端。此时，第二滚轮418位于第三滑槽419内，吸附板411整体处于水平位置状态。当移动机构412运动时，与移动机构412的水平牵引段4121通过连接组件连接的吸附板411即为发生翻转。
具体的，当水平牵引段4121向左运动，原本在第三滑槽419中处于竖直状态的第二滚轮418就会进入水平的第二滑槽414的左半段。从而，在第二滚轮418与第二滑槽414的限位作用下，吸附板411顺时针向上旋转，如图46D至图46E所示意的过程。
相应的，当水平牵引段4121向左运动，原本在第三滑槽419中处于竖直状态的第二滚轮418就会进入水平的第二滑槽414的右半段，吸附板411逆时针向上旋转，如图46G至图46H所示意的过程。
在本方案中，回收盒206位于水平牵引段4121一端(如图46A至图46L所示意的左侧)，水平牵引段4121的另一端外侧可设有擦拭件安装位420。回收盒206朝向水平牵引段4121开口，其开口处上下两端设有分离模块422，分离模块422呈倒钩状结构，用于勾住擦拭件，将擦拭件从清洁模块120的擦拭板1201取下。因此分离模块422设置的位置对应为擦拭件分离位4221。擦拭件安装位420大致呈朝内开口的槽状，其槽体的形状与清洁模块120的擦拭板1201的底部形状相适配。供应模块204提供的擦拭件的端部可下垂至擦拭件安装位420处。在供应模块204与擦拭件安装位420之间还设有进给模块421，其包括至少两个传送轮，两个传送轮间歇性的靠近远离以夹紧擦拭件。如图46A所示，其中一个传送轮为圆形滚轮，另一个传送轮为凸轮。下面结合图46A至图46L来说明本发明实施例的基站200为清洁机器人100更换擦拭件的完整过程。
如图46A所示，清洁机器人100准备进入基站200更换擦拭件。此时，擦拭板托盘203位于壳体202的底部，第二滚轮418位于第三滑槽419内，吸附板411处于水平位置状态。
如图46B所示，清洁机器人100经出入口进入基站200，将清洁模块120卸载在擦拭板托盘203上，回退一段距离。
如图46C所示，升降机构207带动擦拭板托盘203向上运动，将其承载的清洁模块120向吸附板411运送。
如图46D所示，在磁力的作用下，清洁模块120被吸附板411吸住。升降机构207下降，擦拭板托盘203回归至基站200底部。
如图46E所示，移动机构412顺时针旋转，水平牵引段4121向左运动。第二滚轮418由第三滑槽419进入第二滑槽414的坐半段中，吸附板411向左旋转90度，切换至 竖直位置状态。随后，移动机构412继续运转，吸附板411固定着清洁模块120继续朝回收盒206运动。
如图46F所示，吸附板411和清洁模块120经开口进入回收盒206内。
如图46G所示，移动机构412反向逆时针旋转，带动吸附板411和清洁模块120往回运动。当清洁模块120经过分离模块422时，其上的脏擦拭件被勾住刮下，随后掉落在回收盒206内。
如图46H所示，移动机构412继续反向旋转，吸附板411和清洁模块120继续往回(向右)运动。当运动至对应第三滑槽419位置时，第二滚轮418再次进入其中，吸附板411切换至水平位置状态。紧接着，随着移动机构412的旋转，第二滚轮418再次运动至第二滑槽414的右半段中。吸附板411向右旋转90度，切换至竖直位置状态。
如图46I所示，移动机构412继续带动吸附板411和清洁模块120向右运动，至清洁模块120的擦拭板1201恰好坐在擦拭件安装位420中。此时，进给模块421的两个传送轮将供应模块204提供的新擦拭件夹紧。当清洁模块120的擦拭板1201坐在擦拭件安装位420上时，对擦拭件施加拉力，将其拉断并夹紧。
如图46J所示，移动机构412反向带动吸附板411和清洁模块120向左运动，至第二滚轮418由第二滑槽414再次进入第三滑槽419中，停止，吸附板411连通清洁模块120恢复至水平位置状态。
如图46K所示，升降机构207带动擦拭板托盘203上升，将清洁模块120从吸附板411上取下。随后，再带动擦拭板托盘203承载着清洁模块120下降至底部。
如图46L所示，清洁机器人100驶入基站200安装清洁模块120，随后退出基站200开始工作。
在该实施例中，吸附板411与清洁模块120实现可拆卸式磁性的方式可以为，吸附板411上设置的磁性元件可以为电磁铁。当需要将清洁模块120吸附在吸附板411上时，电磁铁通电产生磁场。当需要将清洁模块120从吸附板411上取下时(如图46K所示的步骤)，电磁铁断电，磁场消失，则清洁模块120在重力作用下落在擦拭板托盘203上。
此外，清洁模块120也与上述两种方案的略有不同。在本实施例中，清洁模块120可以仅包括一擦拭板1201，其可通过魔力粘/刺毛粘粘贴清洁模块。这样，在如图46I所示的步骤中，移动机构412带动吸附板411和清洁模块120向右运动至擦拭板1201坐在擦拭件安装位420中时，擦拭板1201一方面可对擦拭件施加向下的拉力，从而将擦拭件在弱连接点处拉断，另一方面可对擦拭件施加压力，使其能牢固的粘贴在擦拭板1201底部的魔力粘/刺毛粘上。
如图47至图50所示，为本发明第三实施例所涉及的附图。该第三实施例具体提供了一种用于供清洁机器人100停靠的基站200，以及运用或配置该基站200的清洁系统300。在本实施例中，清洁机器人100可与上文第一和/或第二实施例中的清洁机器人完全相同，在此不作赘述。本实施例描述脏擦拭件的回收过程，基站200主要包括收纳模块，及将脏擦拭件回收至收纳模块的收集框240。
如图47、图49和图50所示，在本实施例中，基站200可包括一用于放置在支撑表面(例如地面)上的底板230、设在底板230上用于收集清洁机器人100卸下的脏擦拭件的收集框240。其中，底板230的面积大于收集框240在底板230上的投影面积。这样，收集框240设在底板230上时，仅占据底板230上表面的部分区域，从而底板230在收集框240外侧形成空置区域，用于供清洁机器人100停放(如图47所示)。
收集框240可为半开放式结构，包括后板240a、与后板240a连接并相对设置的两个侧板240b、滑动设于两个侧板240b之间并与后板240a相对的压板240c。其中，后板240a和两个侧板240b呈竖直状态设在底板230上，两个侧板240b平行设置，压板240c被夹持在两个侧板240b之间，压板240c优选与后板240a平行。且压板240c可相对两个侧板240b上下滑动，从而可打开或关闭收集框240。
如图50所示，为对压板240c的上下滑动进行导向和限位，压板240c的水平两端形成有凸耳结构240d，两个侧板240b上分别设有竖直延伸的长条形的限位导孔240e。凸耳结构240d嵌入在两个侧板240b的限位导孔240e中，并可在限位导孔240e中上下移动，籍此实现对压板240c的限位和上下滑动的导向。
为将清洁机器人100卸下的脏擦拭件回收至收集框240中，基站200还包括擦拭件收集机构。擦拭件收集机构包括设在收集框240上的驱动组件以及被驱动组件驱动的搂耙组件。搂耙组件被驱动组件驱动而使其下端具有朝向收集框240方向运动的工作行程和背离收集框240方向运动的返回行程。当处于工作行程时，搂耙组件的下端与底板230接触，以压紧脏擦拭件并拖动脏擦拭件在底板230上朝收集框240移动。而当处于返回行程时，搂耙组件的下端与底板230脱离。
如图47、图49和图50所示，搂耙组件可包括摆动件231。驱动组件可包括电机232、被电机232旋转驱动的致动件。致动件与摆动件231配合以驱动摆动件231的下端沿工作行程或返回行程移动。
驱动组件还包括被电机232旋转驱动的输入轴233，输入轴233穿设至收集框240的两个侧板240b的外侧，其两端分别设有一个致动件。结合图47所示，电机232可通过主动齿轮与被动齿轮的啮合作用驱动输入轴233旋转。摆动件231也为两个，设在收 集框240的外侧，分别与两个致动件对应配合。
在一个可行的实施例中，搂耙组件可以仅包括摆动件231，或者，摆动件231单独构成搂耙组件。则当处于工作行程时，摆动件231的下端可以顶触在底板230上，压紧脏擦拭件，并拖动脏擦拭件向收集框240中移动。此时，摆动件231的下端即构成搂耙组件的下端。
在另一个可行的实施例中，搂耙组件进一步还可包括连接件234和擩推板235，连接件234的两端分别与两个摆动件231的下端转动连接，擩推板235转动设在连接件234的下端。此时，擩推板235的下端即构成搂耙组件的下端。
连接件234大致呈水平延伸的板条状，其两端分别与收集框240的两个侧板240b连接。擩推板235大致呈水平延伸的板状，为增大其下表面与脏擦拭件的接触摩擦，擩推板235的下表面可形成沿其长度方向延伸的凹凸纹理。
擩推板235与连接件234可通过销轴实现转动连接。具体的，如图50所示，擩推板235的下端可形成有一个或多个缺口，擩推板235的上端可对应设有一个或多个连接凸起。缺口的两侧以及连接凸起中设有销孔，销孔中穿设有销轴，连接凸起卡入对应的缺口中。
连接件234可相对摆动件231上下移动，使擩推板235实现上下浮动。具体的，如图48所示，连接件234的两端设有连接轴236，两个摆动件231的下端设有沿竖直方向延伸的轴孔237，两个连接轴236分别插设在两个轴孔237中。连接轴236可在轴孔237中上下移动，进而使擩推板235实现浮动。
当工作行程伊始，擩推板235将脏擦拭件压合在底板230上。随着工作行程的持续进行，擩推板235对脏擦拭件和底板230的压合力逐渐增大，推动连接件234向上移动。随后，擩推板235对脏擦拭件和底板230的压合力再逐渐减小，则连接件234回落。从而，在整个工作行程过程中，可始终使擩推板235保持与脏擦拭件和底板230的压合。
两个摆动件231之间可设有位于连接件234上方的导向件238，导向件238中设有导向孔238a，导向孔238a中活动穿设有导向销239，导向销239的下端与连接件234固定连接。当擩推板235在底板230上移动而推动连接件234相对于摆动件231上下移动时，可带动导向销239在导向孔238a中上下移动，进而对连接件234和擩推板235的上下浮动实现导向和扶正。
为提高对脏擦拭件和底板230的压合力，在另一个实施例中，可设置弹性件241来顶推连接件234和擩推板235。导向件238和连接件234之间设有处于压缩状态的弹性件241。如此，在整个工作行程过程中，随着连接件234相对于摆动件231的上下移动， 偏压设置的弹性件241可对连接件234施加不同程度的向下的弹性作用力，进而提高擩推板235压合脏擦拭件和底板230的力度，避免因擩推板235施加的压合力较小而导致脏擦拭件未被擩推板235拖动的情况发生，保证脏擦拭件收集能够顺利的朝向收集框240移动。
擩推板235与连接件234之间可设有扭簧，扭簧对擩推板235施加的扭力使擩推板235靠近收集框240的端部具有朝向底板230方向转动的趋势。这样，在扭簧施加的扭力作用下，擩推板235靠近收集框240的端部始终具有向下转动的趋势。从而，当擩推板235由下降行程切换至工作行程伊始，擩推板235的左端率先接触脏擦拭件和底板230，并随着擩推板235的继续下降，擩推板235以其与底板230接触的端部为支点进行转动，直至其下表面完全与脏擦拭件和底板230接触。如此，通过使擩推板235逐渐与脏擦拭件和底板230接触压合的方式，可提高擩推板235对脏擦拭件的压合效果。
收集框240的压板240c被设计为可在擩推板235运动至工作行程末端时打开。压板240c的下端可形成有朝向擩推板235的楔入斜面，擩推板235面对楔入斜面的端部为楔入端。楔入斜面可以为压板240c的部分下端面朝向擩推板235倾斜形成，楔入端可以为尖端，其沿工作行程方向的截面面积逐渐缩小。当擩推板235沿工作行程移动至楔入端顶触楔入斜面时，压板240c可被楔入端顶推向上滑动，从而可打开收集框240，压合在擩推板235下端的脏擦拭件经打开的开口进入收集框240中。直至完成工作行程，擩推板235向上运动，到达返回行程。则压板240c可在自身重力的作用下下落，使其下端顶触底板230，压住脏擦拭件，使脏擦拭件保持在当前位置，避免因外界因素(例如风吹、气流)作用而导致脏擦拭件发生移位。
如图48所示，在一个实施例中，摆动件231上设有枢转部242，收集框240的侧板240b上设有配接部243。枢转部242可以为设在摆动件231上并沿摆动件231的长度方向延伸的长条形滑槽，配接部243可以为固定在收集框240侧板240b上的导向部件。导向部件嵌入长条形滑槽中并能在长条形滑槽中转动和滑动。致动件包括偏心结构，偏心结构与摆动件231的上端转动连接。
偏心结构可以为偏心轮244，偏心轮244与输入轴233偏心设置。摆动件231的上端可设有轮环245，偏心轮244设在轮环245中。或者，偏心结构也可以为连杆，连杆的延伸方向与输入轴233的轴线方向垂直，摆动件231的上端与连杆转动连接。
如图49所示，输入轴233带动偏心结构旋转，偏心结构可带动与之转动连接的摆动件231上端围绕输入轴233的轴线旋转，摆动件231上端的旋转轨迹为圆形。由于摆动件231靠近中部的位置被枢转部242和配接部243限位。从而，摆动件231以枢转部242 和配接部243的连接处为支点进行转动，从而其下端可发生摆动。籍此，带动设在摆动件231下端的连接件234和擩推板235随之摆动。
下面说明该实施例的工作过程：
搂耙组件的擩推板235一开始处于抬起位置，清洁节气人机器人工作后进基站200，脏擦拭件被释放至基站200的底板230上。
随后，电机232驱动输入轴233顺时针转动，在偏心结构的带动下，擩推板235逐渐向下运动，直至压住脏擦拭件。
电机232驱动输入轴233继续沿顺时针转动，擩推板235被驱动向工作行程方向运动，进而拖动脏擦拭件一起运动。至擩推板235的楔入端顶触到收集框240压板240c的楔入斜面，随着擩推板235继续向前运动，压板240c被顶开，脏擦拭件被送入收集框240。
擩推板235运动至工作行程末端，电机232驱动输入轴233继续沿顺时针转动，擩推板235开始上抬并往回运动，至楔入端与楔入斜面脱离，压板240c在重力作用下向下运动，压住脏擦拭件，脏擦拭件的一部分被输入到收集框240中。
电机232驱动输入轴233继续沿顺时针转动，擩推板235沿返回行程运动。重复上述过程，直至脏擦拭件被完全收入收集框240中。
如图49和图50所示，在另一个实施例中，收集框240的侧板240b上设有可沿工作行程方向或返回行程方向运动的滑动件246，滑动件246与侧板240b之间设有第一复位件247，第一复位件247向滑动件246施加的复位力使其具有朝返回行程方向移动的趋势。收集框240的侧板240b上设有导向卡箍248，滑动件246穿设在导向卡箍248中并被导向卡箍248沿竖直方向限，从而滑动件246可在侧板240b上水平移动。
滑动件246形成有豁口246a，豁口246a中设有第一挂接件246b。侧板240b的外壁可设有第二挂接件240f。第一复位件247可以为弹簧，其两端分别挂接在第一挂接件246b和第二挂接件240f上。第一挂接件246b可以为竖直设在豁口246a中的销轴结构，第二挂接件240f可以为设在侧板240b外壁的凸起结构。第一复位件247处于拉伸状态，对滑动件246施加朝向返回行程方向的拉力。
摆动件231可滑动的设在侧板240b上，且摆动件231与滑动件246之间沿工作行程方向或返回行程方向固定。摆动件231与滑动件246之间设有第二复位件249，第二复位件249向摆动件231施加的复位力使其具有背离底板230方向运动的趋势。
如图50所示，摆动件231的上端外壁设有第三挂接件231a，滑动件246的下端外壁设有第四挂接件246c，第二复位件249为弹簧，其两端分别挂接在第三挂接件231a 和第四挂接件246c上。其中，第三挂接件231a可以为设在摆动件231外壁的凸起结构，第四挂接件246c可以为设在滑动件246外壁的钩状结构。第二复位件249处于拉伸状态，对摆动件231施加向上的拉力。
滑动件246内侧壁设有沿竖直方向延伸的导向滑槽246d，摆动件231穿设在导向滑槽246d中并被导向滑槽246d沿水平方向限位。
摆动件231上设有第一仿形凹槽231c，致动件包括设在第一仿形凹槽231c中的第一凸轮224。第一凸轮224被输入轴233驱动在第一仿形凹槽231c中旋转，可通过顶触第一仿形凹槽231c的表面，驱动摆动件231运动，并在第一复位件247和第二复位件249的作用下，实现摆动件231的复位，继而使摆动件231的运动实现循环。
摆动件231整体呈倒立的“F”形，包括杆体231d、设在杆体231d上的第一延伸部231e。杆体231d的右表面及第一延伸部231e的下表面限定出第一仿形凹槽231c。杆体231d穿设在导向滑槽246d中，第一延伸部231e位于滑动件246的下方。摆动件231还包括设在杆体231d下端的第二延伸部231b，连接件234转动设在第二延伸部231b的端部。
第一凸轮224包括两个相对设置的平直仿形面、以及与两个平直仿形面平滑过渡的圆弧形仿形面，第一凸轮224与输入轴233的连接点位于其中一个圆弧形仿形面的圆心。第一仿形凹槽231c包括连接杆体231d的右表面及第一延伸部231e的下表面之间的圆弧形平滑过渡面，圆弧形平滑过渡面的曲率与圆弧形仿形面的曲率相适配。靠近第一凸轮224与输入轴233连接点的圆弧形仿形面形成第一凸轮224的势能最低点。相应地，远离第一凸轮224与输入轴233连接点的圆弧形仿形面形成第一凸轮224的势能最高点。
当擩推板235处于工作行程时，第一凸轮224的势能最低点在圆弧形平滑过渡面中转动，第一凸轮224的势能最高点在杆体231d的右表面上滑动。第一延伸部231e的下表面与第一凸轮224的势能最低点接触，进而摆动件231处于最低位置。如此，设在摆动件231下端的连接件234和擩推板235能够压合在底板230上。与此同时，第一凸轮224的势能最高点在杆体231d的右表面上滑动，摆动件231与输入轴233连接点之间的距离逐渐增大。由于输入轴233相对于收集框240固定，从而摆动件231作逐渐远离输入轴233的运动。如此，设在摆动件231下端的连接件234和擩推板235随之朝收集框240移动。从而擩推板235将脏擦拭件压合在底板230上，摆动件231被第一凸轮224顶推着擩推板235朝收集框240方向运动，实现脏擦拭件的回收。
当擩推板235处于返回行程时，第一凸轮224的势能最低点在杆体231d的右表面上滑动，第一凸轮224的势能最高点在第一延伸部231e的下表面上滑动。第一延伸部231e 的下表面与第一凸轮224的势能最高点接触，进而摆动件231处于最高位置。如此，设在摆动件231下端的连接件234和擩推板235被抬离底板230。与此同时，第一凸轮224的势能最低点在杆体231d的右表面上滑动，则在第一复位件247的作用下，滑动件246和摆动件231被牵拉朝返回行程方向移动，设在摆动件231下端的连接件234和擩推板235亦随之朝返回行程方向移动。从而，擩推板235被抬离高出底板230，并在第一复位件247的作用下带动摆动件231和设在摆动件231下端的连接件234和擩推板235朝返回行程方向运动，实现摆动件231的回程。
压板240c面对返回行程方向的表面形成有第二仿形凹槽240g。输入轴233上设有容置在第二仿形凹槽240g中的第二凸轮225，并且第二凸轮225的势能最高点与第一凸轮224的势能最高点位于输入轴233的两侧。
第二仿形凹槽240g包括面对返回行程方向的表面(下文简称前侧表面)和下表面。由于第二凸轮225的势能最高点与第一凸轮224的势能最高点位于输入轴233的两侧。因此，当擩推板235处于工作行程时，第一凸轮224的势能最高点位于下方，则此时第二凸轮225的势能最高点位于上方，顶触在第二仿形凹槽240g的下表面，压板240c被第二凸轮225顶开处于打开状态，进而被擩推板235拖动的脏擦拭件进入收集框240中。
而当擩推板235处于返回行程时，第一凸轮224的势能最高点位于上方，则此时第二凸轮225的势能最高点位于下方，也就是第二凸轮225的势能最低点顶触在第二仿形凹槽240g的下表面，从而压板240c在自身重力的作用下下落，进而压住脏擦拭件。
如图51至图56所示，为本发明第四实施例所涉及的附图。该第四实施例具体提供了一种基站200，其能够自动回收由清洁机器人100卸下的脏擦拭件，其包括：机架11、设于机架11上用于供清洁机器人100释放擦拭件的擦拭件分离位13、设于机架11上用于收容擦拭件的收纳模块15、设于机架11上的传送装置17、设于传送装置17上的夹持机构19、用于驱动传送装置17的驱动机构。夹持机构19具有在收纳模块15和擦拭件分离位13之间移动的第一工作状态、夹持擦拭件分离位13上的擦拭件的第二工作状态以及将擦拭件释放于收纳模块15内的第三工作状态。驱动机构驱动传送装置17以使夹持机构19在擦拭件分离位13和收纳模块15之间移动，进而在第一工作状态、第二工作状态以及第三工作状态之间转换。
使用时，清洁机器人100在擦拭件完成拖地后可以停靠在擦拭件分离位13上，并将擦拭件释放至擦拭件分离位13上。然后启动驱动机构，驱动传送装置17，进而使夹持机构19在擦拭件分离位13和收纳模块15之间移动，并在第一工作状态、第二工作状态以及第三工作状态之间转换。当夹持机构19夹持擦拭件分离位13上的擦拭件，并夹持 擦拭件移动直至移动至收纳模块15时朝向收纳模块15张开，将擦拭件释放于收纳模块15内。如此实现对擦拭件的自动回收，不需要操作人员手动取出擦拭件，避免人工干预。
机架11包括竖直设置的第一框架41和第二框架43，第一框架41和第二框架43整体上呈矩形，分别形成第一开口和第二开口，清洁机器人100能穿过第一开口进入机架11内，并穿设于第二开口内。
擦拭件分离位13和收纳模块15均设于第一框架41和第二框架43之间，擦拭件分离位13为停放板，位于机架11的底部，用于供清洁机器人100停放并接收释放的擦拭件。收纳模块15位于擦拭件分离位13上方，其上端敞开，用于收集脏擦拭件。
传送装置17包括第一传送部37和第二传送部39，第一传送部37包括多个设于第一框架41上的第一同步轮45以及围设在多个第一同步轮45上的第一同步带49。驱动机构与各个第一同步轮45传动连接，以能驱动各个第一同步轮45的转动。该驱动机构可以是电机。
机架11上设有与驱动机构相连的控制器，用于接收清洁机器人100发送的信号，并根据该清洁机器人100发送的信号控制驱动机构。清洁机器人100发送的信号可以是擦拭件更换信号，当清洁机器人100向控制器发送了擦拭件更换信号时，控制器控制驱动机构，以使驱动机构能驱动传送装置传送。在其他的实施方式中，控制器与夹持机构19相连，用于控制夹持机构进行分离和接合。控制器为控制电磁铁。
第一框架41上设有多个第三转轴53，与多个第一同步轮45相对应，每个第一同步轮45固定套设于对应的第三转轴53上，从而通过驱动第三转轴53的转动带动第一同步轮45转动，进而带动第一同步带49转动。
同样的，参照上文对第一传送部37的描述，第二传送部39包括多个设于第二框架43上的第二同步轮47以及围设在多个第二同步轮47上的第二同步带51。驱动机构与各个第二同步轮47传动连接，以能驱动各个第二同步轮47的转动。
第二框架43上设有多个第四转轴55，与多个第二同步轮47相对应，每个第二同步轮47能固定套设于对应的第四转轴55上。从而通过驱动第四转轴55的转动带动第二同步轮47转动，进而带动第二同步带51转动。
夹持机构19包括相对设置的第一转轴31和第二转轴33以及分别套设于第一转轴31和第二转轴33上的第一卡爪21和第二卡爪23，第一卡爪21和第二卡爪23能分别绕第一转轴31和第二转轴33的延伸方向转动，第一转轴31和第二转轴33的两端分别与传送装置17的第一同步带与第二同步带相连。第一卡爪21和第二卡爪23之间设置有扭簧35，第一卡爪21和第二卡爪23在扭簧35的作用力下保持于相分离的状态，使得夹 持机构19处于张开的状态。
第一卡爪21背对第一转轴31的一端设有用于与第二卡爪23相接合的。当夹持机构19处于张开状态时，第一卡爪21和第二卡爪23磁体间距大，扭簧35力大于第一卡爪21与第二卡爪23之间的磁力，夹持机构19可以保持张开状态。当夹持机构19处于闭合状态时，第一卡爪21和第二卡爪23磁体间距小，第一卡爪21与第二卡爪23之间的磁力大于扭簧35力，夹持机构19保持闭合并提供夹紧力。
如图54所示，机架11上还设有位于擦拭件分离位13一侧的第一导向部27，用于向第二卡爪23施加作用力，以使第二卡爪23能相对于第一卡爪21转动，并能与第一卡爪21相接合，以能夹持擦拭件。当清洁机器人100停靠在擦拭件分离位13上并释放擦拭件后，驱动机构驱动第一同步轮45和第二同步轮47分别带动第一同步带49和第二同步带51逆时针转动，夹持机构19向下移动。当第二卡爪23移动至与第一导向部27相接触时，第一导向部27向第二卡爪23施加作用力，第二卡爪23逆时针转动，进而与第一卡爪21上的磁体相接合，将擦拭件夹住。
第一导向部27为朝上敞开的第一凹槽，当第二卡爪23移动至与第一凹槽的内壁相接触时，第一凹槽的内壁对第二卡爪23施加阻力。随着传送装置17的转动，第二卡爪23在阻力作用下绕第二转轴33转动，与第一卡爪21上的磁体相接合，将擦拭件夹住。
机架11上还设有位于收纳模块15一侧的第二导向部29，用于向第二卡爪23施加作用力，以使第二卡爪23能相对于第一卡爪21转动，能与第一卡爪21相分离，以释放擦拭件。具体地，当第一卡爪21与第二卡爪23相接合并夹住擦拭件后，驱动机构驱动传送装置17顺时针转动，使夹持机构19向上移动。当移动至与第二导向部29相正对时，第二导向部29向第二卡爪23施加作用力，使得第二卡爪23顺时针转动，与第一卡爪21上的磁体相分离，将擦拭件释放。
第二导向部29为能伸入第一卡爪21与第二卡爪23之间的杆体，用于与第二卡爪23相抵。当夹持机构19随着传送装置17的传送朝向杆体移动时，杆体伸入第一卡爪21和第二卡爪23之间，对第二卡爪23施加作用力。随着传送装置17的继续传送，第二卡爪23在杆体作用力下绕第二转轴33转动，与第一卡爪21上的磁体相分离，擦拭件能在重力的作用下掉落在收纳模块15内。
第一卡爪21上设有用于供杆体穿设的第二凹槽，第二凹槽朝向第二卡爪23敞开。第二凹槽能引导杆体朝向第二卡爪23移动，保证第二卡爪23与第一卡爪21分离。
如图57至图63所示，为本发明第五实施例所涉及的附图。该第五实施例提供了一种供清洁机器人100停靠的基站200，以及配置该基站200的清洁系统300。基站200可 以为清洁机器人100自动更换拖纸或拖布等擦拭件，减少用户干预，提升用户使用体验。
基站200包括：基带216、多个沿基带216排布且可分离地设于基带216上的擦拭件、用于带动基带216移动的移动机构、用于清洁机器人100更换擦拭件的擦拭件操作位218。位于擦拭件操作位218的基带216在其上的擦拭件被清洁机器人的清洁机器人100携带后形成空置区222。移动机构能够在空置区222接收清洁机器人100卸下的擦拭件21b后移动基带216，以使另一擦拭件21a位于擦拭件操作位218。
本实施例所提供的基站200，通过设有被移动机构带动进行移动的基带216以及供清洁机器人100更换擦拭件的擦拭件操作位218，使得清洁机器人100在需要更换擦拭件时进入到擦拭件操作位218，将已使用的擦拭件21b放置在基带216上的空置区222，基带216通过移动机构带动，将待使用的擦拭件21a切换到擦拭件操作位218，清洁机器人100将待使用的擦拭件21a更换后完成擦拭件的自动更换。因此，本实施例的基站200能够便于实现擦拭件的自动更换，减少用户对擦拭件更换的干预，提升用户使用体验。
多个擦拭件附着在基带216的表面，并沿基带216延伸方向排布。基带216为扁平结构，为布质材料或纸质材料。基带216穿过擦拭件操作位218，将擦拭件以面对清洁机器人100的形式携带至擦拭件操作位218。清洁机器人100进入擦拭件操作位218中，并不与基带216的移动形成干涉。基带216可以将擦拭件携带并传送，在携带擦拭件过程中，擦拭件可以在擦拭件操作位218停留，以被清洁机器人的清洁机器人100进行更换。
基带216上可以连续布置擦拭件，相邻擦拭件之间互不连接。相邻两个擦拭件之间间隔一定距离，或相互紧邻。优选的，多个擦拭件在基带216上相间隔布置，呈点断式分布。多个擦拭件沿基带216的长度方向间隔地附着于基带216表面，相邻擦拭件之间的间距相等。相邻擦拭件间隔的预设距离可以使得在擦拭件操作位218中的基带216仅附着一个擦拭件，以供清洁机器人100更换。如图61所示，在擦拭件被携带移走后，擦拭件操作位218内的基带216为空置状态，空置区222中并无擦拭件附着。空置区222位于擦拭件操作位218中为静止状态直至接收已使用的擦拭件21b，其他待使用的擦拭件21a仍被卷绕于第二卷筒227上存储，避免待使用的擦拭件21a提前被展开而暴露在空气中，影响清洁效果。相应的，已使用的擦拭件21b被卷绕于第一卷筒226上被收集。
多个擦拭件沿基带216移动方向依次移动至擦拭件操作位218，以不重复地方式切换移动到擦拭件操作位218。如此，保证清洁机器人100所更换的擦拭件为未使用的擦拭件，对地面形成有效清洁。
基站200上具有一定的存储空间，待使用的擦拭件21a可以层叠放置于该存储空间，基带216经过该存储空间依次将其携带移出。或者，基带216可以折叠存储在该存储空间中，通过第一卷筒226的拉动，基带216携带擦拭件一同移出该存储空间中。
基站200设有用于存储待使用的擦拭件21a的第一存储部、以及用于存储清洁机器人100卸下的擦拭件的第二存储部。第一存储部的擦拭件通过基带216移动至擦拭件操作位218，在擦拭件操作位218被清洁机器人100携带卸下后移动至第二存储部。通过设有第二存储部实现对已使用的擦拭件21b的自动收集存储。
移动机构包括第一卷筒226，其能够旋转以卷绕基带216，从而带动基带216移动。第一卷筒226通过卷绕基带216使基带216移动，利用基带216的移动可以将已使用的擦拭件21b运送到指定区域或指定存储空间。
第一卷筒226通过卷绕已使用的擦拭件21b形成上述第二存储部，实现已使用的擦拭件21b的自动收集，减少用户的干预。第一卷筒226在卷绕基带216的同时将基带216上的擦拭件一同卷绕，从而形成对已使用的擦拭件21b的收集。通过设有第一卷筒226，将基带216的卷绕与已使用的擦拭件21b的收集相结合，实现了已使用的擦拭件21b的自动收集，结构简单，方便制造。
基站200还包括第二卷筒227。，其能够卷绕基带216以及待使用的擦拭件21a。第一卷筒226通过卷绕基带216，以带动第二卷筒227同步释放基带216。随着基带216的释放，待使用的擦拭件21a随基带216进入擦拭件操作位218供清洁机器人100更换。如此可以将已使用的擦拭件21b的收集与待使用的擦拭件21a的供应相结合，保证清洁机器人100自动更换擦拭件的顺利进行。第二卷筒227通过卷绕待使用的擦拭件21a形成上述第一存储部。
在使用过程中，部分基带216卷绕在第一卷筒226上，部分基带216可以卷绕在第二卷筒227上。在初始状态下，大部分或全部擦拭件被卷绕在第二卷筒227上，第一卷筒226上仅卷绕部分长度的基带216或者第一卷筒226仅固定连接基带216的一端而未卷绕基带216。一个擦拭件位于擦拭件操作位218或已被提前安装于清洁机器人100的拖板上。清洁机器人100进行更换时，依次将基带216上的擦拭件更换给清洁机器人100。
基带216在第一卷筒226或第二卷筒227上层层叠加卷绕，相邻层的基带216之间形成擦拭件的附着空间。如此，既能通过基带216作为传动件带动第二卷筒227转动，将待使用的擦拭件21a释放提供至擦拭件操作位218，还能实现已使用的擦拭件21b的自动收集。
基带216的一端固定于第一卷筒226上，另一端固定于第二卷筒227上。第一卷筒 226被驱动转动，通过基带216带动第二卷筒227转动。基站200上设有驱动第一卷筒226转动的驱动机构，例如马达。
基站200包括壳体，第一卷筒226及第二卷筒227以转轴平行的方式安装于壳体上，擦拭件操作位218位于壳体内，第一卷筒226和第二卷筒227位于擦拭件操作位218外。壳体具有底板219、设于底板219上的前面板228、背板229。前面板228设有通入擦拭件操作位218的进出口2881，用于清洁机器人100进入或移出擦拭件操作位218。
前面板228和背板229将第一卷筒226和第二卷筒227悬空架设，以方便第一卷筒226和第二卷筒227旋转。壳体在擦拭件操作位218在水平方向的两侧分别设有转向轴223，第二卷筒227位于擦拭件操作位218的上方，基带216从第二卷筒227经过转向轴223改变延伸方向后延伸至第一卷筒226。
位于擦拭件操作位218的基带216贴近底板219设置，擦拭件以背对底板219的形式附着于基带216上。为使基带216与底板219平行设置，在擦拭件操作位218水平方向的两侧设置的转向轴223相对于底板219的高度相同，基带216经过转向轴223时延伸方向发生改变。基带216在第一卷筒226和第二卷筒227之间处于拉伸状态或紧绷状态，从而在擦拭件操作位218可以将擦拭件以展开的形式面对清洁机器人100，方便清洁机器人100更换。
基站200还设有定位机构，用于将擦拭件定位于擦拭件操作位218。定位机构可以为结构定位组件，例如，可升降的阻挡板，基带216上具有与之配合的限位槽，在需要将基带216限位静止时该阻挡板升起或展开，伸入限位槽中，将基带216停止，阻止基带216移动。在需要解除限位时，阻挡板降低移出限位槽，基带216正常移动。
为实现自动控制，减少用户操作，定位机构包括控制器、以及测量转向轴223的转过的圈数的测量组件，控制器根据测量组件测量的圈数确定擦拭件的位置。测量组件可以测量两个转向轴223中任意一个转向轴转过的圈数。每个转向轴223在基带216承接已使用的擦拭件21b后将原有圈数清零，并重新开始计量圈数，达到指定圈数时停止基带216运动，将下一待使用的擦拭件21a移动到擦拭件操作位218中。另外，控制器还可以根据每次所增加的圈数确定基带216所携带过来的擦拭件的位置，并且通过最后累计的圈数确定剩余的待使用的擦拭件21a的数量。
清洁机器人100设有能够上下移动的万向轮和拖板，万向轮以及拖板通过上下移动进行收起放下。清洁机器人100具有清洁模式以及越障模式，在清洁模式下时，拖板下移支撑清洁机器人100，万向轮收起。在越障模式下时，拖板收起，万向轮下放支撑清洁机器人100。清洁机器人100在越障模式下进入擦拭件操作位218。拖板上设有夹紧机 构，夹紧机构具有将擦拭件固定于拖板下表面的夹紧位置、以及允许擦拭件脱离拖板的释放位置。
清洁机器人100将基站200中位于擦拭件操作位218的擦拭件携带并移出擦拭件操作位218后，在擦拭件操作位218的基带216呈现未设置擦拭件的空置状态，形成空置区222。待清洁机器人100需要更换擦拭件时，清洁机器人100通过清洁模式切换到越障模式。
在清洁模式下，擦拭件被夹紧机构夹紧固定在拖板上，跟随拖板将地板清洁。拖板下移将擦拭件与地面接触。在越障模式下，清洁机器人100利用万向轮支撑，拖板上移将擦拭件悬空。参阅图60、图61所示，利用越障模式，清洁机器人100根据内部控制器的指令向基站200靠近从进出口2881进入到擦拭件操作位218，并横跨在基带216上面。此时，拖板面对空置区222。如图63所示，拖板携带已使用的擦拭件21b向下移动直至擦拭件与基带216接触附着。
此时，夹紧机构从夹紧位置切换到释放位置，擦拭件与托板分离。然后，拖板和夹紧机构上移，已使用的擦拭件21b位于擦拭件操作位218的基带216上。再通过马达驱动第一卷筒226转动，带动基带216移动，至下一个待使用的擦拭件21a从第二卷筒227上释放并跟随基带216进入到擦拭件操作位218中。相应的，已使用的擦拭件21b随基带216一同卷绕在第一卷筒226上。
然后，拖板下移直至与待使用的擦拭件21a接触、此时，夹紧机构从释放位置切换到夹紧位置，将擦拭件固定于拖板的下表面，完成擦拭件的安装。之后拖板再上升，夹紧机构保持在夹紧位置。如此完成擦拭件的更换。然后，清洁机器人100在越障模式下从进出口2881移出基站200，最后切换至清洁模式进行清洁。基带216保持静止直至清洁机器人100重复上述步骤进行放置已使用的擦拭件21b，然后更换待使用的擦拭件21a。
本实施例中提供清洁系统300包括：清洁机器人100、以及上述实施例所述的供清洁机器人100停靠的基站200。清洁机器人100与基站200能够通信，例如，清洁机器人100和基站200进行位置信息的通信，或者，基站200将擦拭件是否位于擦拭件操作位218信息进行与清洁机器人100通信。
本申请实施例中所提供的清洁系统300或基站200还可以包括提醒机构，用于在待使用的擦拭件21a的数量低于预定数量时发出提醒信号。其中，整个基带216的长度一定的情况下，可以通过累计转向轴223或第一卷筒226或第二卷筒227的圈数，在达到一定圈数时表明待使用的擦拭件21a的数量低于预定数量时。当然，还可以通过测量第一卷筒226或第二卷筒227的当前直径，在第一卷筒226的直径大于预设直径，或者在 第二卷筒227的直径小于预定直径时，表明待使用的擦拭件21a的数量低于预定数量，需要整体更换新的基带216，提升用户使用体验。
需要说明的是，在本发明的描述中，术语“第一”、“第二”等仅用于描述目的和区别类似的对象，两者之间并不存在先后顺序，也不能理解为指示或暗示相对重要性。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
以上仅为本发明的几个实施例，本领域的技术人员依据申请文件公开的内容，可以对本发明实施例进行各种改动或变型而不脱离本发明的精神和范围。

Claims (62)

  1. 一种供清洁机器人停放的基站，所述清洁机器人包括擦拭板，柔性的擦拭件可替换地抵附于所述擦拭板形成擦拭面，以擦拭所述清洁机器人行走的工作表面；其特征在于，所述基站包括：
    存储模块，用于存储连续的擦拭基材；
    进给模块，带动所述擦拭基材的自由端传递到分割位置，以使所述自由端从所述擦拭基材分割形成所述擦拭件。
  2. 根据权利要求1所述的基站，其特征在于，所述基站包括擦拭件操作位，用于接收待安装于所述擦拭板的擦拭件。
  3. 根据权利要求2所述的基站，其特征在于，所述分割位置位于所述擦拭件操作位，或所述进给模块与所述擦拭件操作位之间。
  4. 根据权利要求1所述的基站，其特征在于，所述基站包括分割模块，作用于所述存储模块与所述分割位置之间的所述擦拭基材，将所述自由端与所述擦拭基材分割以形成擦拭件。
  5. 根据权利要求1所述的基站，其特征在于，至少基于所述擦拭基材的自由端到达所述分割位置，所述进给模块在所述擦拭基材的弱连接点的至少一侧锁定所述擦拭基材，以使所述自由端通过所述弱连接点处的拉伸与所述擦拭基材分割。
  6. 根据权利要求1所述的基站，其特征在于，所述进给模块间歇地夹持所述擦拭基材。
  7. 根据权利要求6所述的基站，其特征在于，所述进给模块包括传送轮，所述传送轮的外轮廓包括至少两种曲率，以使所述传送轮的表面间歇地接触所述擦拭基材。
  8. 根据权利要求2所述的基站，其特征在于，所述进给模块至少部分地高于所述擦拭件操作位，使所述擦拭基材的自由端至少部分地基于重力传递至所述擦拭件操作位。
  9. 根据权利要求8所述的基站，其特征在于，所述擦拭件操作位在大致竖直的方向上延伸，以使所述擦拭件在重力作用下伸展。
  10. 根据权利要求2所述的基站，其特征在于，所述基站包括限位装置，用于检测所述擦拭件的位置，使所述进给模块将所述擦拭件传递到所述擦拭件操作位。
  11. 根据权利要求1所述的基站，其特征在于，所述擦拭基材卷绕于转轴，所述存储模块包括安装架，与所述转轴配合，以使所述转轴安装于所述基站。
  12. 根据权利要求11所述的基站，其特征在于，所述安装架包括保持所述转轴安装的第一状态和允许所述转轴拆卸的第二状态。
  13. 根据权利要求1所述的基站，其特征在于，所述基站包括操作模块，作用于所述擦拭件和/或擦拭板，使所述擦拭件与所述擦拭板的装载部结合。
  14. 根据权利要求13所述的基站，其特征在于，所述操作模块作用于所述擦拭件和/或擦拭板，使所述擦拭件与所述擦拭板的装载部分离。
  15. 根据权利要求13所述的基站，其特征在于，所述操作模块可拆卸地安装于所述基站。
  16. 根据权利要求2所述的基站，其特征在于，所述基站包括擦拭板操作位，用于供所述 清洁机器人安装或分离所述擦拭板。
  17. 根据权利要求16所述的基站，其特征在于，所述擦拭件操作位高于所述擦拭板操作位，以形成空间供所述清洁机器人停靠。
  18. 根据权利要求16所述的基站，其特征在于，所述基站包括驱动模块，驱动所述擦拭板在所述擦拭板操作位和所述擦拭件操作位之间移动。
  19. 根据权利要求18所述的基站，其特征在于，所述擦拭件操作位包括擦拭件安装位和擦拭件分离位，供所述擦拭板分离或安装所述擦拭件，所述驱动模块驱动所述擦拭板在大致水平方向上移动和/或旋转以使所述擦拭板移动到所述擦拭件安装位或所述擦拭件分离位。
  20. 根据权利要求1所述的基站，其特征在于，所述基站包括收纳模块，用于收纳与所述擦拭板分离的所述擦拭件。
  21. 根据权利要求20所述的基站，其特征在于，所述基站包括分离模块，作用于所述擦拭件和/或所述擦拭板，使所述擦拭件与所述擦拭板的装载部分离。
  22. 根据权利要求21所述的基站，其特征在于，所述收纳模块位于所述擦拭板的移动方向上，使所述擦拭模块移动至所述分离模块时压缩所述收纳模块内的擦拭件。
  23. 根据权利要求20所述的基站，其特征在于，在至少一个状态下，所述收纳模块接收所述擦拭件的开口至少部分地低于所述擦拭件操作位，以使所述擦拭件至少部分地基于重力作用回收至所述收纳模块。
  24. 根据权利要求20所述的基站，其特征在于，所述收纳模块可拆卸地安装于所述基站。
  25. 一种机器人清洁系统控制方法，所述机器人清洁系统包括清洁机器人和供所述清洁机器人停靠的基站，所述清洁机器人包括擦拭板，供柔性的擦拭件可替换地抵附形成擦拭面以擦拭工作表面；其特征在于，所述方法包括：
    将连续的擦拭基材的自由端传递到分割位置；
    将所述自由端从所述擦拭基材断开形成擦拭件；
    将所述擦拭件安装于所述擦拭板。
  26. 根据权利要求25所述的控制方法，其特征在于，所述基站包括：
    存储模块，用于存储所述连续的擦拭基材；
    进给模块，用于将连续的擦拭基材的自由端向外传递；
    所述将连续的擦拭基材的自由端传递到分割位置，包括：通过所述进给模块，将所述存储模块存储的所述擦拭基材传递到所述分割位置。
  27. 根据权利要求26所述的控制方法，其特征在于，所述基站包括：
    操作模块，用于将所述擦拭件安装于所述擦拭板；
    所述擦拭板包括装载部，用于将所述擦拭件固定于所述擦拭板；
    所述将所述擦拭件安装于所述擦拭板，包括：通过所述操作模块，将所述擦拭件安装于所述擦拭板的装载部。
  28. 根据权利要求26所述的控制方法，其特征在于，将所述自由端从所述擦拭基材断开形成擦拭件，包括：通过所述进给模块对所述擦拭基材的锁定和/或拉伸，将所述自由端 从所述擦拭基材断开形成擦拭件。
  29. 根据权利要求25所述的控制方法，其特征在于，所述基站包括：
    分割装置，用于分割所述擦拭基材；
    将所述自由端从所述擦拭基材断开形成擦拭件，包括：通过所述分割装置，将所述自由端从所述擦拭基材断开形成擦拭件。
  30. 根据权利要求25所述的控制方法，其特征在于，所述控制方法还包括：将所述擦拭件与所述擦拭板分离。
  31. 根据权利要求30所述的控制方法，其特征在于，所述控制方法还包括：将所述擦拭件与所述擦拭板分离之前，将所述擦拭板与所述清洁机器人分离。
  32. 根据权利要求31所述的控制方法，其特征在于，所述控制方法还包括：将所述擦拭件与所述擦拭板分离之前，驱动与清洁机器人分离的所述擦拭板移动至擦拭件操作位。
  33. 根据权利要求31所述的控制方法，其特征在于，所述控制方法还包括：在所述擦拭件安装于所述擦拭板之后，将所述擦拭板安装于所述清洁机器人。
  34. 根据权利要求31所述的控制方法，其特征在于，所述控制方法还包括：将所述擦拭板与所述清洁机器人分离后，所述清洁机器人向第一方向移动预设距离。
  35. 根据权利要求34所述的控制方法，其特征在于，所述控制方法还包括：所述清洁机器人向第一方向移动预设距离后，将所述擦拭板安装于所述清洁机器人。
  36. 根据权利要求34所述的控制方法，其特征在于，将所述擦拭件安装于所述擦拭板后，所述清洁机器人向第二方向移动预设距离，将所述擦拭板安装于所述清洁机器人，所述第一方向与所述第二方向相反。
  37. 一种机器人清洁系统，包括清洁机器人和供所述清洁机器人停靠的基站，其特征在于，所述清洁机器人包括：
    主体；
    移动模块，安装于所述主体，带动清洁机器人在工作表面移动；
    擦拭板，安装于所述主体，供柔性的擦拭件可分离地抵附形成擦拭面以擦拭工作表面；所述擦拭板包括装载部，用于固定所述擦拭件；
    所述基站包括：
    存储模块，存储连续的擦拭基材；
    进给模块，将所述擦拭基材的自由端传递到分割位置，以使所述自由端从所述擦拭基材分割形成所述擦拭件；
    操作模块，安装于所述主体或所述基站，作用于所述擦拭板和/或擦拭件，使所述擦拭件与所述擦拭板的装载部结合。
  38. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站包括擦拭件操作位，用于接收待安装于所述擦拭板的擦拭件。
  39. 根据权利要求38所述的机器人清洁系统，其特征在于，所述分割位置位于所述擦拭件操作位，或所述进给模块与所述擦拭件操作位之间。
  40. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站包括分割模块，作 用于所述存储模块与所述分割位置之间的所述擦拭基材，将所述自由端与所述擦拭基材分割以形成擦拭件。
  41. 根据权利要求37所述的机器人清洁系统，其特征在于，至少基于所述擦拭基材的自由端到达所述分割位置，所述进给模块在所述擦拭基材的弱连接点的至少一侧锁定所述擦拭基材，以使所述自由端通过所述弱连接点处的拉伸与所述擦拭基材分割。
  42. 根据权利要求37所述的机器人清洁系统，其特征在于，所述进给模块间歇地夹持所述擦拭基材。
  43. 根据权利要求42所述的机器人清洁系统，其特征在于，所述进给模块包括传送轮，所述传送轮的外轮廓包括至少两种曲率，以使所述传送轮的表面间歇地接触所述擦拭基材。
  44. 根据权利要求37所述的机器人清洁系统，其特征在于，所述进给模块至少部分地高于所述擦拭件操作位，使所述擦拭基材的自由端至少部分地基于重力传递至所述擦拭件操作位。
  45. 根据权利要求44所述的机器人清洁系统，其特征在于，所述擦拭件操作位在大致竖直的方向上延伸，以使所述擦拭件在重力作用下伸展。
  46. 根据权利要求38所述的机器人清洁系统，其特征在于，所述基站包括限位装置，用于检测所述擦拭件的位置，使所述进给模块将所述擦拭件传递到所述擦拭件操作位。
  47. 根据权利要求37所述的机器人清洁系统，其特征在于，所述擦拭基材卷绕于转轴，所述存储模块包括安装架，与所述转轴配合，以使所述转轴安装于所述基站。
  48. 根据权利要求47所述的机器人清洁系统，其特征在于，所述安装架包括保持所述转轴安装的第一状态和允许所述转轴拆卸的第二状态。
  49. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站包括操作模块，作用于所述擦拭件和/或擦拭板，使所述擦拭件与所述擦拭板的装载部结合。
  50. 根据权利要求49所述的机器人清洁系统，其特征在于，所述操作模块作用于所述擦拭件和/或擦拭板，使所述擦拭件与所述擦拭板的装载部分离。
  51. 根据权利要求49所述的机器人清洁系统，其特征在于，所述操作模块可拆卸地安装于所述基站。
  52. 根据权利要求38所述的机器人清洁系统，其特征在于，所述基站包括擦拭板操作位，用于供所述清洁机器人安装或分离所述擦拭板。
  53. 根据权利要求52所述的机器人清洁系统，其特征在于，所述擦拭件操作位高于所述擦拭板操作位，以形成空间供所述清洁机器人停靠。
  54. 根据权利要求52所述的机器人清洁系统，其特征在于，所述基站包括驱动模块，驱动所述擦拭板在所述擦拭板操作位和所述擦拭件操作位之间移动。
  55. 根据权利要求54所述的机器人清洁系统，其特征在于，所述擦拭件操作位包括擦拭件安装位和擦拭件分离位，供所述擦拭板分离或安装所述擦拭件，所述驱动模块驱动所述擦拭板在大致水平方向上移动和/或旋转以使所述擦拭板移动到所述擦拭件安装位或所述擦拭件分离位。
  56. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站包括收纳模块，用于收纳与所述擦拭板分离的所述擦拭件。
  57. 根据权利要求56所述的机器人清洁系统，其特征在于，所述基站包括分离模块，作用于所述擦拭件和/或所述擦拭板，使所述擦拭件与所述擦拭板的装载部分离。
  58. 根据权利要求57所述的机器人清洁系统，其特征在于，所述收纳模块位于所述擦拭板的移动方向上，使所述擦拭模块移动至所述分离模块时压缩所述收纳模块内的擦拭件。
  59. 根据权利要求56所述的机器人清洁系统，其特征在于，在至少一个状态下，所述收纳模块接收所述擦拭件的开口至少部分地低于所述擦拭件操作位，以使所述擦拭件至少部分地基于重力作用回收至所述收纳模块。
  60. 根据权利要求56所述的机器人清洁系统，其特征在于，所述收纳模块可拆卸地安装于所述基站。
  61. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站和所述清洁机器人上分别设置有通信模块，所述基站与所述清洁机器人通信以使所述基站与所述清洁机器人协同更换所述擦拭件。
  62. 根据权利要求37所述的机器人清洁系统，其特征在于，所述基站包括充电模块，供所述清洁机器人对接于所述基站时充电。
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