WO2022037501A1 - 清洁装置及清洁机器人系统 - Google Patents

清洁装置及清洁机器人系统 Download PDF

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Publication number
WO2022037501A1
WO2022037501A1 PCT/CN2021/112558 CN2021112558W WO2022037501A1 WO 2022037501 A1 WO2022037501 A1 WO 2022037501A1 CN 2021112558 W CN2021112558 W CN 2021112558W WO 2022037501 A1 WO2022037501 A1 WO 2022037501A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
liquid
storage tank
rib
cleaning device
Prior art date
Application number
PCT/CN2021/112558
Other languages
English (en)
French (fr)
Inventor
张迎寅
彭亚亚
班永
陈超
宗志巍
尹相超
黄华
苗青
耿鹤
Original Assignee
科沃斯机器人股份有限公司
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
Application filed by 科沃斯机器人股份有限公司 filed Critical 科沃斯机器人股份有限公司
Priority to EP21857596.7A priority Critical patent/EP4201292A4/en
Priority to US18/019,700 priority patent/US20230270310A1/en
Publication of WO2022037501A1 publication Critical patent/WO2022037501A1/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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
    • A47L11/204—Floor surfacing or polishing machines combined with vacuum cleaning devices having combined drive for brushes and for vacuum cleaning
    • A47L11/206—Floor surfacing or polishing machines combined with vacuum cleaning devices having combined drive for brushes and for vacuum cleaning for rotary disc brushes
    • 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
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/16—Rigid blades, e.g. scrapers; Flexible blades, e.g. wipers
    • B08B1/165—Scrapers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/20—Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/04—Cleaning involving contact with liquid
    • 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 present application relates to the field of robotics, and in particular, to a cleaning device and a cleaning robot system.
  • cleaning robots with mopping parts such as window cleaning robots, floor mopping robots, or sweeping and mopping robots.
  • the cleaning robot uses the mopping element to clean the dirt on the surface to be cleaned while walking on the surface to be cleaned.
  • the present application provides a cleaning device and a cleaning robot system to solve or improve the above problems.
  • a cleaning device in one embodiment of the present application, includes:
  • At least one first rib disposed on the first cleaning component, for contacting with the cleaned piece
  • the arrangement of the at least one first convex rib makes the first cleaning member have a liquid storage tank and a liquid outlet;
  • the cleaning liquid in the liquid storage tank is maintained at a liquid level capable of contacting the cleaned piece, and the cleaning liquid in the liquid storage tank is flowed and renewed through the liquid outlet.
  • a cleaning device in another embodiment of the present application, includes:
  • At least one first rib disposed on the first cleaning component, for contacting with the cleaned piece
  • the arrangement of the at least one first rib makes the first cleaning member have a liquid storage tank
  • the cleaning liquid in the liquid storage tank is maintained at a liquid level at least capable of contacting the cleaned piece.
  • a cleaning robot system is also provided.
  • the cleaning robot system includes:
  • the cleaning device includes a first cleaning part and at least one first rib; at least one first rib is arranged on the first cleaning part for contacting with the mopping member;
  • the arrangement of the at least one first convex rib makes the first cleaning member have a liquid storage tank and a liquid outlet; in the working state, the cleaning liquid in the liquid storage tank is maintained at a level that can be wiped with the mop. The liquid level in contact with the parts, and the cleaning liquid in the liquid storage tank is flowed through the liquid outlet to update the cleaning liquid.
  • the first cleaning member is provided with at least one first rib in contact with the cleaning member, and when the first cleaning member and the cleaning member move relatively , the cleaned part does not move; or the first cleaning part does not move, the cleaned part moves; or the first cleaning part and the cleaned part move at different speeds or directions), the first rib on the first cleaning part can scrape Remove and squeeze the sewage or dirt (such as hair, etc.) on the cleaned part to clean the cleaned part; in addition, the cleaning liquid in the liquid storage tank on the first cleaning part is maintained at a certain height to at least It can be in contact with the cleaned parts (for example, it can always be in contact with the cleaned parts or sometimes it can sometimes not be in contact).
  • the cleaning liquid in the liquid storage tank can be continuously discharged through the liquid outlet, and the clean cleaning liquid is removed. Injection can realize the renewal of the fluidity of the cleaning liquid in the liquid storage tank, which helps to improve the cleaning rate of the cleaned parts; also, after the cleaning is completed, the cleaning liquid stops injecting, and the cleaning liquid in the liquid storage tank can pass through the outlet.
  • the liquid port is discharged, which can reduce the moisture content of the cleaned parts.
  • FIG. 1 is a schematic structural diagram of a cleaning device provided with two first cleaning components according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a first cleaning component provided by an embodiment of the present application.
  • 3a is a schematic diagram of a cleaning device provided by another embodiment of the application including a first cleaning component and a second cleaning component;
  • Figure 3b is a top view of the structure shown in Figure 3a;
  • FIG. 4a is a schematic structural diagram of a first cleaning component provided with linear ribs according to an embodiment of the application
  • FIG. 4b is a schematic structural diagram of the dislocation arrangement of linear ribs on the first cleaning member according to an embodiment of the application;
  • Fig. 4c is a schematic structural diagram of a first cleaning member provided with a zigzag-shaped and curved rib provided by an embodiment of the application;
  • FIG. 5 is a schematic structural diagram of a first cleaning component provided by an embodiment of the application.
  • 6a is a schematic diagram of an oval first cleaning member provided by an embodiment of the application.
  • 6b is a schematic diagram of a square first cleaning member provided in an embodiment of the application.
  • 6c is a schematic diagram of a triangular first cleaning member provided by an embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a sewage tank provided with a first cleaning component according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a first cleaning component provided in a cleaning device provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a mopping member located on a first cleaning member provided by an embodiment of the present application.
  • FIG. 10 is a schematic diagram of a cleaning robot positioned on the base of the cleaning device according to an embodiment of the application.
  • Embodiments of the present application provide a cleaning device.
  • the cleaning device may be the structure shown in Figures 1, 2, 3a and 3b.
  • the cleaning device 100 includes: a first cleaning member 1 and at least one first rib 21 .
  • at least one first protruding rib 21 is provided on the first cleaning member 1 for contacting with the cleaning member.
  • the arrangement of the at least one first rib 21 makes the first cleaning member 1 have a liquid storage tank 3 . In the working state, the cleaning liquid in the liquid storage tank 3 is maintained at a liquid level that can at least be in contact with the object to be cleaned.
  • the cleaning liquid in the liquid storage tank 3 can always be maintained at a liquid level that can be in contact with the object to be cleaned, or it can be in contact for a period of time without contact.
  • it can be realized by controlling the liquid supply structure of the cleaning device. For example, during the cleaning process, the liquid level of the cleaning liquid in the liquid storage tank 3 changes due to factors such as the water absorption of the cleaned parts, the cleaning liquid being brought out and overflowing, and the cleaning liquid being discharged from the liquid outlet.
  • the change can be realized by controlling the liquid supply mode of the liquid supply structure (such as continuous liquid supply or intermittent liquid supply) and/or the liquid supply amount.
  • the arrangement of the at least one first rib not only allows the first cleaning member 1 to have a liquid storage tank 3 , but also enables the first cleaning member 1 to have a liquid outlet 4 . ; In the working state, the cleaning liquid in the liquid storage tank 3 is maintained at a liquid level that can be in contact with the cleaned part, and the cleaning liquid in the liquid storage tank 3 flows through the liquid outlet 4 to update the cleaning liquid.
  • the liquid supply structure of the cleaning device can continuously provide the cleaning liquid to the first cleaning component 1, and the cleaning liquid in the liquid storage tank 3 flows out from the liquid outlet 4 without interruption;
  • the liquid supply amount of the liquid structure By adjusting the liquid supply amount of the liquid structure, the liquid level of the cleaning liquid in the liquid storage tank 3 can be kept unchanged, and the fluidity of the cleaning liquid in the liquid storage tank 3 can be updated.
  • the liquid level change of the cleaning liquid in the liquid storage tank 3 can also be realized by controlling the liquid supply amount of the liquid supply structure.
  • the cleaning liquid in the liquid storage tank can contact the cleaned parts; for a period of time, the liquid level of the cleaning liquid in the liquid storage tank 3 decreases to the second liquid level, and at the second liquid level At the liquid level, the cleaning liquid in the liquid storage tank cannot contact with the cleaned parts; the two liquid levels can be alternated.
  • At least one first rib 21 is disposed on the first cleaning member 1 to form a groove wall higher than the surface of the first cleaning member 1 .
  • the tank wall formed on the surface of the first cleaning member 1 and the surface of the first cleaning member 1 as the bottom of the tank surrounded by the groove wall constitute the liquid storage tank 3 .
  • the at least one first convex rib 21 is provided on the surface (eg, the top surface) of the first cleaning member 1 to form a groove wall higher than the surface; the groove wall And the surface surrounded by the tank wall constitutes the liquid storage tank.
  • FIGS. 1 and 2 there are three first protruding ribs 21 , and the three first protruding ribs 21 are arranged on the first cleaning member 1 , so that the first cleaning member has storage Liquid tank 3 and liquid outlet 4.
  • the first rib 21 is one piece, and one piece of the first rib 21 is provided on the first cleaning member 1, so that the first cleaning member has a storage Liquid tank 3 and liquid outlet 4.
  • the first cleaning member 1 may be in any shape, such as a disc shape as shown in FIGS. 1 and 2 , or a cube shape as shown in FIGS. 3 a and 3 b , etc., which is not specifically limited in this embodiment. .
  • the at least one first rib 21 may be disposed along the top edge of the first cleaning member 1 .
  • the liquid outlet has at least one of the following structures. Referring to FIG. 3a and FIG. 3b, when there is one first rib 21, the first rib 21 is spaced from the head to the tail to form the liquid outlet 4; Referring to FIG. 2 , when there are multiple first protruding ribs, the ends of adjacent first protruding ribs 21 are spaced to form the liquid outlet 4 .
  • At least one convex rib is arranged on the first cleaning member for contacting with the cleaned piece; when the first cleaning member and the cleaned piece are relatively moved, the first convex rib can scrape off the cleaned piece It can also squeeze the cleaned part to squeeze out the sewage on the cleaned part; the cleaned part sucks the cleaning liquid into the liquid storage tank, and then is squeezed by the first rib.
  • the cleaning of cleaning parts, the cleaning rate is high.
  • the cleaning liquid in the liquid storage tank can flow and be renewed through the liquid outlet, so that the cleaning liquid sucked by the cleaning piece has a certain degree of cleanliness, which is beneficial to further improve the cleaning rate of the cleaning piece.
  • the first cleaning member 1 can perform rotational movement, and the cleaned member can be stationary or reversely rotated, etc.; in the embodiment shown in FIGS. 1 and 2 , the first cleaning member 1 performs rotational movement.
  • the first cleaning member does not move, and the cleaned member rotates or moves linearly; in the embodiment shown in Figs. 3a and 3b, the first cleaning member 1 does not move; and so on, which is not limited in this embodiment.
  • the edge of the first cleaning member is in a semi-closed structure due to the existence of the liquid outlet.
  • the at least one first rib may include, but is not limited to, at least one of the following: a curved rib, a straight rib, and a broken line rib.
  • the arrangement of the at least one first rib and the selection of the shape of the first rib may be determined based on the movement mode of the first cleaning member, the shape of the cleaned piece, and the like. For example, if the movement mode of the first cleaning part is linear reciprocating motion, the first protruding ribs on the first cleaning part can be selected as linear protruding ribs as shown in Figures 4a and 4b.
  • the moving direction of a cleaning component is vertical and arranged at equal intervals (as shown in Figure 4a); of course, a plurality of linear ribs may also be arranged in a staggered position (as shown in Figure 4b), etc., which is not limited in this embodiment.
  • the movement mode of the first cleaning member is rotational movement
  • the first rib on the first cleaning member can be selected as the broken line rib or arc shown in FIG. 4c
  • the first cleaning member 1 may include first ribs of various shapes, for example, may simultaneously contain at least two kinds of curved ribs, linear ribs, and broken line ribs.
  • FIG. 4c shows the case where the first cleaning member 2 contains a folded-line convex rib and an arc-shaped convex rib.
  • a plurality of first ribs 21 are arranged along the edge of the first cleaning member 1 around the circumference, so that the first cleaning member
  • the edge of 1 forms a convex edge higher than the top surface of the first cleaning member 1 ; the ends of adjacent first convex ribs 21 are separated by a distance d to form the liquid outlet 4 .
  • the shape of the first cleaning member 1 is a fan shape, and the fan-shaped first cleaning member 1 includes a central disk 11 and three fan blade disks 12 , 13 and 14 .
  • the first cleaning member 1 has three edge ribs 21 .
  • a first rib 21 in FIG. 5 includes a first-stage rib 211 on the blade disk 12 , a second-section rib 212 on the center disk 11 , and a third rib on the other blade disk 13 . Segment rib 213 .
  • the ends of two adjacent first protruding ribs are separated by a distance d to form the liquid outlet 4 .
  • the cleaning device further includes at least one second convex rib 22 ; the at least one second convex rib 22 is disposed on the first cleaning member 1 and located on the at least one first rib 22 within the area surrounded by the rib 21 .
  • the at least one second rib 22 may include, but is not limited to, a rib in one of the following shapes: a curved rib, an annular rib, a straight rib, a broken line rib (eg, a v-shaped rib). tendons, etc.) etc.
  • the at least one second rib constitutes at least one of the following structures:
  • the at least one second convex rib forms an annular convex structure
  • At least one second convex rib is combined with at least one first convex rib to form an annular convex structure.
  • the annular protruding structure 23 located on the central disk 11 is formed by an end-to-end annular second rib 22 .
  • the annular protruding structure 23 located on the blade disk eg, the blade disk 13 in FIG. 5
  • the annular protruding structure 23 located on the blade disk is surrounded by a section of the first rib 21 and a linear second rib 22 .
  • another annular raised structure 23 located on the fan blade disc (such as the fan blade disc 13 in FIG. 5 ) is composed of a section of the first raised rib 21 and two linear second raised ribs (or a V-shaped first raised rib). Two convex ribs) surrounded.
  • the region of the first cleaning member 1 surrounded by the annular convex structure is provided with a through hole to form a hollow structure.
  • the first cleaning component 1 is made of a hollow structure, which can reduce water consumption on the one hand, and facilitate drying of the cleaned piece and the first cleaning component on the other hand, and the liquid remaining in the annular convex structure can leak from the hollow.
  • the first cleaning member 1 in this embodiment may include, but is not limited to, at least one of the following shapes: oval (as shown in FIG. 6a ), square (as shown in FIG. 6b ), triangle (as shown in FIG. 6c ), and pentagon , hexagonal, fan-shaped (as shown in Figure 2 and Figure 5), circular, etc.
  • Two of the first cleaning members 1 can be provided, as shown in FIG. 1 . If the movement mode of the first cleaning member 1 is a rotation mode, the two first cleaning members 1 can be arranged in a dislocation rotation mode. That is, in an achievable technical solution, the cleaning device has two first cleaning members 1, and the two first cleaning members are arranged in a dislocation rotation manner.
  • the dislocation rotation mode can be simply understood as a setting mode in which the distance between the rotation centers of the two first cleaning members is less than the sum of the maximum rotation radii of the two first cleaning members. The two first cleaning members rotate synchronously without interference.
  • the two first cleaning components 1 both include a center disk and a fan blade disk; the fan blade disk is arranged on the edge of the center disk.
  • the center-to-center distance of the center disks of the two first cleaning components 1 is less than the sum of the maximum rotation radii of the two first cleaning components; the maximum rotation radius of the first cleaning components is the distance between the fan blade disk and the distal end of the center disk. The distance to the center of the center disk.
  • the center distance between the first cleaning member 1 on the left side and the first cleaning member 1 on the right side is L; the dislocation rotation of the two first cleaning members satisfies: L ⁇ R1+R2; wherein, R1 is the first cleaning member on the left side
  • R2 is the maximum rotation radius of the first cleaning component 1 on the right side.
  • the first cleaning member 1 may also be set to one (as shown in FIG. 8 ), three, four or more, which is not limited in this embodiment.
  • the first cleaning member 1 includes a centerable disk 11; the center disk 11 has a center area; a plurality of the annular raised structures 23 are located around the center area, To form the liquid storage tank 3 radiating from the central area to the edge in multiple directions, and then extending along the edge to the liquid outlet.
  • the three annular raised structures 23 are all the same in shape and size; the central disk 11 is a circular disk, and the three annular raised structures are spaced 120 degrees apart and arranged around the central area, as shown in FIGS. 2 and 5 .
  • the three reservoirs 3 are shown scattered from the central area to the edge of the central disk.
  • the first cleaning member 1 may further include fan blade discs 12 , 13 and 14 .
  • FIG. 5 shows a case of including three fan blade disks. In fact, the number of fan blade disks may also be one, two, four, etc., which is not specifically limited in this embodiment.
  • the fan blade disk is arranged on the outer periphery of the center disk. As shown in FIG. 5 , the blade disks 12 , 13 and 14 are arranged along the radial direction of the center disk and are spaced 120 degrees apart.
  • the liquid outlet 4 may be located on the fan blade disk.
  • the fan blades 12, 13 and 14 may all have liquid outlets.
  • the liquid storage tank on the first cleaning member 1 extends from the central disk 11 to the fan blade disk. A section of the liquid storage tank 3 is provided on the fan blade disk.
  • the blade disc (blade disc 13 in FIG. 5 ) is located on both sides of the groove section, and is respectively provided with at least one annular raised structure 23 .
  • the groove section on the fan blade disk can be designed as an arc. As shown in FIG. 5 , the groove center line 300 of the groove section is an arc, and more specifically, it can be a plane. spiral.
  • the first protruding ribs 21 on both sides of the groove section on the bladed disk are retracted to expose part of the disk surface outside the first protruding ribs 21 .
  • the first cleaning part 1 will be placed in the sewage pan 5 as shown in FIG. 7 ; sewage is stored in the sewage pan 5, if the edges of the fan blade disk of the first cleaning part 1 are all covered by the first ribs 213 is surrounded, then when the first cleaning part 1 rotates, the fan blade disk uses a plane to directly hit the sewage, which will cause a large splash, and the sewage can easily enter the water storage tank of the first cleaning part.
  • the first convex rib on the fan blade plate is shrunk inward to expose the part of the plate surface, and the exposed plate surface of this part can have the effect of depressing and arousing water splashes.
  • the liquid storage tank 3 on the first cleaning member 1 may further be provided with a drainage rib 6 .
  • the drainage ribs 6 in the liquid storage tank 3 are used to divide the fluid in the liquid storage tank 3 to be discharged from the plurality of liquid outlets 4 .
  • the fluid channel formed by the liquid storage tank 3 has at least one tributary 31 ; the drainage rib 6 is provided at the tributary 31 .
  • a three-fork 31 is formed by an edge rib and two annular raised structures.
  • the drainage rib 6 at the fork 31 can be arranged on the edge rib and extend toward the groove section between the two annular protrusion structures.
  • the three-fork at 32 the drainage rib 31 is arranged on the inner rib forming the annular convex structure, and extends to the groove section on the fan blade disc.
  • the three-fork at 33 in FIG. 5 is formed by three annular convex structures surrounding the central area. Mark 33 can be provided with a central island, and the central island is provided with three drainage ribs 6 respectively extending to each groove section.
  • the drainage ribs shown in Figures 2 and 5 are straight. In fact, other shapes of drainage ribs can be selected according to specific conditions, such as curves, broken lines, etc., which are not specifically limited in this embodiment.
  • the shape selection and position setting of the drainage ribs need to be determined according to various factors such as the structure of the first cleaning component, the structure of the liquid storage tank, the movement mode of the first cleaning component, and the fluid design.
  • the first cleaning member 1 may be a rotary movement. That is, the cleaning device provided in this embodiment may further include a rotation driving mechanism (not shown in the figure), and the rotation driving mechanism is used to drive the first cleaning member to rotate.
  • the rotary drive mechanism may include: a motor and a transmission mechanism (eg, a deceleration mechanism).
  • the number of the liquid outlet is one
  • the liquid storage tank has a liquid injection end 33
  • the liquid injection end 33 is connected to the liquid outlet 4 are located at two opposite ends of the liquid storage tank 3 .
  • the groove width of the liquid storage tank 3 is from wide to narrow.
  • the narrow design of the liquid outlet of the liquid storage tank is for liquid storage. If the design of the liquid outlet is too large, the outflow of the cleaning liquid in the liquid storage tank will be too large. In order to ensure the liquid level in the liquid storage tank, it is necessary to Increase the liquid supply and virtually increase the water consumption.
  • the first cleaning member 1 is fixed, and the cleaning member moves (eg, rotates).
  • the first rib 21 can be in contact with the piece to be cleaned, and the top structure of the first rib 21 is adapted to the piece to be cleaned. For example, if the piece to be cleaned has a certain inclination, the top of the first convex rib 21 can be in contact with the piece to be cleaned, and its top structure should also be consistent with the inclination of the piece to be cleaned.
  • the first cleaning member 1 is fixed, and in order to facilitate the discharge of the cleaning liquid in the liquid storage tank 3 from the liquid outlet 4, the bottom of the liquid storage tank can be designed to be inclined. Specifically, as shown in FIG. 3 a , from the liquid injection end 33 to the liquid outlet 4 , the bottom of the liquid storage tank 3 is from high to low. The liquid outlet 4 is lower than the liquid injection end 33 , and the liquid injected into the liquid storage tank 3 flows to the liquid outlet 4 under the action of gravity.
  • a plurality of first bumps 35 may be provided in the water storage tank 3; the plurality of first bumps 35 are used to contact the cleaned member (eg, a mopping member) to scrape the cleaned Parts, play the role of cleaning the parts to be cleaned.
  • the at least one first bump 35 in the water storage tank 3 can also serve the purpose of filling the water storage tank and reducing the amount of liquid used.
  • the one or more first bumps 35 may be; hemispherical bumps, cylindrical bumps, pyramid bumps, etc., which are not limited in this embodiment.
  • the first protrusion 35 may be disposed on the bottom of the water storage tank 3 .
  • the number of the first cleaning members in this embodiment may be one, two or more, which may be determined according to the structural space of the cleaning device, the number and shape of the cleaned members, etc. .
  • the cleaning device may further comprise a second cleaning member 10 .
  • a plurality of second bumps 36 may be provided on the second cleaning member 10 .
  • the plurality of second bumps 36 are used for contacting with the cleaned piece.
  • the second bumps 36 may be: hemispherical bumps, cylindrical bumps, cone bumps, etc., which are not limited in this embodiment.
  • the first cleaning member 1 and the second cleaning member 10 can be set as shown in FIG. 3b, that is, the axis 111 of the first cleaning member 1 and the axis 101 of the second cleaning member 10 have an included angle (such as obtuse angle); if the cleaned piece is circular (eg, the cleaned piece 201 in FIG. 3b), the intersection of the axes 111 and 101 can be located at the center of the cleaned piece.
  • the first cleaning member 1 and the second cleaning member 10 are arranged on the same straight line.
  • the positional relationship between the first cleaning member 1 and the second cleaning member 10 may be determined according to actual space conditions.
  • the cleaning device provided in this embodiment may further include: a liquid supply structure, a liquid storage structure, a base, and the like.
  • the liquid supply structure 7 has a liquid supply port 71 for supplying cleaning liquid to the first cleaning member 1 ; wherein, the liquid supply port faces the liquid storage tank downward.
  • the cleaning liquid may be water, an aqueous solution containing washing liquid, or the like.
  • the liquid supply structure may include: a liquid supply tank 72, a water pump (not shown in the figure), and the like. The water or aqueous solution in the liquid supply tank 72 is pumped out by the water pump and flows to the first cleaning member 1 through the liquid supply port 71 .
  • the liquid storage structure may include: a liquid storage tank 81, a water pump (not shown in the figure), and the like.
  • the liquid storage tank 81 can be used to store the liquid (substantially sewage) discharged from the liquid outlet.
  • the base 9 is provided with at least one of the first cleaning components 1 . More specifically, a sewage tank 91 may be provided in the base 9 . Referring to FIG. 9 , the sewage tank 91 is provided with a water outlet 92 , and the water outlet 92 can be connected to a water outlet pipe and a water pump to pump the sewage into the liquid storage tank 81 .
  • FIG. 10 shows a situation in which a robot 200 (such as a mopping robot or an integrated sweeping and mopping robot) travels to the base 9 of the cleaning device.
  • a robot 200 such as a mopping robot or an integrated sweeping and mopping robot
  • the cleaned member 201 at the bottom of the robot 200 such as a mopping member (or a rag) is located above the first cleaning member 1 , as shown in FIG. 9 .
  • the first cleaning member 1 rotates, the first rib, the second rib, the first bump, the second bump, etc.
  • the aqueous solution supplied by the liquid supply structure to the first cleaning member are all related to the When the cleaning member 201 contacts, at least one of the first rib, the second rib, the first bump, and the second bump scrapes off the dirt on the mopping member and squeezes water; the mopping member absorbs the first When the aqueous solution on the cleaning part is squeezed again, at least one of the first rib, the second rib, the first bump, and the second bump can be effectively cleaned.
  • the sewage tank 91 in which the first cleaning part is placed is convenient to collect sewage generated when cleaning and squeezing the cleaned parts;
  • the cleaning of components, sewage tanks, etc. reduces the dirt residue in the cleaning device, and has the effect of self-cleaning.
  • the cleaning device of this embodiment can not only clean the parts to be cleaned of the robot, but also charge the robot.
  • the cleaning device is further provided with a charging mechanism 102 .
  • the charging mechanism 102 is used to electrically connect with the robot after the robot is placed on the base, so as to provide a charging voltage.
  • the charging mechanism may include, for example, a charging interface, a charging circuit, and the like.
  • the charging interface is adapted to the interface on the robot. After the robot travels on the base, the interface on the robot can be docked with the charging interface on the cleaning device to charge the robot.
  • the liquid supply tank 72 in the liquid supply structure 7 and the liquid storage tank 81 in the liquid storage structure 8 can be arranged above the base 9 , such as the liquid supply tank 72 and the storage tank 81 .
  • the tanks 81 are arranged side by side. There is a space for accommodating the robot between the base 9 , the liquid supply tank 72 and the bottom of the liquid storage tank 81 .
  • the charging interface of the charging mechanism 102 can be arranged on the space wall of this space.
  • the cleaning device can realize automatic cleaning of the cleaned parts, and the cleaning effect is good.
  • the cleaning device can collect and store the sewage generated during cleaning.
  • the cleaning liquid in the liquid storage tank always maintains a certain level of liquid level to contact the cleaned parts.
  • the cleaning liquid in the liquid storage tank can be Through the continuous discharge of the liquid outlet, the clean cleaning liquid can be injected to realize the renewal of the fluidity of the cleaning liquid in the liquid storage tank, which helps to improve the cleaning rate of the cleaned parts; in addition, after the cleaning is completed, the cleaning liquid stops injecting , the cleaning liquid in the liquid storage tank can be discharged through the liquid outlet, which can reduce the moisture content of the cleaned parts.
  • the first cleaning component of the cleaning device shown in FIG. 5 is designed as a hollow structure, the water consumption during cleaning can be reduced.
  • the plurality of first bumps arranged in the water storage tank can not only clean the object to be cleaned (of course, this is the main function of the first bumps), but also reduce water consumption. quantity.
  • the cleaning of the sewage pan can also be realized, and the self-cleaning effect of the cleaning device is realized.
  • FIG. 10 another embodiment of the present application provides a cleaning robot system.
  • the system includes: a cleaning robot 200 and a cleaning device 100 .
  • the cleaning robot 200 is provided with a mopping member 201, such as a rag.
  • the cleaning device 100 includes a first cleaning member 1 and at least one first rib 21; at least one first rib 21 is provided on the first cleaning member 1, It is used for contacting with the mopping member; the arrangement of the at least one first rib 21 makes the first cleaning member 1 have a liquid storage tank 3 and a liquid outlet 4; in the working state, the liquid storage tank
  • the cleaning liquid in 3 is maintained at a liquid level that can be in contact with the mopping member, and flows through the liquid outlet 4 to update the cleaning liquid in the liquid storage tank 3 .
  • the cleaning robot can disengage from the cleaning device to perform the cleaning task.
  • the cleaning device can also be used to charge the cleaning robot. Cleaning robots are used to clean flat surfaces (such as floors, glass surfaces, etc.). When the cleaning robot needs to be charged and/or needs to clean the mop after mopping for a period of time, the cleaning robot can automatically travel to the cleaning device where charging and/or mopping cleaning is performed.
  • the mopping member 201 may be disposed at the bottom of the cleaning robot 200, and may be one or multiple.
  • the mopping member can be various parts that can mop the ground, such as mop cloth (or rag) or sponge.
  • the shape and size of the first cleaning member and the structure of the first protruding ribs on the first cleaning member are related to the shape, size and movement mode of the mopping member.
  • the larger the area of the rib on the first cleaning member acting on the mopping member the higher the cleaning efficiency.
  • the cleaning device may further include at least one second rib 22 .
  • the at least one second rib 22 is disposed on the first cleaning member 1 and is located in the area surrounded by the at least one first rib.
  • the at least one second rib 21 constitutes at least one of the following structures: the at least one second rib 22 encloses an annular raised structure 23 ; at least one second rib 22 is combined with at least one first convex rib 21 to form an annular convex structure.
  • a region of the first cleaning member 1 surrounded by the annular raised structure 23 is provided with a through hole to form a hollow structure.
  • the cleaning device in the cleaning robot system in this embodiment may be the cleaning device described above.
  • the specific implementation structure of the cleaning device reference may be made to the corresponding content above, which will not be repeated here.
  • the mopping robot mops the floor at home; when the detection device of the mopping robot detects that the mopping part needs to be cleaned or when the mopping reaches a certain period of time, it stops mopping and drives to the bathroom. Once in the bathroom, go through the guided procedure to the base of the cleaning unit. At this time, after the cleaning device detects that the mopping robot is located on the base, it controls the liquid supply mechanism to provide clean water to the first cleaning member, and also controls the rotation of the first cleaning member. Both the first rib and the second rib on the first cleaning part are in contact with the mopping member. During the rotation, while scraping off the dirt (such as hair, etc.) on the mopping member, squeeze the mopping member to squeeze the mopping member. out sewage.
  • the extruded sewage flows into the sewage tank from the liquid outlet of the liquid storage tank on the first cleaning part and the hollow structure.
  • the sewage in the sewage tank is agitated to carry a part of the sediment into the liquid storage tank through the water outlet of the sewage tank and the water pump.
  • the cleaning device cleans the mopping member, it also completes the cleaning of the sewage tank at the same time. For example, after the cleaning time (for example, 10 minutes) is up, the mopping robot gets off the base, moves to the target position, and continues to perform the mopping task.
  • the mopping robot mops the floor at home.
  • the remaining power of the mopping robot is low, and the mopping robot drives to the bathroom.
  • the cleaning device controls the liquid supply mechanism to supply clean water to the first cleaning member, and also controls the rotation of the first cleaning member.
  • the ribs on the first cleaning part are in contact with the mopping member, and during the rotation, the mopping member is squeezed while scraping off the dirt (such as hair, etc.) on the mopping member to squeeze out the sewage.
  • the extruded sewage flows into the sewage tank from the liquid outlet of the liquid storage tank on the first cleaning part and the hollow structure.
  • the sewage in the sewage tank is agitated to carry a part of the sediment together into the liquid storage tank through the water outlet of the sewage tank and the pumping pump.
  • the cleaning device cleans the mopping member, it also completes the cleaning of the sewage tank at the same time. For example, after the cleaning time (for example, 10 minutes) expires, the cleaning device stops cleaning the mopping member. After the mopping robot completes charging, it gets off the base and moves to the target position to continue the mopping task.
  • the detection device of the mopping robot When the detection device of the mopping robot detects that the mopping element needs to be cleaned, it stops mopping and drives to the base of the cleaning device. After the mopping robot moves to the base, it drives the mopping member to rotate.
  • the cleaning device controls the liquid supply mechanism to supply clean water to the first cleaning member.
  • the first rib, the first bump on the first cleaning part and the second bump on the second cleaning part are all in contact with the mopping member, and during the rotation of the mopping member, the dirt on the mopping member is scraped off (such as hair, etc.) while squeezing the mopping member to squeeze out the sewage.
  • the extruded sewage flows into the sewage tank from the liquid storage tank outlet on the first cleaning part, and flows into the sewage tank from between the second protrusions of the second cleaning part.
  • the sewage in the sewage tank enters the liquid storage tank through the water outlet of the sewage tank and the pump. For example, after the cleaning time (for example, 10 minutes) is up, the mopping robot gets off the base, moves to the target position, and continues to perform the mopping task.

Landscapes

  • Cleaning By Liquid Or Steam (AREA)

Abstract

一种清洁装置(100)及清洁机器人系统。其中，清洁装置(100)包括第一清洁部件(1)；至少一条第一凸筋(21)设置在第一清洁部件(1)上，用于与被清洁件接触；至少一条第一凸筋(21)的设置使得第一清洁部件(1)上具有储液槽(3)及出液口(4)。在工作状态时，储液槽(3)内的清洁液维持在能与被清洁件接触的液位，并通过出液口(4)流动更新储液槽(3)内的清洁液。该方案中，第一凸筋(21)可刮除和挤压被清洁件上的污水或污物(如毛发等)，以对被清洁件进行清洁；此外，被清洁件水洗过程中，储液槽(3)内清洁液可通过出液口(4)不断排出，干净清洁液被注入便能实现储液槽(3)内清洁液流动性的更新，可提高被清洁件的洗净率。

Description

清洁装置及清洁机器人系统
交叉引用
本申请引用于2020年08月20日递交的名称为“清洁装置及清洁机器人系统”的第2020108456018号中国专利申请，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人技术领域，尤其涉及一种清洁装置及清洁机器人系统。
背景技术
目前，有一些清洁机器人带有拖擦件，如擦窗机器人、拖地机器人或扫拖一体机器人等。清洁机器人在待清洁面上边行走边利用拖擦件对待清洁面上的脏污进行清洁。
为了减少用户频繁换洗拖擦件的麻烦，越来越多的清洁机器人带有拖擦件自清洗功能。但现有拖擦件自清洗功能存在拖擦件洗净率低、清洗后的拖擦件含水率高等问题。
发明内容
本申请提供一种解决或改善上述问题的一种清洁装置及清洁机器人系统。
在本申请的一个实施例中，提供了一种清洁装置。该清洁装置包括：
第一清洁部件；
至少一条第一凸筋，设置在所述第一清洁部件上，用于与被清洁件接触；
其中，所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽及出液口；
在工作状态时，所述储液槽内的清洁液维持在能与被清洁件接触的液位， 并通过所述出液口流动更新所述储液槽内的清洁液。
在本申请的另一个实施例中，提供了一种清洁装置。该清洁装置包括：
第一清洁部件；
至少一条第一凸筋，设置在所述第一清洁部件上，用于与被清洁件接触；
其中，所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽；
在工作状态时，所述储液槽内的清洁液维持在至少能与被清洁件接触的液位。
在本申请的又一个实施例中，还提供了一种清洁机器人系统。该清洁机器人系统包括：
清洁机器人，其上设有拖擦件；
清洁装置，用于对所述拖擦件进行清洁；
其中，所述清洁装置包括第一清洁部件及至少一条第一凸筋；至少一条第一凸筋设置在所述第一清洁部件上，用于与所述拖擦件接触；
所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽及出液口；在工作状态时，所述储液槽内的清洁液维持在能与所述拖擦件接触的液位，并通过所述出液口流动更新所述储液槽内的清洁液。
本申请实施例提供的技术方案中，第一清洁部件上设有与被清洁件接触的至少一条第一凸筋，在第一清洁部件与被清洁件产生相对运动时(如第一清洁部件动、被清洁件不动；或第一清洁部件不动、被清洁件动；又或者第一清洁部件和被清洁件采用不同速度或方向动作)，第一清洁部件上的第一凸筋可刮除和挤压被清洁件上的污水或污物(如毛发等)，以对被清洁件进行清洁；此外，第一清洁部件上储液槽内的清洁液维持在一定高度的液位以至少能与被清洁件接触(如始终能与被清洁件接触或有时能接触有时不能接触)，被清洁件水洗过程中，储液槽内清洁液可通过出液口不断排出，干净的清洁液被注入便能实现储液槽内清洁液流动性的更新，有助于提高被清洁件的洗净率；还有，在清洗完成后，清洁液停止注入，储液槽内的清洁液可 通过出液口排出，可降低被清洁件的含水率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要利用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请一实施例提供的清洁装置中设有两个第一清洁部件的结构示意图；
图2为本申请一实施例提供的第一清洁部件的结构示意图；
图3a为本申请另一实施例提供的清洁装置含有第一清洁部件及第二清洁部件的示意图；
图3b为图3a所示结构的俯视图；
图4a为本申请一实施例提供的设置有直线形凸筋的第一清洁部件结构示意图；
图4b为本申请一实施例提供的第一清洁部件上直线形凸筋错位设置的结构示意图；
图4c为本申请一实施例提供的设置有折线形和曲线形凸筋的第一清洁部件结构示意图；
图5为本申请一实施例提供的第一清洁部件的结构示意图；
图6a为本申请一实施例提供的椭圆形第一清洁部件的示意图；
图6b为本申请一实施例提供的方形第一清洁部件的示意图；
图6c为本申请一实施例提供的三角形第一清洁部件的示意图；
图7为本申请一实施例提供的放置有第一清洁部件的污水槽结构示意图；
图8为本申请一实施例提供的清洁装置中设有一个第一清洁部件的结构示意图；
图9为本申请一实施例提供的拖擦件位于第一清洁部件上的结构示意图；
图10为本申请一实施例提供的清洁机器人位置所述清洁装置的基座上的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。此外，下述的各实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例提供一种清洁装置。该清洁装置可以是图1、图2、图3a和图3b所示的结构。具体的，参见图1、2和3a和3b所示，所述清洁装置100包括：第一清洁部件1及至少一条第一凸筋21。其中，至少一条第一凸筋21设置在所述第一清洁部件1上，用于与被清洁件接触。所述至少一条第一凸筋21的设置，使得所述第一清洁部件1上具有储液槽3。在工作状态时，所述储液槽3内的清洁液维持在至少能与被清洁件接触的液位。
这里需要说明的是：清洁装置100在工作状态时，储液槽3内的清洁液可始终维持在能与被清洁件接触的液位，也可一段时间接触一段时间不接触。具体实现时，可通过控制清洁装置的供液结构来实现。比如，在清洁过程中，因被清洁件的吸水性、清洁液被带出外溢、清洁液从出液口排出等因素储液槽3内的清洁液的液位发生变化，为了保持液位不变可通过控制供液结构的供液方式(如连续供液或间断供液)和/或供液量等来实现。
进一步的，本实施例的清洁装置中，所述至少一条第一凸筋的设置，除了让第一清洁部件1具有储液槽3外，还使得所述第一清洁部件1具有出液口4；在工作状态时，所述储液槽3内的清洁液维持在能与被清洁件接触的液位，并通过所述出液口4流动更新所述储液槽3内的清洁液。
这样，清洁装置100在工作状态时，清洁装置的供液结构可不间断地向第一清洁部件1提供清洁液，储液槽3内的清洁液不间断的从出液口4流出； 通过控制供液结构的供液量，便可实现储液槽3内的清洁液的液位不变，储液槽3内的清洁液还能流动性的得到更新。当然，在具体实施时，还可通过控制供液结构的供液量实现储液槽3内的清洁液的液位变化，如在清洁过程中，一段时间储液槽3内的清洁液的液位为第一液位，在第一液位时储液槽内的清洁液可与被清洁件接触；一段时间储液槽3内的清洁液的液位降低为第二液位，在第二液位时储液槽内的清洁液不能与被清洁件接触；这两种液位可交替进行。
本实施例中储液槽3内的清洁液流动更新，使得储液槽3内的清洁液的清洁度较高，这样有助于提高被清洁件的洗净率。
本实施例中的至少一条第一凸筋21设置在所述第一清洁部件1上，形成高出所述第一清洁部件1表面的槽壁。在所述第一清洁部件1表面上形成的槽壁及所述槽壁包围的作为槽底的第一清洁部件1表面，构成所述储液槽3。具体的，如图2和3a所示，所述至少一条第一凸筋21设置在所述第一清洁部件1的部件表面(如顶面)上，形成了高出表面的槽壁；槽壁及被槽壁包围的表面构成储液槽。
参见图1和图2所示的一实施例，所述第一凸筋21有三条，三条第一凸筋21设置在所述第一清洁部件1上，使得所述第一清洁部件上具有储液槽3和出液口4。参见图3a和图3b所示的的另一实施例，所述第一凸筋21为一条，一条第一凸筋21设置在第一清洁部件1上，使得所述第一清洁部件上具有储液槽3和出液口4。
具体实施时，所述第一清洁部件1可以是任一形状，如图1和图2所示盘状、或图3a和图3b所示的立方体形状等等，本实施例对此不作具体限定。
所述至少一条第一凸筋21可沿所述第一清洁部件1的顶部边缘设置。所述出液口具有如下中至少一种结构，参见图3a和图3b所示，当第一凸筋21为一条时，所述第一凸筋21的首尾间隔形成所述出液口4；参见图2所示，当第一凸筋为多条时，相邻第一凸筋21的端部间隔形成所述出液口4。
本实施例中，通过在第一清洁部件上设置至少一条凸筋，用于与被清洁 件接触；在第一清洁部件与被清洁件相对运动时，第一凸筋可刮除被清洁件上的污物，还可对被清洁件进行挤压以挤出被清洁件上的污水；被清洁件吸入储液槽内清洁液，再被第一凸筋挤压，反复，便可实现对被清洁件的清洁，洗净率高。此外，储液槽内的清洁液可通过出液口流动更新，使得被清洁件吸入的清洁液具有一定的清洁度，这有利于进一步的提高被清洁件的洗净率。
具体实施时，第一清洁部件1可作旋转运动，被清洁件可不动或相反旋转等；如图1和图2所示的实施例，第一清洁部件1做旋转运动。或者，第一清洁部件不动，被清洁件旋转或直线运动；如图3a和图3b所示的实施例，第一清洁部件1不动；等等，本实施例对此不作限定。
本实施例中，第一清洁部件的边缘因出液口的存在呈半封闭结构，在停止清洗时(即停止供清洁液时)，有利于及时排除清洁被清洁件时产生的水渍，降低被清洁件的含水率。
上述至少一条第一凸筋可包括但不限于如下中的至少一种：曲线形凸筋、直线形凸筋、折线形凸筋。至少一条第一凸筋的排布方式及第一凸筋形状的选择，可基于第一清洁部件的运动方式、被清洁件的形状等来确定。比如，第一清洁部件的运动方式为直线往复运动，则第一清洁部件上的第一凸筋可选择为如图4a和4b所示的直线形凸筋，多条直线形凸筋可与第一清洁部件的运动方向垂直，等间隔排布(如图4a所示)；当然，多条直线形凸筋还可错位排布(如图4b所示)等，本实施例对此不作限定。又比如，图4c所示的第一清洁部件，该第一清洁部件的运动方式为旋转运动，则第一清洁部件上的第一凸筋可选择为图4c中所示的折线凸筋或弧线凸筋；当然，第一清洁部件1上可包含多种形状的第一凸筋，比如，可同时含有曲线形凸筋、直线形凸筋、折线形凸筋中的至少两种。图4c示出了第一清洁部件2上含有折线形凸筋和弧线形凸筋的情况。
在图2和图5所示的实施例中，多条第一凸筋21(如三条第一凸筋2)沿所述第一清洁部件1的边缘一周设置，以在所述第一清洁部件1的边缘形成高出所述第一清洁部件1顶面的凸沿；相邻第一凸筋21端部间隔开一距离 d，形成所述出液口4。具体的，如图2和图5所示，所述第一清洁部件1的形状为风扇形，该风扇形的第一清洁部件1包括中心盘11及三个扇叶盘12、13和14。所述第一清洁部件1上具有三条边缘凸筋21。比如，图5中的一第一凸筋21包括位于扇叶盘12上的第一段凸筋211、中心盘11上的第二段凸筋212及位于另一扇叶盘13上的第三段凸筋213。这三条第一凸筋21中，两相邻第一凸筋端部间隔开一距离d，形成所述出液口4。
为了进一步的提高清洁效果，所述清洁装置还包含有至少一条第二凸筋22；所述至少一条第二凸筋22设置在所述第一清洁部件1上，且位于所述至少一条第一凸筋21包围的区域内。具体实施时，所述至少一条第二凸筋22可包含但不限于如下中一种形状的凸筋：曲线性凸筋、环形凸筋、直线形凸筋、折线形凸筋(如v形凸筋等)等。
参见图5所示的实施例，所述至少一条第二凸筋构成如下中至少一种结构：
所述至少一条第二凸筋围成环形凸起结构；
至少一条第二凸筋与至少一条第一凸筋组合形成环形凸起结构。
例如，图5中位于中心盘11上的由一条首尾相连的环形第二凸筋22形成的所述环形凸起结构23。以及，位于扇叶盘(比如图5中扇叶盘13)上的环形凸起结构23，由第一凸筋21的一段与一条线形第二凸筋22围成。还有，位于扇叶盘(比如图5中扇叶盘13)上的另一环形凸起结构23，由第一凸筋21的一段以及两条线形第二凸筋(或是一条V字形第二凸筋)围成。
在具体实施时，所述第一清洁部件1的被所述环形凸起结构包围的区域设有通孔，形成镂空结构。第一清洁部件1做成镂空结构，一方面可以减少用水量，另一方面方便干燥被清洁件及第一清洁部件，残留在环形凸起结构内的液体可从镂空处漏出。
本实施例中的所述第一清洁部件1可包括但不限于如下中的至少一种形状：椭圆形(如图6a)、方形(如图6b)、三角形(如图6c)、五边形、六边形、风扇形(如图2和图5)、圆形等。所述第一清洁部件1可设置两 个，如图1所示。若第一清洁部件1的运动方式为旋转方式，这两个第一清洁部件1可错位旋转的方式设置。即在一种可实现的技术方案中，清洁装置具有两个第一清洁部件1，且两个第一清洁部件以错位旋转的方式设置。错位旋转的方式可简单理解为：两个第一清洁部件的旋转中心距离小于两个第一清洁部件最大旋转半径之和的设置方式。这两个第一清洁部件同步转动不会发生干涉。
具体的，两个第一清洁部件1均包含中心盘和扇叶盘；扇叶盘设置在所述中心盘的边缘。两个所述第一清洁部件1的中心盘的中心距小于两个所述第一清洁部件最大旋转半径之和；所述第一清洁部件最大旋转半径为扇叶盘距所述中心盘远端至中心盘中心的距离。参见图7所示，扇叶盘为三个(如图中标号12、13和14)，沿中心盘的周向均布。左侧的第一清洁部件1和右侧的第一清洁部件1的中心距为L；两个第一清洁部件错位旋转的方式满足：L<R1+R2；其中，R1为左侧第一清洁部件1的最大旋转半径，R2为右侧第一清洁部件1的最大旋转半径。
当然，所述第一清洁部件1也可设置为一个(如图8)，三个、四个或更多，本实施例对此不作限定。
进一步参见图2和图5所示的实施例，所述第一清洁部件1包括可中心盘11；所述中心盘11具有中心区域；多个所述环形凸起结构23位于中心区域的周围，以形成自所述中心区域沿多个方向向边缘辐射，再顺边缘延伸至所述出液口的所述储液槽3。例如，图中三个环形凸起结构23形状尺寸均相同；中心盘11为圆形盘，三个环形凸起结构间隔120度，绕所述中心区域排布，得到如图2和图5中所示的三条自中心区域向中心盘边缘散射开的储液槽3。
进一步的，如图5所示，所述第一清洁部件1还可包括扇叶盘12、13和14。图5中示出了包含三个扇叶盘的情况，实际上，扇叶盘也可以为一个、二个、四个等等，本实施例不具体限定。所述扇叶盘设置在所述中心盘的外周。如图5中的扇叶盘12、13和14沿中心盘的径向方向，间隔120度设置。 所述出液口4可位于所述扇叶盘上。扇叶盘12、13和14上都可具有出液口。第一清洁部件1上的储液槽，自中心盘11延伸至扇叶盘上。所述扇叶盘上具有所述储液槽3的一段槽段。所述扇叶盘(如图5中扇叶盘13)上位于所述槽段的两侧，分别设有至少一个所述环形凸起结构23。
在第一清洁部件采用旋转运动方式运转时，第一清洁部件在旋转的过程中可产生离心力，储液槽内的液体可在离心力的作用下从出液口被甩出。为便于储液槽内的液体的流出，所述扇叶盘上的所述槽段可设计为弧形，如图5所示，槽段的槽中心线300为弧线，更具体可为平面螺线。
参见图5所示，所述扇叶盘上的位于所述槽段两侧的第一凸筋21内缩，以露出部分盘面位于所述第一凸筋21的外侧。通常情况下，第一清洁部件1会被置于如图7中所示的污水盘5中；污水盘5中储有污水，若第一清洁部件1的扇叶盘边缘均被第一凸筋213包围，则在第一清洁部件1旋转时扇叶盘是采用平面直接撞击污水，会激起较大的水花，污水较容易进入第一清洁部件的储水槽内。而将扇叶盘上第一凸筋内缩露出部盘面，这部分露出的盘面可起到压低激起水花的效果。
继续参见图2和图5，本实施例提供的清洁装置中，第一清洁部件1上的储液槽3内还可设有引流凸筋6。所述储液槽3内的引流凸筋6，用于将所述储液槽3内的流体进行分流以从多个出液口4排出。
更具体的，参见图2和图5所示，所述储液槽3形成的流体通道内具有至少一个三岔口31；所述三岔口31处设有所述引流凸筋6。如图5所示，一三岔口31，由边缘凸筋及两个环形凸起结构形成。该三岔口31处的引流凸筋6可设置在边缘凸筋上，并伸向两个环形凸起结构之间的槽段。图5中标号为32处的三岔口，引流凸筋31设置在形成环形凸起结构的内部凸筋上，并伸向扇叶盘上的槽段。又如，图5中标号为33处的三岔口，是由三个环绕中心区域的环形凸起结构形成。标号33处可设置以中心岛，该中心岛上设置三个分别伸向各槽段的引流凸筋6。
图2和图5中示出的引流凸筋为直线形，实际上，可根据具体情况，选 择其他形状的引流凸筋，如曲线形、折线形等，本实施例对此不作具体限定。引流凸筋的形状选择及位置设置，需根据第一清洁部件结构、储液槽结构、第一清洁部件运动方式、流体设计等多方面因素来确定。
图1、2及5所示的实施例中，第一清洁部件1可以是旋转运动。即，本实施例提供的所述清洁装置还可包括旋转驱动机构(图中未示出)，该旋转驱动机构用于驱动所述第一清洁部件旋转。具体实施时，所述旋转驱动机构可包括：电机及传动机构(如减速机构)。
参见图3a和图3b所示的另一种可实现的实施例，所述出液口为1个，所述储液槽具有注液端33，所述注液端33与所述出液口4位于所述储液槽3的两相对端。更具体的，如图3a和3b所示，自所述注液端33至所述出液口4，所述储液槽3的槽宽由宽到窄。储液槽的出液口端窄设计，是为了储液，若出液口处设计的过大，储液槽内的清洁液流出量过大，为保证储液槽内的液位，就需增大供液量，无形中增加了用水量。
图3a和图3b所示的实施例中，第一清洁部件1固定不动，被清洁件动作(如旋转)。所述第一凸筋21为能与被清洁件接触，第一凸筋21的顶部结构与被清洁件适配。比如，被清洁件具有一定的斜度，则第一凸筋21的顶部为能与被清洁件接触，其顶部结构也应与被清洁件的斜度一致。
进一步的，第一清洁部件1固定不动，为了便于储液槽3内的清洁液从出液口4排出，所述储液槽的槽底可设计为倾斜的。具体的，如图3a所示，自所述注液端33至所述出液口4，所述储液槽3的槽底由高到低。所述出液口4低于所述注液端33，在重力的作用下，注入储液槽3中的液体流向所述出液口4。
参见图3a和3b所示，可在储水槽3内设置多个第一凸块35；多个第一凸块35用于接触被清洁件(如拖擦件)，以刮擦所述被清洁件，起到对被清洁件进行清洁的作用。除此之外，所述储水槽3内的至少一个第一凸块35还可起到充盈储水槽，减少用液量的目的。一个或多个第一凸块35可以是；半球形凸包、圆柱形凸块、锥体凸块等等，本实施例对此不作限定。第一凸 块35可设置在储水槽3的槽底。
再进一步的，如图3a和3b所示，本实施例中的第一清洁件可以为一个、二个或更多，具体可根据清洁装置的结构空间、被清洁件的数量及形状等来确定。除第一清洁件外，所述清洁装置还可包括第二清洁部件10。所述第二清洁件10上可设有多个第二凸块36。所述多个第二凸块36用于与被清洁件接触。第二凸块36可以是：半球形凸包、圆柱形凸块、锥体凸块等等，本实施例对此不作限定。
第一清洁部件1和第二清洁部件10的形状、结构可相同或相似。如图3a和3b所示的实例，所述第一清洁部件1和第二清洁部件10均为立方体块结构。第一清洁部件1的顶部设有一条第一凸筋21，第二清洁部件10上均布有多个第二凸块36。第二清洁部件10包括近所述第一清洁部件1的近端1012和远离所述第一清洁部件1的远端1013。自远端1013至近端1012，所述第二清洁部件10的宽度由宽到窄。
在具体实施时，第一清洁部件1和第二清洁部件10可采用如图3b所示的方式设置，即第一清洁部件1的轴线111和第二清洁部件10的轴线101具有一夹角(如钝角)；若被清洁件为圆形(如图3b中的被清洁件201)，轴线111和101的交点可以位于被清洁件的圆心处。或者，第一清洁部件1和第二清洁部件10设置在同一直线上。具体实现时，可根据实际空间情况来确定第一清洁部件1和第二清洁部件10的位置关系。
参见图1和图9所示，本实施例提供的所述清洁装置还可包括：供液结构、储液结构、基座等等。供液结构7具有供液口71，用于向所述第一清洁部件1供清洁液；其中，所述供液口向下朝向所述储液槽。清洁液可以是水、含有洗涤液的水溶液等。具体的，供液结构可包括：供液箱72、水泵(图中未示出)等。供液箱72内的水或水溶液，经水泵泵出并通过供液口71流至第一清洁部件1。当然，也可不设置水泵，供液箱72内的液体可通过自重从供液口71流出。供液口71处可设置有供液开关，通过控制供液开关来开启或关闭供液口。储液结构可包括：储液箱81、抽水泵(图中未示出)等。储 液箱81可用于存储从所述出液口排出的液体(实质上是污水)。基座9上设有至少一个所述第一清洁部件1。更具体的，所述基座9内可设置有污水槽91。参见图9所示，污水槽91上设有出水口92，所述出水口92处可连接出水管、抽水泵，以将污水抽至储液箱81内。
图10示出了机器人200(如拖地机器人或扫拖一体机器人)行驶至清洁装置的基座9上的情况。机器人200行驶到基座9上后，机器人200底部的被清洁件201，如拖擦件(或抹布)，位于第一清洁部件的1的上方，如图9所示。第一清洁部件1旋转，第一清洁部件1上的第一凸筋、第二凸筋、第一凸块、第二凸块等等、供液结构供给第一清洁部件的水溶液，均与被清洁件201接触，第一凸筋、第二凸筋、第一凸块、第二凸块中的至少一个刮除拖擦件上的污物，并挤压水份；拖擦件吸收第一清洁部件上的水溶液，第一凸筋、第二凸筋、第一凸块、第二凸块中的至少一个再次挤压；不停反复，便能有效的进行清洁。
放置第一清洁部件的污水槽91，一方面便于收集清洗、挤干被清洁件时产生的污水；另一方面，通过向第一清洁部件注水，第一清洁部件旋转可以实现对包括第一清洁部件、污水槽等在内的部件的清洗，降低清洁装置内的脏污残留，起到了自清洁的效果。
进一步的，本实施例的清洁装置除可对机器人的被清洁件进行清洁外，还可为机器人充电。如图1所示，所述清洁装置上还设有充电机构102。该充电机构102，用于在机器人置于所述基座上后与所述机器人电连接，以提供充电电压。具体的，所述充电机构可包括如：充电接口、充电电路等。该充电接口与机器人上的接口适配，机器人行驶至基座上后，机器人上的接口可与清洁装置上的充电接口完成对接，以对机器人进行充电。
参见图1、图8和图10所示，所述供液结构7中的供液箱72和储液结构8的储液箱81可设置在基座9的上方，如供液箱72与储液箱81并排设置。基座9与供液箱72及储液箱81底部之间具有一用于容置机器人的空间。充电机构102的充电接口可设置在这个空间的空间壁上。
本实施例提供的技术方案具有如下的有益效果：
清洁装置可实现对被清洁件的自动清洗，且清洗效果好。
清洁装置可对清洗时产生的污水进行收集储存。
因在清洁装置中设计储液槽及出液口，储液槽内的清洁液始终维持着一定高度的液位以与被清洁件接触，被清洁件水洗过程中，储液槽内清洁液可通过出液口不断排出，干净的清洁液被注入便能实现储液槽内清洁液流动性的更新，有助于提高被清洁件的洗净率；另外，在清洗完成后，清洁液停止注入，储液槽内的清洁液可通过出液口排出，可降低被清洁件的含水率。
因如图5所示的清洁装置的第一清洁部件设计为镂空结构，可降低清洗时的用水量。另一如图3a所示的清洁装置中储水槽内设置的多个第一凸块，除可对被清洁件进行清洁的作用(当然这是第一凸块的主要作用)，还可减少用水量。
采用如图5所示的第一清洁部件旋转的方案，还可实现对污水盘的清洁，实现了清洁装置的自清洁的效果。
参见图10所示，本申请还一实施例提供一种清洁机器人系统。该系统包括：清洁机器人200及清洁装置100。其中，清洁机器人200上设有拖擦件201，如抹布。如图1、2、3a和3b所示，所述清洁装置100包括第一清洁部件1及至少一条第一凸筋21；至少一条第一凸筋21设置在所述第一清洁部件1上，用于与拖擦件接触；所述至少一条第一凸筋21的设置，使得所述第一清洁部件1上具有储液槽3及出液口4；在工作状态时，所述储液槽3内的清洁液维持在能与拖擦件接触的液位，并通过所述出液口4流动更新所述储液槽3内的清洁液。
本实施例中，清洁机器人在完成拖擦件清洁后，可脱离清洁装置以执行清洁任务。该清洁装置除用于清洗机器人的拖擦件外，还可用来为清洁机器人充电。清洁机器人用于对平面(如地面、玻璃面等)进行清洁。当拖擦件拖擦一段时间后，清洁机器人需要充电和/或需要清洁拖擦件时，清洁机器人 能够自动行进至清洁装置，在清洁装置处进行充电和/或拖擦件清洁。
拖擦件201可设置在清洁机器人200的底部，可以一个，也可以是多个。拖擦件可以为拖布(或称抹布)或海绵等各种能够对地面进行拖擦的部件。
第一清洁部件的形状大小及第一清洁部件上第一凸筋结构，均与拖擦件的形状、大小及运动方式有关。当然，在清洗过程中，第一清洁部件上的凸筋作用在拖擦件上的面积越大，清洁效率越高。
进一步的，本实施例清洁机器人系统中，如图5所示，清洁装置还可包括至少一条第二凸筋22。所述至少一条第二凸筋22设置在所述第一清洁部件1上，且位于所述至少一条第一凸筋包围的区域内。
再进一步的，如图5所示，所述至少一条第二凸筋21构成如下中至少一种结构：所述至少一条第二凸筋22围成环形凸起结构23；至少一条第二凸筋22与至少一条第一凸筋21组合形成环形凸起结构。在一具体实现方案中，所述第一清洁部件1的被所述环形凸起结构23包围的区域设有通孔，形成镂空结构。
这里需要说明的是：本实施例清洁机器人系统中的清洁装置可以上文中描述的清洁装置。有关清洁装置的具体实现结构，可参见上文中的相应内容，此处不作赘述。
下面结合具体应用场景，对本实施例提供的技术方案进行说明。
应用场景1
拖地机器人在家中拖地；拖地机器人的检测装置检测到拖擦件需要清洗时或拖地达到一定时长后，停止拖地并行驶至卫生间。到达卫生间后，通过引导程序移动至清洁装置的基座上。此时，清洁装置检测到拖地机器人位于基座上后，控制供液机构向第一清洁部件提供净水，同时还控制第一清洁部件旋转。第一清洁部件上的第一凸筋和第二凸筋均与拖擦件接触，旋转过程中，边刮除拖擦件上的污物(如毛发等)边挤压拖擦件，以挤出污水。被挤出的污水从第一清洁部件上的储液槽出液口以及镂空结构流入污水槽。在第一清洁部件旋转的过程中，污水槽内的污水被搅动，以带起一部分泥沙一同 经污水槽的出水口、抽水泵进入储液槽。清洁装置在清洁拖擦件的同时，还同时完成了对污水槽的清洁。比如，清洗时长(比如10分钟)到后，拖地机器人从基座上下来，并行进至目标位置，继续执行拖地任务。
应用场景2
拖地机器人在家中拖地。拖地机器人的剩余电量低，拖地机器人行驶至卫生间。到达卫生间后，通过引导程序移动至清洁装置的基座上，与清洁装置上的充电接口对接，以进行充电。充电的同时，清洁装置控制供液机构向第一清洁部件提供净水，同时还控制第一清洁部件旋转。第一清洁部件上的凸筋与拖擦件接触，旋转过程中，边刮除拖擦件上的污物(如毛发等)边挤压拖擦件，以挤出污水。被挤出的污水从第一清洁部件上的储液槽出液口以及镂空结构流入污水槽。在第一清洁部件旋转的过程中，污水槽内的污水被搅动，以带起一部分泥沙一同经污水槽的出水口、抽水泵进入储液槽。清洁装置在清洁拖擦件的同时，还同时完成了对污水槽的清洁。比如，清洗时长(比如10分钟)到后，清洁装置停止对拖擦件的清洗。拖地机器人完成充电后，从基座上下来，并行进至目标位置，继续执行拖地任务。
应用场景3
拖地机器人的检测装置检测到拖擦件需要清洗时，停止拖地并行驶至清洁装置的基座上。拖地机器人移动至基座上后，驱动拖擦件旋转。清洁装置控制供液机构向第一清洁部件提供净水。第一清洁部件上的第一凸筋、第一凸块以及第二清洁部件上的第二凸块均与拖擦件接触，拖擦件旋转过程中，边刮除拖擦件上的污物(如毛发等)边挤压拖擦件，以挤出污水。被挤出的污水从第一清洁部件上的储液槽出液口流入污水槽，从第二清洁部的第二凸起间流入污水槽。污水槽内的污水经污水槽的出水口、抽水泵进入储液槽。比如，清洗时长(比如10分钟)到后，拖地机器人从基座上下来，并行进至目标位置，继续执行拖地任务。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员 应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。

Claims (24)

  1. 一种清洁装置，其特征在于，包括：
    第一清洁部件；
    至少一条第一凸筋，设置在所述第一清洁部件上，用于与被清洁件接触；
    其中，所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽及出液口；
    在工作状态时，所述储液槽内的清洁液维持在能与被清洁件接触的液位，并通过所述出液口流动更新所述储液槽内的清洁液。
  2. 根据权利要求1所述的清洁装置，其特征在于，所述至少一条第一凸筋设置在所述第一清洁部件上，形成高出所述第一清洁部件表面的槽壁；
    所述槽壁与所述槽壁包围的作为槽底的第一清洁部件表面，构成所述储液槽。
  3. 根据权利要求1所述的清洁装置，其特征在于，所述至少一条第一凸筋沿所述第一清洁部件的顶面边缘设置；所述出液口具有如下中至少一种结构：
    第一凸筋为一条时，所述第一凸筋的首尾间隔形成所述出液口；
    第一凸筋为多条时，相邻第一凸筋的端部间隔形成所述出液口。
  4. 根据权利要求1至3中任一项所述的清洁装置，其特征在于，还包括：至少一条第二凸筋；
    所述至少一条第二凸筋，设置在所述第一清洁部件上，且位于所述至少一条第一凸筋包围的区域内。
  5. 根据权利要求4所述的清洁装置，其特征在于，所述至少一条第二凸筋构成如下中至少一种结构：
    所述至少一条第二凸筋围成环形凸起结构；
    至少一条第二凸筋与至少一条第一凸筋组合形成环形凸起结构。
  6. 根据权利要求5所述的清洁装置，其特征在于，所述第一清洁部件的 被所述环形凸起结构包围的区域设有通孔，形成镂空结构。
  7. 根据权利要求5所述的清洁装置，其特征在于，所述第一清洁部件包括中心盘；
    所述中心盘具有中心区域；
    多个所述环形凸起结构位于中心区域的周围，以形成自所述中心区域沿多个方向向边缘辐射，再顺边缘延伸至所述出液口的所述储液槽。
  8. 根据权利要求7所述的清洁装置，其特征在于，所述第一清洁部件还包括扇叶盘；
    所述扇叶盘设置在所述中心盘的外周；
    所述出液口位于所述扇叶盘上。
  9. 根据权利要求8所述的清洁装置，其特征在于，所述扇叶盘上具有所述储液槽的一段槽段；
    所述扇叶盘上位于所述槽段的两侧，分别设有至少一个所述环形凸起结构。
  10. 根据权利要求9所述的清洁装置，其特征在于，所述扇叶盘上的所述槽段具有槽中心线；所述槽中心线为弧线。
  11. 根据权利要求10所述的清洁装置，其特征在于，所述扇叶盘上的位于所述槽段两侧的第一凸筋内缩，以露出部分盘面位于所述第一凸筋的外侧。
  12. 根据权利要求7所述的清洁装置，其特征在于，所述储液槽内设有引流凸筋，用于将所述储液槽内的清洁液进行分流以从多个所述出液口排出。
  13. 根据权利要求12所述的清洁装置，其特征在于，所述储液槽形成的流体通道内具有至少一个三岔口；
    所述三岔口处设有所述引流凸筋。
  14. 根据权利要求1至3中任一项所述的清洁装置，其特征在于，所述清洁装置具有两个所述第一清洁部件，且两个所述第一清洁部件以错位旋转的方式设置。
  15. 根据权利要求14所述的清洁装置，其特征在于，所述清洁装置具有 两个所述第一清洁部件，两个所述第一清洁部件均包含中心盘及扇叶盘；
    所述扇叶盘设置在所述中心盘的边缘。
  16. 根据权利要求1至3中任一项所述的清洁装置，其特征在于，所述出液口为一个；
    所述储液槽具有注液端，所述注液端与所述出液口位于所述储液槽的两相对端。
  17. 根据权利要求16所述的清洁装置，其特征在于，自所述注液端至所述出液口，所述储液槽的槽宽由宽到窄。
  18. 根据权利要求16所述的清洁装置，其特征在于，自所述注液端至所述出液口，所述储液槽的槽底由高到低。
  19. 根据权利要求16所述的清洁装置，其特征在于，所述出液口低于所述注液端，在重力的作用下，注入储液槽中的液体流向所述出液口。
  20. 根据权利要求16所述的清洁装置，其特征在于，
    所述储液槽内设有多个第一凸块，所述凸块用于与被清洁件接触。
  21. 根据权利要求16所述的清洁装置，其特征在于，还包括：
    第二清洁部件，其上设有多个第二凸块；
    所述多个第二凸块用于与被清洁件接触。
  22. 根据权利要求1至3中任一项所述的清洁装置，其特征在于，还包括：
    供液结构，其具有供液口，用于向所述第一清洁部件供清洁液；其中，所述供液口向下朝向所述储液槽。
  23. 一种清洁装置，其特征在于，包括：
    第一清洁部件；
    至少一条第一凸筋，设置在所述第一清洁部件上，用于与被清洁件接触；
    其中，所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽；
    在工作状态时，所述储液槽内的清洁液维持在至少能与被清洁件接触的液位。
  24. 一种清洁机器人系统，其特征在于，包括：
    清洁机器人，其上设有拖擦件；
    清洁装置，用于对所述拖擦件进行清洁；
    其中，所述清洁装置包括第一清洁部件及至少一条第一凸筋；至少一条第一凸筋设置在所述第一清洁部件上，用于与所述拖擦件接触；
    所述至少一条第一凸筋的设置，使得所述第一清洁部件上具有储液槽及出液口；在工作状态时，所述储液槽内的清洁液维持在能与所述拖擦件接触的液位，并通过所述出液口流动更新所述储液槽内的清洁液。
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CN115067836A (zh) 2022-09-20
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CN111973046A (zh) 2020-11-24
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