WO2022188481A1 - 停靠站及清洁机器人系统 - Google Patents

停靠站及清洁机器人系统 Download PDF

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Publication number
WO2022188481A1
WO2022188481A1 PCT/CN2021/135574 CN2021135574W WO2022188481A1 WO 2022188481 A1 WO2022188481 A1 WO 2022188481A1 CN 2021135574 W CN2021135574 W CN 2021135574W WO 2022188481 A1 WO2022188481 A1 WO 2022188481A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
bracket
docking station
waste liquid
sliding
Prior art date
Application number
PCT/CN2021/135574
Other languages
English (en)
French (fr)
Inventor
黄进光
雷力
Original Assignee
深圳市银星智能科技股份有限公司
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 深圳市银星智能科技股份有限公司 filed Critical 深圳市银星智能科技股份有限公司
Publication of WO2022188481A1 publication Critical patent/WO2022188481A1/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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • 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
    • 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
    • B08B1/50—Cleaning by methods involving the use of tools involving cleaning of the cleaning members
    • 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
    • B08B1/50—Cleaning by methods involving the use of tools involving cleaning of the cleaning members
    • B08B1/52—Cleaning by methods involving the use of tools involving cleaning of the cleaning members using fluids
    • 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
    • B08B1/50—Cleaning by methods involving the use of tools involving cleaning of the cleaning members
    • B08B1/54—Cleaning by methods involving the use of tools involving cleaning of the cleaning members using mechanical tools
    • 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
    • B08B3/02—Cleaning by the force of jets or sprays
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2203/00—Details of cleaning machines or methods involving the use or presence of liquid or steam
    • B08B2203/02—Details of machines or methods for cleaning by the force of jets or sprays
    • B08B2203/027—Pump details

Definitions

  • the present application relates to the field of cleaning robots, and in particular, to a docking station and a cleaning robot system.
  • Cleaning robots are special robots that serve human beings, mainly engaged in cleaning and cleaning of household hygiene.
  • One type of cleaning robot such as a mopping robot, is equipped with a mop to clean the ground. After cleaning the ground, the mop of the cleaning robot needs to be washed at the docking station.
  • the cleaning robot needs to move back and forth on the docking station to cooperate with the roller brush cleaning the mop at the docking station.
  • the cleaning robot tends to slip out of the docking station during the reciprocating movement.
  • the embodiments of the present application aim to provide a docking station and a cleaning robot system, so as to solve the technical problem in the prior art that the cleaning robot needs to reciprocate on the docking station to clean its mop, resulting in easy sliding out of the docking station.
  • a docking station including:
  • the cleaning element assembly includes at least one cleaning element, a first bracket, a second bracket and a power source, each of the cleaning elements is assembled to the first bracket and to the second bracket, the first bracket and the One of the second brackets is a fixed bracket, the other is a movable bracket, the fixed bracket is fixed on the base, the movable bracket is connected to the power source, and the power source is used to drive the The movable bracket moves back and forth in a straight line, so as to drive each of the cleaning elements to swing relative to the first bracket around a central axis.
  • the first bracket includes a first main body portion and at least one first swing portion disposed on the first main body portion
  • the second bracket includes a second main body portion and is disposed on the first main body portion. Two at least one first sliding part on the main body part;
  • Each of the cleaning elements includes a base, a second swinging portion and a second sliding portion, and the second swinging portion and the second sliding portion are respectively disposed at two ends of the base;
  • the second swinging portion of each cleaning element is connected to one of the first swinging portions, and the second sliding portion of each cleaning element is connected to one of the first sliding portions;
  • each cleaning element swings relative to the first swinging portion around a central axis, and each second swinging portion slides The portion slides relative to the first sliding portion.
  • each of the cleaning members further includes a scraping portion for scraping the cleaning robot when the cleaning member swings;
  • the scraping portion and the second swinging portion are arranged at one end of the base portion, and the second swinging portion is arranged at the other end of the base portion.
  • the base includes a bottom wall
  • the second bracket is disposed between the first bracket and the bottom wall.
  • a through groove is provided on the first body portion
  • each of the cleaning pieces is disposed in the through groove.
  • each of the first brackets includes at least two of the first swinging parts, and each of the two first swinging parts is opposite and is respectively disposed on two opposite groove walls of the through groove;
  • Each of the cleaning elements includes two of the second swinging portions, and the two swinging portions of each cleaning element are respectively disposed on two opposite sides of the base portion of the cleaning element;
  • Each of the two opposite first swing parts is respectively used for assembling two second swing parts of the cleaning element.
  • the first swinging portion includes a shaft hole structure, and each of the second swinging portions includes a rotating shaft structure;
  • each cleaning element is inserted into the shaft hole structure of one of the second swinging parts.
  • the number of the second brackets is two, and the two second brackets are disposed opposite to each other;
  • Each of the cleaning pieces includes two of the second sliding parts, and the two second sliding parts of each of the cleaning pieces are respectively disposed on two opposite sides of the base of the cleaning piece;
  • each cleaning element is respectively assembled with a corresponding first sliding part of the two second brackets.
  • each of the first sliding parts includes a sliding groove structure
  • the second sliding part of each of the cleaning elements includes a sliding shaft structure
  • each cleaning element is inserted into a sliding groove structure of the first sliding part, and can move back and forth along the length direction of the sliding groove structure.
  • the cleaning element assembly further includes a guide rail
  • the guide rail is fixed on the base, the movable bracket is assembled on the guide rail, and the guide rail is used to guide the movable bracket to reciprocate along a straight line.
  • the docking station further includes a cleaning assembly
  • the cleaning assembly is used for releasing cleaning liquid to the cleaning element assembly and/or the cleaning robot docked on the base.
  • the base includes a waste tank
  • Both the cleaning component and the cleaning component are accommodated in the waste liquid tank.
  • the docking station further comprises a container and a cleaning fluid pump, the container comprising a cleaning fluid silo;
  • the cleaning liquid tank is connected to the cleaning liquid pump and the waste liquid tank, the cleaning liquid tank is used for storing cleaning liquid, and the cleaning liquid pump is used for sending the cleaning liquid stored in the cleaning liquid tank to the Cleaning kit provided.
  • the docking station further comprises a waste liquid pump
  • the container further comprises a waste liquid silo
  • the waste liquid silo communicates with the waste liquid pump and the waste liquid tank
  • the waste liquid pump is used for pumping the waste liquid in the waste liquid tank into the waste liquid bin.
  • the bottom of the cleaning liquid silo communicates with the bottom of the waste liquid silo
  • the top of the waste liquid bin is connected to the waste liquid tank, and a filter structure is arranged between the top and the bottom of the waste liquid bin.
  • the base includes a docking plate for docking the cleaning robot
  • the cleaning element assembly is disposed below the docking plate, an opening is formed on the docking plate, and the opening exposes the cleaning element assembly.
  • a cleaning robot system comprising:
  • the cleaning robot is used for docking at the docking station, and the cleaning member assembly is used for scraping the cleaning robot.
  • the part to be cleaned of the cleaning robot can be scraped by the swinging cleaning member, and the cleaning robot does not need to reciprocate on the docking station to avoid Cleaning robots to clean their mops need to reciprocate on the docking station leading to a problem of easily slipping out of the docking station.
  • FIG. 1 is a schematic structural diagram of a docking station provided by one of the embodiments of the present application.
  • Fig. 2 is the dismantling schematic diagram of the docking station shown in Fig. 1;
  • FIG. 3 is a schematic structural diagram of the first bracket, the second bracket and the cleaning member of the docking station shown in FIG. 2;
  • FIG. 4 to 6 are schematic diagrams of the docking station shown in FIG. 1 in three different states, respectively.
  • an embodiment of the present application provides a docking station 100 , which includes a base 10 , a cleaning assembly 20 and a cleaning element assembly 30 .
  • the cleaning assembly 20 and the cleaning element assembly 30 are both assembled on the base 10 .
  • the base 10 is used for parking the cleaning robot. After the cleaning robot is parked on the base 10, the cleaning component 30 can scrape the part to be cleaned of the cleaning robot, and the part to be cleaned can be a mop.
  • the cleaning assembly 20 is used to release cleaning liquid to the cleaning component assembly 30 and/or the to-be-cleaned part of the cleaning robot docked on the base 10 to improve cleaning efficiency.
  • the cleaning liquid can be released only on the to-be-cleaned part of the cleaning robot, or only on the cleaning element assembly 30, and can also be released on the part to be cleaned of the cleaning robot and the cleaning member assembly 30 at the same time.
  • the cleaning assembly 20 can be omitted.
  • the base 10 includes a docking plate (not shown) and a waste liquid tank 12 .
  • the docking plate is used to park the cleaning robot.
  • the waste liquid tank 12 is disposed below the docking board, the cleaning component 30 and the cleaning component 30 are both accommodated in the waste liquid tank 12, and an opening is formed on the docking board, and the The opening is used to expose the cleaning element assembly 30, so that the cleaning element assembly 30 can scrape the to-be-cleaned part resting on the docking plate.
  • the waste liquid tank 12 can collect the waste liquid formed after cleaning the robot with the cleaning liquid, so as to prevent the waste liquid from polluting the environment.
  • the waste liquid tank 12 includes a bottom wall 120 and a side wall 122 .
  • the side wall 122 extends from the periphery of the bottom wall 120 toward the upper side of the bottom wall 120 .
  • the resting plate is opposite to the bottom wall 120 and is connected to the side wall 122 .
  • the base 10 includes a ramp 124 .
  • the inclined surface 124 extends obliquely from the edge of the docking board to the lower part of the docking board, and the cleaning robot can reach or leave the docking board through the inclined surface 124 .
  • the inclined surface 124 may also be disposed on a structure other than the waste liquid tank 12 , which is not limited in this application.
  • the cleaning assembly 20 includes a spray head support 22 and at least one spray head 24 .
  • Each of the spray heads 24 is fixed to the bottom wall 120 through the spray head bracket 22 .
  • the nozzle bracket 22 can be fixed to the bottom wall 120 by screws, or can be welded to the bottom wall 120 .
  • the at least two of the spray heads 24 are arranged along a straight line S.
  • the straight line S may be parallel to the bottom wall 120 .
  • the at least one spray head 24 faces the cleaning element assembly 20 and/or the cleaning robot docked on the base 10 for releasing cleaning liquid to the cleaning element assembly 20 and/or the cleaning robot docked on the base 10 .
  • the number of the cleaning components 20 is two.
  • the two cleaning assemblies 20 are respectively disposed on two opposite sides of the cleaning assembly 30, which can improve cleaning efficiency.
  • the docking station 100 also includes a container 40 and a cleaning fluid pump 50 .
  • the container 40 includes a cleaning liquid reservoir 42 .
  • the cleaning liquid tank 42 communicates with the cleaning liquid pump 50 and the cleaning assembly 20 .
  • the cleaning liquid tank 42 is used for storing cleaning liquid, and the cleaning liquid pump 50 is used for conveying the cleaning liquid stored in the cleaning liquid tank 42 to the cleaning assembly 20 to provide the cleaning liquid for the cleaning assembly 20 .
  • the cleaning liquid tank 42 communicates with the cleaning assembly 20 through a cleaning liquid delivery pipe 43 . It can be understood that, according to actual needs, the cleaning liquid delivery pipe 43 can be omitted.
  • the cleaning liquid tank 42 is disposed adjacent to the cleaning assembly 20, so that the cleaning liquid tank 42 can directly communicate with the cleaning liquid. component 20.
  • the container 40 also includes a waste reservoir 44 .
  • the docking station 100 also includes a waste pump (not shown).
  • the waste liquid tank 44 communicates with the waste liquid tank 12 and the waste liquid pump.
  • the waste liquid pump is used for pumping the waste liquid in the waste liquid tank 12 to the waste liquid bin 44 .
  • the waste liquid tank 44 is communicated with the waste liquid tank 12 through a waste liquid conveying pipe 45 . It can be understood that, according to actual needs, the waste liquid conveying pipe 45 can be omitted.
  • the waste liquid tank 44 is arranged adjacent to the waste liquid tank 12, so that the waste liquid tank 44 can directly communicate with the waste liquid tank 44. Waste tank 12.
  • the bottom of the waste liquid tank 44 communicates with the bottom of the cleaning liquid tank 42
  • the top of the waste liquid tank 44 communicates with the waste liquid tank 12
  • a filter structure 46 is provided between the top and the bottom of the waste liquid bin 44 .
  • the filter structure 46 is used to separate the cleaning liquid and the dirt in the waste liquid.
  • the outgoing cleaning liquid passes through the filter structure 46 and enters the bottom of the waste liquid tank 44. Since the bottom of the waste liquid tank 44 is in communication with the bottom of the cleaning liquid tank 42, the cleaning liquid can enter the cleaning liquid.
  • the silo 42 is used to recycle the cleaning liquid, and the separated dirt stays on the filter structure 46 , and the filter structure 46 can be taken out from the waste liquid silo 44 to remove the dirt.
  • the filter structure 46 includes multiple layers of filter plates with holes, each filter plate is arranged horizontally, and the multiple layers of the filter plates are arranged in a vertical direction.
  • the cleaning member assembly 30 includes a power source 31 , a guide rail 32 , a first bracket 33 and a second bracket 34 and at least one cleaning member 35 .
  • the guide rail 32 is fixed to the base 10
  • the first bracket 33 is assembled to the guide rail 32
  • the second support 34 is fixed to the base 10 .
  • Each of the cleaning elements 35 is assembled to the first bracket 33 and to the second bracket 34 .
  • the power source 31 is assembled on the base 10 and connected to the first bracket 33 for driving the first bracket 33 to reciprocate along the straight line S, so as to drive each The cleaning member 35 swings around a central axis O, so that the cleaning member assembly 30 can scrape the cleaning robot.
  • the central axis O around which each cleaning piece 35 swings is perpendicular to the straight line S.
  • the central axis O may be parallel to the bottom wall 120 .
  • the power source 31 includes a linear motor 310 and a motor holder 312 .
  • the linear motor 310 is fixed to the bottom wall 120 through the motor fixing seat 312 .
  • the motor fixing base 312 is fixed to the bottom wall 120 by screws, and can also be fixed to the bottom wall 120 by welding according to actual needs.
  • the output end of the linear motor 310 is connected to the first bracket 33 for driving the first bracket 33 to reciprocate along the straight line S.
  • the number of the linear motors 310 is two.
  • the output ends of the two linear motors 310 are respectively connected to two ends of the first bracket 33 , and can drive the first bracket 33 to move along the straight line S relatively stably.
  • the number of the linear motor 310 can also be only one, for example, the output end of the linear motor 310 is connected to the position between the two ends of the first bracket 33 .
  • the motor fixing base 312 can be omitted, for example, the linear motor 310 is directly fixed on the bottom wall 120 .
  • the linear motor 310 can also be replaced with a driving device such as an air cylinder, a rotary motor, or the like. Wherein, when the linear motor 310 is replaced with a rotary motor, the rotary motor needs to be connected to the first bracket 33 through a transmission mechanism such as a worm gear, a lead screw, and the like.
  • the guide rail 32 includes a guide rod 320 and a guide rod fixing seat 322 .
  • the length direction of the guide rod 320 is parallel to the straight line S.
  • Both ends of the guide rod 320 are fixed to the bottom wall 120 by the guide rod fixing seat 322 , and the guide rod fixing seat 322 is fixed to the bottom wall 120 by screws. According to actual needs, it can also be welded. on the bottom wall 120 .
  • the guide rod fixing seat 322 may be omitted.
  • two ends of the guide rod 320 are respectively fixed to two opposite positions of the side wall 122 .
  • the guide rod 320 is sleeved in the first bracket 33 and can guide the first bracket 33 to move along the length direction of the guide rod 320 .
  • the number of the guide rods 320 is three. Among the three guide rods 320 , two of the guide rods 320 are respectively sleeved on both ends of the first bracket 33 , and the remaining one of the guide rods 320 is sleeved on the first bracket 33 . Between the two ends, the three guide rods 320 can guide the first bracket 33 to move along the straight line S relatively smoothly.
  • the guide rail 32 can be omitted according to actual needs.
  • the driving source 31 can output a relatively large pushing or pulling force, and the guide rail 32 does not need to be guided, and the first bracket 33 can also be ensured along all directions.
  • the straight line S moves back and forth.
  • the first bracket 33 includes a first main body portion 330 , a guide hole portion 332 provided on the first main body portion 330 , a connecting portion 334 and at least one first swing portion 336 .
  • a through groove 3300 is provided on the first main body portion 330 .
  • the through groove 3300 is used to accommodate the at least one cleaning member 35 .
  • the guide hole portion 332 is used to sleeve outside the guide rod 320 .
  • the number of the guide hole portions 332 is three. Among the three guide hole portions 332 , two of the guide hole portions 332 respectively penetrate through both ends of the first main body portion 330 , and the remaining one of the guide hole portions 332 penetrates through the first main body portion 330 . between its two ends.
  • Each of the guide hole portions 332 is used to be sleeved outside one of the guide rods 320 .
  • the connecting portion 334 is used for connecting the output end of the linear motor 310 .
  • the number of the connecting parts 334 is two.
  • the two connecting portions 334 are respectively disposed on two opposite sides of the first main body portion 330 , and each connecting portion 334 is used to connect an output end of the linear motor 310 .
  • connection part 334 may be omitted according to actual needs.
  • the output end of the linear motor 310 may be directly connected to the first main body part 330 .
  • Each of the first swing parts 336 is used for assembling one of the cleaning members 35 .
  • the first bracket 33 includes at least two of the first swinging portions 336 , and every two of the first swinging portions 336 are opposite to each other and are respectively disposed on two opposite groove walls of the through groove 3300 .
  • Each of the two opposite first swing parts 336 is used for assembling one of the cleaning members 35 .
  • Each of the first swing parts 336 includes a shaft hole structure.
  • the center line of the shaft hole structure coincides with one of the center axes O.
  • the second bracket 34 includes a second body portion 340 and at least one first sliding portion 342 disposed on the second body portion 340 .
  • the second main body portion 340 is substantially in the shape of a strip, and its length direction is parallel to the straight line S.
  • the second main body portion 340 is fixed to the bottom wall 120 by screws, and can also be fixed to the bottom wall 120 by welding according to actual needs.
  • Each of the first sliding parts 342 is used for assembling one of the cleaning members 35 .
  • Each of the first sliding parts 342 includes a chute structure.
  • the length direction of the chute structure is perpendicular to the bottom wall 120 , one end of the chute structure is close to the bottom wall 120 , and the other end is far away from the bottom wall.
  • the angle between the length direction of the chute structure and the bottom wall 120 can also be other angles, as long as the chute structure is not parallel to the bottom wall 120, but In order to ensure the stability of swinging of each cleaning member 35, the included angle between the length direction of the chute structure and the bottom wall is 60 degrees to 90 degrees.
  • the number of the second brackets 34 is two. The positions of the two second brackets 34 are opposite to each other.
  • Each of the cleaning members 35 includes a base portion 350 , a scraping portion 352 , a second swinging portion 354 and a second sliding portion 356 .
  • the scraping portion 352 and the second swinging portion 354 are both connected to one end of the base portion 350
  • the second sliding portion 356 is connected to the other end of the base portion 350 .
  • each cleaning member 35 is disposed in the through groove 3300 .
  • the scraping portion 352 of each cleaning member 35 is used to scrape the cleaning robot when the cleaning member 35 swings.
  • the second swinging portion 354 of each cleaning member 35 is used to be assembled to one of the first swinging portions 336 .
  • Each of the cleaning members 35 includes two of the second swing portions 354 .
  • the two second swinging portions 336 of each cleaning element are respectively disposed on two opposite sides of the base portion 350 of the cleaning element 35 .
  • Each of the two opposing first swinging parts 336 is respectively used for assembling two second swinging parts 336 of the cleaning element.
  • the second swing portion 354 includes a rotating shaft structure.
  • the center line of the rotating shaft structure coincides with the center axis O around which the cleaning member 35 swings.
  • the rotating shaft structure of each cleaning member 35 is used to be inserted into a shaft hole structure of the first swinging portion 336 , and the rotating shaft structure can swing in the shaft hole structure, so that the cleaning member 35 can be relative to the shaft hole structure.
  • the first bracket 33 swings.
  • the second sliding portion 356 of each cleaning member 35 is used to be assembled to one of the first sliding portions 342 .
  • Each of the cleaning members 35 includes two of the second sliding parts 336 .
  • the two second sliding portions 336 of each cleaning member 35 are respectively disposed on two opposite sides of the base portion 350 of the cleaning member 35 .
  • the two second sliding parts 336 of each of the cleaning members 35 are used for assembling a first sliding part 342 of the two second brackets 34 respectively.
  • the second sliding portion 356 includes a sliding shaft structure.
  • the center line of the sliding shaft structure of each cleaning member 35 is parallel to the central axis O around which the cleaning member 35 swings.
  • each cleaning element 35 is used to be inserted into a sliding groove structure of the first sliding part 342, and the sliding shaft structure can reciprocate along the length direction of the sliding groove structure, so that the sliding shaft structure can When a bracket 33 moves, the cleaning member 35 is restrained, so that the cleaning member 35 swings relative to the first bracket 33 .
  • the linear motor 310 drives the first bracket 33 to reciprocate along the straight line S relative to the second bracket 34 .
  • the The rotating shaft structure swings within the shaft hole structure, and at the same time, the sliding shaft structure reciprocates along the chute structure, so that the cleaning member 35 swings relative to the first bracket 33, so that the scraper 352 swing scraper cleaning robot.
  • each cleaning member 35 swings to a limit angle, and the sliding shaft structure of the cleaning member 35 slides along the sliding groove structure to the limit position.
  • each cleaning member 35 swings to another extreme position, and the sliding shaft structure of the cleaning member 35 moves along the The chute structure slides to the top of the chute structure (see FIG. 5 );
  • each cleaning piece swings to two positions.
  • the middle angle between the extreme angles is perpendicular to the bottom wall 120 , and the sliding shaft structure of the cleaning element 35 slides along the sliding groove structure to the bottom end of the sliding groove structure (see FIG. 6 ).
  • the first bracket 33 can also be fixed to the base 10, and the power source 31 is connected to the second bracket 34 for driving the second bracket 34 along the straight line
  • the second bracket 34 can also drive each cleaning member 35 to swing relative to the first bracket 33 around a central axis O. Therefore, as long as the first bracket 33 and the second bracket 34 meet the following conditions:
  • One of the first bracket 33 and the second bracket 34 is a fixed bracket, and the other is a movable bracket.
  • the fixed bracket is fixed to the base 10
  • the power source 31 is connected to the movable bracket. , which is used to drive the movable bracket to move relative to the base 10 along the straight line S.
  • the position of the rotating shaft structure can be interchanged with the position of the shaft hole structure, that is, the first swinging part 336 includes a rotating shaft structure, and the second swinging part 354 includes a shaft hole structure .
  • the position of the sliding shaft structure can be interchanged with the position of the sliding groove structure, that is, the first sliding portion 342 includes a sliding shaft structure, and the second sliding portion 356 includes a sliding shaft structure.
  • the slot structure, the length direction of the chute structure is parallel to the length direction of the base portion 350 .
  • first bracket 33 can also be disposed between the second bracket 34 and the bottom wall 120 .
  • the scraping portion 352 is disposed at one end of the base portion 350
  • the second swing portion 354 is disposed at the other end of the base portion 350 .
  • the second bracket 34 is disposed between the first bracket 33 and the bottom wall 120 to save horizontal space.
  • a receiving groove 338 is formed on the lower surface of the first bracket 33 , and the receiving groove 338 can receive the second bracket 34 and can save vertical space.
  • the cleaning robot When the cleaning robot needs to be cleaned, the cleaning robot is stopped at a preset position on the base 10 , wherein the cleaning robot can reach the preset position of the base 10 by means of infrared sensing, radar detection, building a map, etc. .
  • the cleaning robot When the cleaning robot is parked at the preset position on the base 10 , the part to be cleaned is facing the cleaning component assembly 30 , and the docking station 100 starts the linear motor 310 and performs positive and negative operations on the linear motor 310 Circularly supply power, so that the linear motor 310 drives the first bracket 33 to reciprocate along the straight line.
  • the first bracket 33 drives each of the cleaning elements 35 swings around a central axis O, so that the scraping part 352 of the at least one cleaning member 35 cleans the part to be cleaned of the cleaning robot.
  • the cleaning element assembly 30 can release cleaning liquid to the scraping part 352 of the at least one cleaning element 35 and/or the part to be cleaned of the cleaning robot.
  • Another embodiment of the present application provides a cleaning robot system, where the cleaning robot includes a cleaning robot and the docking station 100 described in the foregoing embodiments.
  • the cleaning robot can be docked at the docking station 100 .
  • the cleaning robot includes a mop.
  • the cleaning member assembly 30 is used for scraping the mop of the cleaning robot.
  • the part to be cleaned of the cleaning robot can be scraped by the swinging cleaning member 35, and the cleaning robot does not need to move back and forth on the docking station 100. , so as to avoid the problem that the cleaning robot needs to move back and forth on the docking station 100 to clean its mop, which may easily slip out of the docking station 100 .

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Abstract

一种停靠站（100）及清洁机器人系统，涉及清洁机器人领域，包括底座（10）和清洁件组件（30）。清洁件组件（30）包括至少一个清洁件（35）、第一支架（33）、第二支架（34）以及动力源（31），每个清洁件（35）装配于第一支架（33），并装配于第二支架（34），第一支架（33）及第二支架（34）两者之一为固定支架，另一者为活动支架，固定支架固定于底座（10），活动支架连接于动力源（31），动力源（31）用于驱动活动支架沿直线（S）往复移动，以带动每个清洁件（35）绕一中轴线相对于第一支架（33）摆动。通过摆动的清洁件（35）可刮洗清洁机器人的待清洗部位，清洁机器人不需要在停靠站（100）上往复移动，以避免清洁机器人清洁的拖布需要在停靠站（100）上往复移动导致容易滑出停靠站（100）的问题。

Description

停靠站及清洁机器人系统
本申请要求2021年3月10日向中国国家知识产权局递交的申请号为202110260159.7，申请名称为“停靠站及清洁机器人系统”的在先申请的优先权，上述在先申请的内容以引入的方式并入本文本中。
技术领域
本申请涉及清洁机器人领域，特别是涉及一种停靠站及清洁机器人系统。
背景技术
清洁机器人是为人类服务的特种机器人，主要从事家庭卫生的清洁、清洗等工作。其中一类清洁机器人，如拖地机器人，配置有拖布，用于清洁地面。在清洁完地面后，需要在停靠站上清洗清洁机器人的拖布。
一般地，清洁机器人需要在停靠站上前后移动，以配合停靠站的滚刷清洁拖布。
然而，清洁机器人在往复移动的过程中，容易滑出停靠站。
申请内容
本申请实施例旨在提供一种停靠站及清洁机器人系统，以解决现有技术中清洁机器人清洁其拖布需要在停靠站上往复移动导致容易滑出停靠站的技术问题。
本申请实施例解决其技术问题采用以下技术方案：提供一种停靠站，包括：
底座；
清洁件组件，包括至少一个清洁件、第一支架、第二支架以及动力 源，每个所述清洁件装配于所述第一支架，并装配于所述第二支架，所述第一支架及所述第二支架两者之一为固定支架，另一者为活动支架，所述固定支架固定于所述底座，所述活动支架连接于所述动力源，所述动力源用于驱动所述活动支架沿直线往复移动，以带动每个所述清洁件绕一中轴线相对于所述第一支架摆动。
在一些实施例中，所述第一支架包括第一主体部及设置于所述第一主体部上的至少一个第一摆动部，所述第二支架包括第二主体部及设置于所述第二主体部上的至少一个第一滑动部；
每个所述清洁件包括基部、第二摆动部以及第二滑动部，所述第二摆动部及所述第二滑动部分别设置于所述基部的两端；
每个所述清洁件的第二摆动部连接于一个所述第一摆动部，每个所述清洁件的第二滑动部连接于一个所述第一滑动部；
当所述动力源驱动所述活动支架沿直线往复移动时，每个所述清洁件的第二摆动部绕一所述中轴线相对于所述第一摆动部摆动，每个所述第二滑动部相对于所述第一滑动部滑动。
在一些实施例中，每个所述清洁件还包括刮部，所述刮部用于在该清洁件摆动时刮洗清洁机器人；
所述刮部与所述第二摆动部设置于所述基部的一端，所述第二摆动部设置于所述基部的另一端。
在一些实施例中，所述底座包括底壁；
所述第二支架设置于所述第一支架及所述底壁之间。
在一些实施例中，在所述第一主体部上设置有贯通槽；
每个所述清洁件的基部设置于所述贯通槽内。
在一些实施例中，每个所述第一支架包括至少两个所述第一摆动部，每两个所述第一摆动部相对并且分别设置于所述贯通槽的两相对槽壁上；
每个所述清洁件的包括两个所述第二摆动部，每个所述清洁件的两个摆动部分别设置于该清洁件的基部的两相对侧；
每相对的两个所述第一摆动部分别用于装配一所述清洁件的两个第二摆动部。
在一些实施例中，所述第一摆动部包括轴孔结构，每个所述第二摆动部包括转轴结构；
每个所述清洁件的转轴结构插入一个所述第二摆动部的轴孔结构内。
在一些实施例中，所述第二支架的数量为两个，两个所述第二支架相对设置；
每个所述清洁件包括两个所述第二滑动部，每个所述清洁件的两个第二滑动部分别设置于该清洁件的基部的两相对侧；
每个所述清洁件的两个第二滑动部分别装配于两个所述第二支架的一相应第一滑动部。
在一些实施例中，每个所述第一滑动部包括滑槽结构，每个所述清洁件的第二滑动部包括滑轴结构；
每个所述清洁件的滑轴结构插入于一所述第一滑动部的滑槽结构内，可沿该滑槽结构的长度方向往复移动。
在一些实施例中，所述清洁件组件还包括导轨；
所述导轨固定于所述底座，所述活动支架装配于所述导轨，所述导轨用于引导所述活动支架沿直线往复移动。
在一些实施例中，所述停靠站还包括清洗组件；
所述清洗组件用于向所述清洁件组件和/或停靠于所述底座的清洁机器人释放清洗液。
在一些实施例中，所述底座包括废液槽；
所述清洁件组件及所述清洗组件皆收容于所述废液槽内。
在一些实施例中，所述停靠站还包括容器和清洗液泵，所述容器包括清洗液仓；
所述清洗液仓连通所述清洗液泵及所述废液槽，所述清洗液仓用于存储清洗液，所述清洗液泵用于将所述清洗液仓所存储的清洗液向所述清洗组件提供。
在一些实施例中，所述停靠站还包括废液泵，所述容器还包括废液仓，所述废液仓连通所述废液泵及所述废液槽；
所述废液泵用于将所述废液槽内的废液抽吸至所述废液仓内。
在一些实施例中，所述清洗液仓的底部与所述废液仓的底部相连通；
所述废液仓的顶部连通所述废液槽，在所述废液仓的顶部与底部之间设置有过滤结构。
在一些实施例中，所述底座包括停靠板，所述停靠板上用于停靠清洁机器人；
所述清洁件组件设置于所述停靠板的下方，在所述停靠板上开设有开口，所述开口将所述清洁件组件露出。
本申请实施例解决其技术问题还采用以下技术方案：一种清洁机器人系统，包括：
如上所述的停靠站；及
清洁机器人，用于停靠于所述停靠站，所述清洁件组件用于刮洗所述清洁机器人。
与现有技术相比，在本申请实施例提供的停靠站及清洁机器人系统中，通过摆动的清洁件可刮洗清洁机器人的待清洗部位，清洁机器人不需要在停靠站上往复移动，以避免清洁机器人清洁其拖布需要在停靠站上往复移动导致容易滑出停靠站的问题。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请其中一实施例提供的一种停靠站的结构示意图；
图2是图1所示的停靠站的拆解示意图；
图3是图2所示的停靠站的第一支架、第二支架及清洁件的结构示意图；
图4至图6分别是图1所示的停靠站在三种不同状态下的示意图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施例，对本申请进行更详细的说明。需要说明的是，当元件被表述“连接”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“左”、“右”、“上端”、“下端”、“顶部”以及“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本申请。
请参阅图1、图2以及图3，本申请其中一实施例提供一种停靠站100，包括底座10、清洗组件20及清洁件组件30。所述清洗组件20及所述清洁件组件30皆装配于所述底座10。所述底座10用于供清洁机器人停靠，在清洁机器人停靠于所述底座10后，所述清洁件组件30能够刮洗该清洁机器人的待清洗部位，该待清洗部位可以为拖布，实际上，可以为清洁机器人上的任意部位，所述清洗组件20用于向所述清洁件组件30和/或停靠于所述底座10的清洁机器人的待清洗部位释放清洗液，以提高清洗效率。
需要说明，由于所述清洁件组件30是通过刮洗直接作用于清洁机器人的待清洗部位，因此，清洗液可以仅释放在清洁机器人的待清洗部 位上，也可以仅释放在所述清洁件组件30，还可以同时释放在清洁机器人的待清洗部位及所述清洁件组件30上。
可以理解，根据实际需要，例如，在仅通过所述清洁件组件30刮洗即可清洁清洁机器人时，所述清洗组件20可以省略。
所述底座10包括停靠板(图未示出)和废液槽12。
所述停靠板上用于停放清洁机器人。所述废液槽12设置于所述停靠板的下方，所述清洁件组件30及所述清洗组件30皆收容于所述废液槽12内，在所述停靠板上开设有开口，所述开口用于将所述清洁件组件30露出，以使所述清洁件组件30能够刮洗停靠于所述停靠板之上的待清洗部位。所述废液槽12能够收集由清洗液清洗清洁机器人后形成的废液，避免废液污染环境。
所述废液槽12包括底壁120和侧壁122。所述侧壁122自所述底壁120的周缘朝所述底壁120的上方延伸，所述停靠板与所述底壁120相对，并连接于所述侧壁122。
所述底座10包括斜面124。所述斜面124自所述停靠板的边缘倾斜地向所述停靠板的下方延伸，清洁机器人可通过所述斜面124抵达或者离开所述停靠板。
可以理解，根据实际需要，所述斜面124也可以设置于所述废液槽12之外的结构上，对此，本申请不作限制。
所述清洗组件20包括喷头支架22和至少一个喷头24。每个所述喷头24通过所述喷头支架22固定于所述底壁120。所述喷头支架22可以通过螺丝固定于所述底壁120，也可以焊装于所述底壁120。
当所述清洗组件20包括至少两个所述喷头24时，所述至少两个所 述喷头24沿一直线S排布。所述直线S可以平行于所述底壁120。
所述至少一个喷头24朝向所述清洁件组件20和/或停靠于所述底座10的清洁机器人，用于向所述清洁件组件20和/或停靠于所述底座10的清洁机器人释放清洗液。
所述清洗组件20的数量为两个。两个所述清洗组件20分别设置于所述清洁组件30的两相对侧，能够提高清洗效率。
所述停靠站100还包括容器40和清洗液泵50。所述容器40包括清洗液仓42。所述清洗液仓42连通所述清洗液泵50及所述清洗组件20。所述清洗液仓42用于存储清洗液，所述清洗液泵50用于将所述清洗液仓42所存储的清洗液向所述清洗组件20输送，以为所述清洗组件20提供清洗液。
所述清洗液仓42通过清洗液输送管43连通所述清洗组件20。可以理解，根据实际需要，所述清洗液输送管43可以省略，例如，将所述清洗液仓42与所述清洗组件20相邻设置，以使所述清洗液仓42能够直接连通所述清洗组件20。
所述容器40还包括废液仓44。
所述停靠站100还包括废液泵(图未示出)。
所述废液仓44连通所述废液槽12及所述废液泵。所述废液泵用于将所述废液槽12内的废液抽吸至所述废液仓44。
所述废液仓44通过废液输送管45连通所述废液槽12。可以理解，根据实际需要，所述废液输送管45可以省略，例如，将所述废液仓44与所述废液槽12相邻设置，以使所述废液仓44能够直接连通所述废液槽12。
所述废液仓44的底部与所述清洗液仓42的底部相连通，所述废液仓44的顶部与所述废液槽12相连通。在所述废液仓44的顶部与底部之间设置有过滤结构46。废液由所述废液槽12进入所述废液仓44时，受重力作用抵达所述过滤结构46，所述过滤结构46用于将废液中的清洗液和脏污分离，其中，分离出的清洗液穿过所述过滤结构46进入所述废液仓44的底部，由于所述废液仓44的底部与所述清洗液仓42的底部相连通，清洗液能够进入所述清洗液仓42，以循环利用清洗液，分离出的脏污停留在所述过滤结构46上，后续可将所述过滤结构46从所述废液仓44中取出以清除脏污。
所述过滤结构46包括多层带孔的过滤板，每个所述过滤板水平设置，多层所述过滤板沿竖直方向排布。
所述清洁件组件30包括动力源31、导轨32、第一支架33及第二支架34以及至少一个清洁件35。
所述导轨32固定于所述底座10，所述第一支架33装配于所述导轨32，所述第二支架34固定于所述底座10。每个所述清洁件35装配于所述第一支架33，并装配于所述第二支架34。所述动力源31装配于所述底座10，并连接所述第一支架33，用于驱动所述第一支架33沿所述直线S往复移动，以通过所述第一支架33带动每个所述清洁件35绕一中轴线O摆动，从而实现所述清洁件组件30刮洗清洁机器人。每个所述清洁件35摆动所绕的中轴线O垂直于所述直线S。
所述中轴线O可以平行于所述底壁120。
所述动力源31包括直线电机310和电机固定座312。所述直线电机310通过所述电机固定座312固定于所述底壁120。
所述电机固定座312通过螺钉固定于所述底壁120，根据实际需要，也可以通过焊装的方式固定于所述底壁120。
所述直线电机310的输出端连接所述第一支架33，用于驱动所述第一支架33沿所述直线S往复移动。
所述直线电机310的数量为两个。两个所述直线电机310的输出端分别连接于所述第一支架33的两端，能够较为平稳地驱动所述第一支架33沿所述直线S移动。
可以理解，根据实际需要，所述直线电机310的数量也可以仅为一个，例如，将该直线电机310的输出端与所述第一支架33两端之间的部位相连接。
可以理解，根据实际需要，所述电机固定座312可以省略，例如，将所述直线电机310直接固定于所述底壁120上。
可以理解，根据实际需要，所述直线电机310也可以替换为气缸、旋转电机等驱动装置。其中，当所述直线电机310替换为旋转电机时，旋转电机需要通过如蜗轮蜗杆、丝杠等传动机构连接所述第一支架33。
所述导轨32包括导杆320和导杆固定座322。
所述导杆320的长度方向平行于所述直线S。
所述导杆320的两端皆通过所述导杆固定座322固定于所述底壁120，所述导杆固定座322通过螺钉固定于所述底壁120，根据实际需要，也可以焊装在所述底壁120。
可以理解，根据实际需要，所述导杆固定座322可以省略，例如，所述导杆320的两端分别固定于所述侧壁122的两相对处。
所述导杆320套设于所述第一支架33内，能够引导所述第一支架33沿所述导杆320的长度方向移动。
所述导杆320的数量为三个。在三个所述导杆320中，两个所述导杆320分别套设于所述第一支架33的两端处，剩余的一个所述导杆320套设于所述第一支架33的两端之间，三个所述导杆320能够较为平稳地引导所述第一支架33沿所述直线S移动。
可以理解，根据实际需要，所述导轨32可以省略，例如，所述驱动源31能够输出较大的推力或拉力，不需要所述导轨32进行导向，也能够保证所述第一支架33沿所述直线S往复移动。
所述第一支架33包括第一主体部330以及设置于所述第一主体部330上的导孔部332、连接部334以及至少一个第一摆动部336。
在所述第一主体部330上设置有贯通槽3300。所述贯通槽3300用于容纳所述至少一个清洁件35。
所述导孔部332用于套设于所述导杆320外。所述导孔部332的数量为三个。在三个所述导孔部332中，两个所述导孔部332分别贯穿于所述第一主体部330的两端，剩余的一个所述导孔部332贯穿所述第一主体部330在其两端之间的部位。每个所述导孔部332用于套设于一个所述导杆320外。
所述连接部334用于连接所述直线电机310的输出端。所述连接部334的数量为两个。两个所述连接部334分别设置于所述第一主体部330的两相对侧，每个所述连接部334用于连接一个所述直线电机310的输出端。
可以理解，根据实际需要，所述连接部334可以省略，例如，所述直线电机310的输出端直接连接所述第一主体部330即可。
每个所述第一摆动部336用于装配一个所述清洁件35。
所述第一支架33包括至少两个所述第一摆动部336，每两个所述第 一摆动部336相对且分别设置于所述贯通槽3300的两相对槽壁上。
每相对的两个所述第一摆动部336用于装配一个所述清洁件35。
每个所述第一摆动部336包括轴孔结构。所述轴孔结构的中心线与一所述中轴线O相重合。
所述第二支架34包括第二主体部340以及设置于所述第二主体部340上的至少一个第一滑动部342。
所述第二主体部340大致呈条状结构，其长度方向平行于所述直线S。所述第二主体部340通过螺钉固定于所述底壁120，根据实际需要，也可以通过焊装的方式固定于所述底壁120。
每个所述第一滑动部342用于装配一个所述清洁件35。
每个所述第一滑动部342包括滑槽结构。所述滑槽结构的长度方向垂直于所述底壁120，所述滑槽结构的一端靠近所述底壁120，另一端远离所述底壁。
可以理解，根据实际需要，所述滑槽结构的长度方向与所述底壁120之间的夹角也可以为其他角度，只要所述滑槽结构不平行于所述底壁120即可，但为了保证每个所述清洁件35摆动的稳定性，所述滑槽结构的长度方向与所述底壁之间的夹角为60度至90度。
所述第二支架34的数量为两个。两个所述第二支架34的位置相对。
每个所述清洁件35包括基部350、刮部352、第二摆动部354以及第二滑动部356。所述刮部352及所述第二摆动部354皆连接于所述基部350的一端，所述第二滑动部356连接于所述基部350的另一端。
每个所述清洁件35的基部350设置于所述贯通槽3300内。
每个所述清洁件35的刮部352用于在该清洁件35摆动时刮洗清洁 机器人。
每个所述清洁件35的第二摆动部354用于装配于一个所述第一摆动部336。
每个所述清洁件35包括两个所述第二摆动部354。每个所述清洁件的两个第二摆动部336分别设置于该清洁件35的基部350的两相对侧。每两个相对的所述第一摆动部336分别用于装配一所述清洁件的两个第二摆动部336。
所述第二摆动部354包括转轴结构。所述转轴结构的中心线与该清洁件35摆动所绕的中轴线O相重合。每个所述清洁件35的转轴结构用于插入一个所述第一摆动部336的轴孔结构内，该转轴结构可在该轴孔结构内摆动，以使该清洁件35能够相对于所述第一支架33摆动。
每个所述清洁件35的第二滑动部356用于装配于一个所述第一滑动部342。
每个所述清洁件35包括两个所述第二滑动部336。每个所述清洁件35的两个第二滑动部336分别设置于该清洁件35的基部350的两相对侧。每个所述清洁件35的两个第二滑动部336用于分别装配两个所述第二支架34的一第一滑动部342。
所述第二滑动部356包括滑轴结构。每个所述清洁件35的滑轴结构的中心线与该清洁件35摆动所绕的中轴线O相平行。
每个所述清洁件35的滑轴结构用于插入一个所述第一滑动部342的滑槽结构内，该滑轴结构可在沿滑槽结构的长度方向上往复移动，以在所述第一支架33移动时约束该清洁件35，以使该清洁件35相对于所述第一支架33摆动。
请参阅图4至图6，所述直线电机310启动后，带动所述第一支架 33相对于所述第二支架34沿所述直线S往复移动，在每个所述清洁件35中，所述转轴结构在所述轴孔结构内摆动，同时，所述滑轴结构沿所述滑槽结构往复移动，以使该清洁件35相对于所述第一支架33摆动，从而使得所述刮部352摆动刮洗清洁机器人。
其中，在所述第一支架33沿所述直线S移动一个极限位置时，每个所述清洁件35摆动至一个极限角度，该清洁件35的滑轴结构沿所述滑槽结构滑动至所述滑槽结构的顶端(见图4)；在所述第一支架33移动至另一个极限位置时，每个所述清洁件35摆动至另一个极限位置，该清洁件35的滑轴结构沿所述滑槽结构滑动至所述滑槽结构的顶端(见图5)；在所述第一支架33移动至位于两个极限位置的中间位置时，每个所述清洁件摆动至位于两个极限角度之间的中间角度，垂直于所述底壁120，该清洁件35的滑轴结构沿所述滑槽结构滑动至所述滑槽结构的底端(见图6)。
可以理解，根据实际需要，所述第一支架33也可以固定于所述底座10，，所述动力源31连接于所述第二支架34，用于驱动所述第二支架34沿所述直线S移动，通过所述第二支架34也可以带动每个所述清洁件35绕一所述中轴线O相对于所述第一支架33摆动。因此，只要所述第一支架33及所述第二支架34只要满足以下条件即可：
所述第一支架33及所述第二支架34两者之一为固定支架，另一者为活动支架，所述固定支架固定于所述底座10，所述动力源31连接于所述活动支架，用于驱动所述活动支架沿所述直线S相对于所述底座10移动。
可以理解，根据实际需要，所述转轴结构的位置可以与所述轴孔结构的位置互换，也即，所述第一摆动部336包括转轴结构，所述第二摆动部354包括轴孔结构。
可以理解，根据实际需要，所述滑轴结构的位置可以与所述滑槽结构的位置互换，也即，所述第一滑动部342包括滑轴结构，所述第二滑动部356包括滑槽结构，所述滑槽结构的长度方向平行于所述基部350的长度方向设置。
可以理解，根据实际需要，所述第一支架33也可以设置在所述第二支架34及所述底壁120之间，相应地，在每个所述清洁件35中，所述刮部352与所述第二滑动部356设置于所述基部350的一端，所述第二摆动部354设置于所述基部350的另一端。
在一些实施例中，所述第二支架34设置于所述第一支架33及所述底壁120之间，能够节省水平空间。
在一些实施例中，在所述第一支架33的下表面开设有收容槽338，所述收容槽338能够收容所述第二支架34，能够节省竖直空间。
当清洁机器人需要清洗时，使该清洁机器人停靠于所述底座10上的预设位置，其中，清洁机器人可以通过如红外传感、雷达探测、构建地图等方式抵达所述底座10的预设位置。
在清洁机器人停靠于所述底座10上的预设位置时，待清洗部位正对所述清洁件组件30，所述停靠站100启动所述直线电机310，并对所述直线电机310进行正反向循环地供电，以使所述直线电机310驱动所述第一支架33沿所述直线往复移动，在所述第二支架34的配合下，所述第一支架33带动每个所述清洁件35绕一中轴线O摆动，从而使得所述至少一个清洁件35的刮部352对清洁机器人的待清洗部位进行清洁。同时所述清洁件组件30可以向所述至少一个清洁件35的刮部352和/或清洁机器人的待清洗部位释放清洗液。
本申请另一实施例提供一种清洁机器人系统，所述清洁机器人包括清洁机器人及前述各实施例所述的停靠站100。
所述清洁机器人可停靠于所述停靠站100。所述清洁机器人包括拖布。
所述清洁件组件30用于刮洗所述清洁机器人的拖布。
与现有技术相比，在本申请实施例提供的停靠站100及清洁机器人系统中，通过摆动的清洁件35可刮洗清洁机器人的待清洗部位，清洁机器人不需要在停靠站100上往复移动，以避免清洁机器人清洁其拖布需要在停靠站100上往复移动导致容易滑出停靠站100的问题。
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；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参阅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范围。

Claims (17)

  1. 一种停靠站，其中，包括：
    底座；
    清洁件组件，包括至少一个清洁件、第一支架、第二支架以及动力源，每个所述清洁件装配于所述第一支架，并装配于所述第二支架，所述第一支架及所述第二支架两者之一为固定支架，另一者为活动支架，所述固定支架固定于所述底座，所述活动支架连接于所述动力源，所述动力源用于驱动所述活动支架沿直线往复移动，以带动每个所述清洁件绕一中轴线相对于所述第一支架摆动。
  2. 根据权利要求1所述的停靠站，其中，所述第一支架包括第一主体部及设置于所述第一主体部上的至少一个第一摆动部，所述第二支架包括第二主体部及设置于所述第二主体部上的至少一个第一滑动部；
    每个所述清洁件包括基部、第二摆动部以及第二滑动部，所述第二摆动部及所述第二滑动部分别设置于所述基部的两端；
    每个所述清洁件的第二摆动部连接于一个所述第一摆动部，每个所述清洁件的第二滑动部连接于一个所述第一滑动部；
    当所述动力源驱动所述活动支架沿直线往复移动时，每个所述清洁件的第二摆动部绕一所述中轴线相对于所述第一摆动部摆动，每个所述第二滑动部相对于所述第一滑动部滑动。
  3. 根据权利要求2所述的停靠站，其中，每个所述清洁件还包括刮部，所述刮部用于在该清洁件摆动时刮洗清洁机器人；
    所述刮部与所述第二摆动部设置于所述基部的一端，所述第二摆动部设置于所述基部的另一端。
  4. 根据权利要求3所述的停靠站，其中，所述底座包括底壁；
    所述第二支架设置于所述第一支架及所述底壁之间。
  5. 根据权利要求2所述的停靠站，其中，在所述第一主体部上设置有贯通槽；
    每个所述清洁件的基部设置于所述贯通槽内。
  6. 根据权利要求2所述的停靠站，其中，每个所述第一支架包括至少两个所述第一摆动部，每两个所述第一摆动部相对并且分别设置于所述贯通槽的两相对槽壁上；
    每个所述清洁件的包括两个所述第二摆动部，每个所述清洁件的两个摆动部分别设置于该清洁件的基部的两相对侧；
    每相对的两个所述第一摆动部分别用于装配一所述清洁件的两个第二摆动部。
  7. 根据权利要求2所述的停靠站，其中，所述第一摆动部包括轴孔结构，每个所述第二摆动部包括转轴结构；
    每个所述清洁件的转轴结构插入一个所述第二摆动部的轴孔结构内。
  8. 根据权利要求2所述的停靠站，其中，所述第二支架的数量为两个，两个所述第二支架相对设置；
    每个所述清洁件包括两个所述第二滑动部，每个所述清洁件的两个第二滑动部分别设置于该清洁件的基部的两相对侧；
    每个所述清洁件的两个第二滑动部分别装配于两个所述第二支架 的一相应第一滑动部。
  9. 根据权利要求2所述的停靠站，其中，每个所述第一滑动部包括滑槽结构，每个所述清洁件的第二滑动部包括滑轴结构；
    每个所述清洁件的滑轴结构插入于一所述第一滑动部的滑槽结构内，可沿该滑槽结构的长度方向往复移动。
  10. 根据权利要求1至9任意一项所述的停靠站，其中，所述清洁件组件还包括导轨；
    所述导轨固定于所述底座，所述活动支架装配于所述导轨，所述导轨用于引导所述活动支架沿直线往复移动。
  11. 根据权利要求1至9任意一项所述的停靠站，其中，所述停靠站还包括清洗组件；
    所述清洗组件用于向所述清洁件组件和/或停靠于所述底座的清洁机器人释放清洗液。
  12. 根据权利要求11所述的停靠站，其中，所述底座包括废液槽；
    所述清洁件组件及所述清洗组件皆收容于所述废液槽内。
  13. 根据权利要求12所述的停靠站，其中，所述停靠站还包括容器和清洗液泵，所述容器包括清洗液仓；
    所述清洗液仓连通所述清洗液泵及所述废液槽，所述清洗液仓用于存储清洗液，所述清洗液泵用于将所述清洗液仓所存储的清洗液向所述清洗组件提供。
  14. 根据权利要求13所述的停靠站，其中，所述停靠站还包括废液泵，所述容器还包括废液仓，所述废液仓连通所述废液泵及所述废液槽；
    所述废液泵用于将所述废液槽内的废液抽吸至所述废液仓内。
  15. 根据权利要求14所述的停靠站，其中，所述清洗液仓的底部与所述废液仓的底部相连通；
    所述废液仓的顶部连通所述废液槽，在所述废液仓的顶部与底部之间设置有过滤结构。
  16. 根据权利要求1至9任意一项所述的停靠站，其中，所述底座包括停靠板，所述停靠板上用于停靠清洁机器人；
    所述清洁件组件设置于所述停靠板的下方，在所述停靠板上开设有开口，所述开口将所述清洁件组件露出。
  17. 一种清洁机器人系统，其中，包括：
    权利要求1至16任意一项所述的停靠站；及
    清洁机器人，用于停靠于所述停靠站，所述清洁件组件用于刮洗所述清洁机器人。
PCT/CN2021/135574 2021-03-10 2021-12-05 停靠站及清洁机器人系统 WO2022188481A1 (zh)

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