WO2022199118A1 - 清洗装置及其清洗方法、清洁机器系统 - Google Patents

清洗装置及其清洗方法、清洁机器系统 Download PDF

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Publication number
WO2022199118A1
WO2022199118A1 PCT/CN2021/135578 CN2021135578W WO2022199118A1 WO 2022199118 A1 WO2022199118 A1 WO 2022199118A1 CN 2021135578 W CN2021135578 W CN 2021135578W WO 2022199118 A1 WO2022199118 A1 WO 2022199118A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
mop
cleaning device
driving
water tank
Prior art date
Application number
PCT/CN2021/135578
Other languages
English (en)
French (fr)
Inventor
杜攀
周林林
Original Assignee
深圳市银星智能科技股份有限公司
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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 WO2022199118A1 publication Critical patent/WO2022199118A1/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
    • A47L13/00—Implements for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L13/10—Scrubbing; Scouring; Cleaning; Polishing
    • A47L13/50—Auxiliary implements
    • A47L13/502—Shakers for dust-cloths or mops; Bumpers therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • 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
    • 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 technical field of cleaning machines, and in particular, to a cleaning device, a cleaning method thereof, and a cleaning machine system.
  • a cleaning robot is a device that is configured to perform cleaning tasks while traveling over any area without user control, typically to remove stains from the ground.
  • a cleaning device for use with the cleaning robot.
  • the cleaning device wets the mop of the cleaning robot through a nozzle, and scrapes the mop of the cleaning robot with a scraper, so that the mop of the cleaning robot is placed on the mop of the cleaning robot.
  • the force between the scraper and the mop of the cleaning robot is limited, which makes the stubborn stains attached to the mop of the cleaning robot difficult to clean, which brings inconvenience to the user and affects the user experience. .
  • the main purpose of the present application is to provide a cleaning device, which is intended to facilitate cleaning of the mop of a cleaning robot.
  • a cleaning device proposed in the present application is used for cleaning the mop of a cleaning robot, and the cleaning device includes:
  • a water injection part the water injection part is used to wet the mop of the cleaning robot;
  • a mop cleaning member reciprocates up and down to slap the mop of the cleaning robot to clean the mop of the cleaning robot.
  • the water injection member includes a water tank with an open upper end;
  • the mop cleaning member moves up and down to have a first position extending into the water in the water tank and a second position extending out of the water tank and hitting the mop of the cleaning robot;
  • the mop cleaning member switches reciprocally between the first position and the second position to clean the mop of the cleaning robot.
  • the mop cleaning member includes a flapping plate, the surface area of the flapping plate is set smaller than the open area of the water tank, and the flapping plate is driven by an external force to move up and down.
  • a movable channel is provided through the water tank; the mop cleaning member further includes a driving rod, one end of the driving rod is connected to the beating plate, and the other end of the driving rod passes through the active channel settings.
  • the cleaning device further includes a sealing member for sealingly connecting the movable channel and the driving rod.
  • the cleaning device further includes a telescopic sealing ring, the telescopic sealing ring is sleeved on the driving rod, one end of the telescopic sealing ring is sealedly connected to the flapping plate, and the telescopic sealing ring is sealed. The other end of the ring is sealingly connected with the inner wall surface of the water tank.
  • the water tank is provided with at least two movable channels throughout;
  • the cleaning device includes at least two mop cleaning parts, and the drive rod of each mop cleaning part is matched with the corresponding movable channel;
  • the cleaning device further includes a driving plate, which is arranged outside the water tank and is connected with the driving rods of the mop cleaning parts.
  • the surface of the drive plate facing the drive rod is provided with at least two plug posts, and one end of the drive rod away from the beater plate is recessed with a socket to match the plug posts. socket.
  • a flexible buffer material is further arranged between the driving plate and the water tank.
  • a sewage outlet is provided through the bottom of the water tank; the cleaning device further includes a valve installed on the sewage outlet, and the valve is used to control the opening or closing of the sewage outlet .
  • the cleaning device further includes a driving mechanism, and the driving mechanism acts on the mop cleaning member to drive the mop cleaning member to reciprocate up and down.
  • the driving mechanism includes a driving motor, a transmission shaft and a cam, the driving motor is drivingly connected to the transmission shaft, the cam is sleeved on the transmission shaft, and the driving motor The drive shaft is driven to rotate, so as to drive the mop cleaning member to reciprocate up and down through the cam.
  • the present application provides a cleaning method for a cleaning device.
  • the cleaning device includes a water injection member, a mop cleaning member, and a driving mechanism.
  • the water injection member is used to wet the mop of a cleaning robot, and the driving mechanism is used to drive the mop to clean.
  • the parts reciprocate along the up and down direction to slap the mop of the cleaning robot, and the cleaning method of the cleaning device includes:
  • the cleaning method of the cleaning device further includes:
  • the water injection member is controlled to stop wetting the mop of the cleaning robot, and the driving mechanism is controlled to work for the second preset time, so as to drive the mop cleaning member up and down Towards reciprocating movement.
  • the present application also proposes a cleaning machine system, which includes a cleaning robot and a cleaning device, the cleaning device includes: a water injection member, the water injection member is used to wet a mop of the cleaning robot; a mop cleaning member, the mop cleaning member along the Reciprocate up and down to slap the mop of the cleaning robot to clean the mop of the cleaning robot.
  • the water injection member is used to wet the mop of the cleaning robot, and the mop cleaning member reciprocates in the up and down direction to continuously beat the wet mop, so as to make the adhesion
  • the dust, stains, especially stubborn stains on the mop of the cleaning robot are mixed into the water, and finally rinsed with the water carried by the mop cleaning part, so that the stains on the mop, especially the difficult-to-remove stains, can be completely removed, ensuring that The cleaning effect of the cleaning device.
  • the mop cleaning member can continue to move up and down to slap the mop of the cleaning robot, so that the water on the mop of the cleaning robot is squeezed out, thereby accelerating Dehydration of the mop of the cleaning robot.
  • FIG. 1 is a schematic structural diagram of an embodiment of a cleaning machine system of the present application.
  • FIG. 2 is a cross-sectional view of an embodiment of the cleaning device of the application
  • FIG. 3 is a cross-sectional view of an embodiment of the water tank in FIG. 2;
  • FIG. 4 is a schematic structural diagram of an embodiment of the driving mechanism in FIG. 2;
  • FIG. 5 is a cross-sectional view of another embodiment of the cleaning device of the present application.
  • FIG. 6 is a schematic structural diagram of still another embodiment of the cleaning device of the present application.
  • FIG. 7 is a schematic structural diagram of another embodiment of the cleaning device of the present application.
  • the present application proposes a cleaning device for cleaning a flat mop of a cleaning robot. Please refer to FIGS. 1 and 2 .
  • the cleaning device 100 includes a water injection member and a mop cleaning member 120 .
  • the water injection member can be a container structure that can hold water, it can also be a nozzle that can spray water, and it can also be other structures that can wet the mop of the cleaning robot, which is not the same here. an enumeration.
  • the mop cleaning member 120 can be composed of a plate-like structure and a driving device capable of reciprocating linear motion, or it can be composed of a plate-like structure and a driving device capable of reciprocating swinging, or it can be composed of other The components are formed, which will not be listed one by one here.
  • the water injection member is used to wet the mop of the cleaning robot, and the mop cleaning member 120 reciprocates up and down to continuously beat the wet mop of the cleaning robot. , so that the dust, stains, especially stubborn stains attached to the mop of the cleaning robot are mixed into the water, and finally rinsed with the water carried by the mop cleaning member 120, so that the stains on the mop of the cleaning robot, especially those that are difficult to remove The stains are completely removed to ensure the cleaning effect of the cleaning device.
  • the mop cleaning member 120 can continue to reciprocate up and down to slap the mop of the cleaning robot, so that the water on the mop of the cleaning robot is squeezed out, In turn, the dehydration of the mop of the cleaning robot is accelerated.
  • the water injection member is a water tank 110 with an open upper end
  • the water tank 110 may be an independent part of the cleaning device 100 , that is, the water tank 110 is formed by a container capable of holding water, and the water tank 110 may also be A part integrated on the casing of the cleaning device 100 , that is, the water tank 110 is formed by a recess on the casing of the cleaning device 100 , and the specific arrangement of the water tank 110 is not specifically limited here.
  • the upper end of the water tank 110 is open, and the open area of the water tank 110 is larger than or equal to the area of the mop 200 of the cleaning robot.
  • the open area of the water tank 110 is larger than the area of the mop 200 of the cleaning robot, which is convenient for cleaning Alignment between the mop 200 of the robot and the water tank 110 .
  • the mop cleaning member 120 is a movable member, which can be installed on the sink 110, and can also be installed on other components of the cleaning device 100, which is not specifically limited herein.
  • the mop cleaning member 120 can move up and down and extend into or out of the water tank 110, so that the mop cleaning member 120 at least has a first position that extends into the water in the water tank 110 and a position that extends out of the water tank 110 and taps the mop 200 of the cleaning robot. second position.
  • the mop cleaning member 120 in the first position, can be partially or completely submerged in the water in the water tank 110, and the water in the water tank 110 contacts the mop cleaning member 120 to not only wet the mop cleaning member 120, but also wet the mop cleaning member 120.
  • the dust and stains carried by the mop cleaning member 120 are rinsed.
  • the mop cleaning member 120 and the mop 200 of the cleaning robot collide with each other, and the wet mop cleaning member 120 can not only wet the mop 200 of the cleaning robot, but also can clean the dust and dust on the mop 200 of the cleaning robot.
  • the stains are tapped, and the tap can powerfully clean the dust, stains, and especially hard-to-clean stains adhering to the mop 200 of the cleaning robot.
  • the mop 200 of the cleaning robot is usually equipped with a flat mop.
  • the component 120 includes a beating plate 121, the surface area of the beating plate 121 is smaller than the open area of the water tank 110, and the beating plate 121 can be moved up and down when driven by an external force.
  • the flapper 121 can move up and down.
  • the flapper 121 can move in a straight line along the up and down direction, that is, the flapper 121 moves straight up and down.
  • 121 can also move in an arc in the up and down direction, that is, the flapper 121 swings up and down with a position between the mop 200 of the cleaning robot and the water in the water tank 110 as the center of the circle.
  • the flapper 121 swings up and down with a position between the mop 200 of the cleaning robot and the water in the water tank 110 as the center of the circle.
  • the surface of the beating plate 121 facing the mop 200 of the cleaning robot may be a flat plane or an uneven surface.
  • the surface of the beating plate 121 facing the mop 200 of the cleaning robot is arranged in a concave and uneven shape.
  • the shape of the flapper 121 can be the same as that of the mop 200 of the cleaning robot, and the shape of the flapper 121 can also be different from the shape of the mop 200 of the cleaning robot.
  • the shape of the flapper 121 is the same as the shape of the mop 200 of the cleaning robot.
  • the mop 200 of the cleaning robot can be in circular, square, U-shaped and other regular shapes, and the shape of the flapping plate 121 is correspondingly set in a circle, square, U-shaped and other regular shapes.
  • the beater plate 121 is provided in other special-shaped shapes corresponding to other special-shaped shapes. In this way, the flapping plate 121 can tap the mop 200 of the entire cleaning robot every time, which is beneficial to cleaning the mop 200 of the cleaning robot.
  • the power required for the above-mentioned flapping plate 121 to move up and down may come from a person or a driving device, but the inner space of the water tank 110 is relatively small and inconvenient for human operation, and the driving device is easy to contact with water for a long time. corroded.
  • a movable channel 111 is provided through the water tank 110 , and the mop cleaning member 120 further includes a driving rod 122 , one end of the driving rod 122 is connected with the beating plate 121 , and the driving rod 122 is connected with the beating plate 121 .
  • the driving rod 122 can be fixedly connected by screw connection, bonding, plug connection and other connection methods, and the other end of the driving rod 122 is set out of the water tank 110 through the movable channel 111 .
  • an external force can be applied to the beating plate 121 outside the water tank 110, so that it is convenient to drive the beating plate 121 to move up and down, especially when the beating plate 121 is driven by a driving device, the driving device can be installed outside the water tank 110, so that It is also possible to avoid the problem of corrosion of the driving device due to long-term exposure to water.
  • the position of the movable channel 111 is related to the movement mode of the slap plate 121. If the slap plate 121 moves linearly in the up-down direction, the movable channel 111 is opened at the bottom of the water tank 110. The movable channel 111 is opened on the tank wall of the water tank 110 by making an arc movement in the up and down direction.
  • the specific location of the movable channel 111 is not limited here.
  • the driving rod 122 can move relative to the movable channel 111, that is to say, there is a gap between the driving rod 122 and the movable channel 111, which makes the water level in the water tank 110 higher than the movable channel 111. It may flow out between the inner wall of the movable channel 111 and the driving rod 122.
  • the cleaning device 100 is further provided with a sealing member 130, and the sealing member 130 is used for connecting the movable channel 111 and the driving rod. 122 sealed connection. In this way, the portion of the driving rod 122 extending into the water tank 110 is always isolated from water, thereby preventing the cleaning device 100 from leaking water.
  • the sealing member 130 has various structures, it can be an annular sealing ring, the sealing ring is installed in the movable channel 111 and extends along the circumferential direction of the movable channel 111, and the sealing ring is tightly fitted with the driving rod 122, Thus, the movable channel 111 and the driving rod 122 are sealedly connected.
  • the sealing member 130 can also be a telescopic sealing ring, the telescopic sealing ring is sleeved on the driving rod 122 , one end of the telescopic sealing ring is sealed with the flapping plate 121 , and the other end of the telescopic sealing ring is sealed with the inner wall surface of the water tank 110 connect.
  • This arrangement can not only seal the connection between the movable channel 111 and the driving rod 122 , but also the telescopic sealing ring can be deformed with the movement of the driving rod 122 , thereby preventing the telescopic sealing ring from affecting the normal movement of the driving rod 122 .
  • the cleaning device 100 is provided with at least two mops.
  • Two mop cleaning members 120 the water tank 110 is provided with at least two movable channels 111, the driving rod 122 of each mop cleaning member 120 is matched with the corresponding movable channel 111, and the beating plate 121 of each mop cleaning member 120 is in the corresponding position.
  • the driving rod 122 of the cleaning robot Under the driving of the driving rod 122 of the cleaning robot, it reciprocates in the up and down direction, so as to slap and clean the mop 200 of the cleaning robot.
  • the cleaning device 100 is further provided with a driving plate 140, which is connected with the driving rod 122 of each mop cleaning member 120.
  • a driving plate 140 which is connected with the driving rod 122 of each mop cleaning member 120.
  • the driving rod 122 of the mop cleaning element 120 moves up and down, which in turn drives the flapping plates 121 of the mop cleaning elements 120 to move up and down, so that it is convenient to drive the mop cleaning elements 120 to work at the same time.
  • connection between the driving plate 140 and the driving rod 122 of the mop cleaning member 120 there are various ways of connection between the driving plate 140 and the driving rod 122 of the mop cleaning member 120, and the two can be connected and fixed in other ways such as screw connection, snap connection, and bonding.
  • the driving board 140 and the driving rod 122 are connected by plugging.
  • at least two plugging posts 141 are provided on the surface of the driving board 140 facing the driving rod 122, and the driving rod 122 is far away from the beating.
  • One end of the board 121 is recessed with a socket 122a for matching with the socket post 141 .
  • a flexible buffer material 150 is disposed between the driving plate 140 and the water tank 110 .
  • the flexible buffer material 150 can be disposed on the surface of the driving plate 140 facing the water tank 110 , the flexible buffer material 150 can be disposed on the surface of the water tank 110 facing the driving plate 140 , the flexible buffer material 150 can be disposed on the surface of the driving plate 140 panel of the water tank 110 And the surface of the water tank 110 facing the driving plate 140 is simultaneously disposed.
  • the flexible buffer material 150 may be a flexible material such as shock-absorbing cotton, rubber, or the like. The arrangement of the flexible material can effectively buffer the impact on the water tank 110 when the driving plate 140 moves, thereby avoiding the rigid contact between the water tank 110 and the top plate to generate noise, and realizing the effect of silent cleaning.
  • the cleaning device 100 further includes a valve (not shown) installed on the sewage outlet 112 , and the valve is used to control the opening or closing of the sewage outlet 112 . In this way, the sewage in the water tank 110 can be discharged only by opening the valve of the sewage outlet 112 , thereby facilitating the cleaning of the water tank 110 .
  • the above-mentioned mop cleaning member 120 can be switched up and down under manual driving, and the above-mentioned mop cleaning member 120 can also be reciprocated up and down under the driving of the driving mechanism 160.
  • the mop cleaning member 120 passes through The driving of the driving mechanism 160 is reciprocating in the up and down direction, and this arrangement facilitates the user to control the cleaning device 100, thereby facilitating the cleaning of the mop 200 of the cleaning robot, and improving the user experience.
  • the driving mechanism 160 may be composed of a driving motor 161a, a transmission shaft 162a and a cam 163a, the driving motor 161a may be installed on the water tank 110 or other components of the cleaning device 100, the driving motor 161a is drivingly connected with the transmission shaft 162a, the cam 163a is sleeved on the transmission shaft 162a, and the driving motor 161a drives the transmission shaft 162a to rotate, so as to drive the mop cleaning member 120 to reciprocate up and down through the cam 163a.
  • the driving mechanism 160 may also be composed of an electromagnet 161b, an iron block 162b, a guide post 163b and an elastic piece 164b.
  • the provided guide channels are matched, the iron block 162b is arranged on the mop cleaning member 120, the electromagnet 161b is arranged on the water tank 110, one end of the elastic member 164b is connected with the mop cleaning member 120, and the other end of the elastic member 164b is connected with the water tank 110.
  • the iron 161b is powered on
  • the iron block 162b is magnetically adsorbed
  • the elastic member 164b is in a compressed state
  • the mop cleaning member 120 is at the bottom at this time.
  • the electromagnet 161b is powered on and off, and the mop cleaning member 120 can be driven to switch back and forth in the up and down direction.
  • the driving mechanism 160 may also be composed of other structural parts, which will not be listed here.
  • the driving mechanism 160 may be composed of a swing rod 161c, a power motor 162c, and a lever 163c, and the power motor 162c is installed on the water tank 110 or the cleaning device
  • the lever 163c is fixedly connected with the output shaft of the power motor 162c
  • the lever 163c can be rotated in a vertical plane under the driving of the power motor 162c
  • the middle of the swing lever 161c is hinged with the water tank 110
  • One end of the swing rod 161c is connected to the mop cleaning member 120
  • the other end of the swing rod 161c is hinged with the lever 163c.
  • the power motor 162c reciprocates within a preset angle to drive the lever 163c to drive the swing lever 161c up and down Swing upward, thereby driving the mop cleaning member 120 to switch back and forth in the up and down direction.
  • the driving mechanism 160 may also be composed of a swing rod 161d, a transmission rod 162d, an output motor 163d, and an eccentric 164d.
  • the output motor 163d is installed on the water tank 110 or other components of the cleaning device 100.
  • the output motor The output shaft of 163d is extended in the horizontal direction, the eccentric wheel 164d is fixedly connected with the output shaft of the output motor 163d, the transmission rod 162d is connected with the eccentric wheel 164d, one end of the transmission rod 162d is hinged with the eccentric wheel 164d, the transmission rod 162d The other end of the swing rod 161c extends up and down, the middle of the swing rod 161c is hinged with the water tank 110, one end of the swing rod 161c is connected with the mop cleaning member 120, the other end of the swing rod 161c is hinged with the transmission rod 162d, and the output motor 163d
  • the eccentric wheel 164d is driven to rotate, and the transmission rod 162d drives the swing rod 161d to swing up and down under the driving of the eccentric wheel 164d, thereby driving the mop cleaning member 120 to reciprocate up and down.
  • the driving mechanism 160 may also be composed of other structural members, which will not be listed here.
  • the present application also proposes a cleaning method for a cleaning device.
  • the cleaning device 100 includes a water injection member, a mop cleaning member 120 and a driving mechanism 160.
  • the water injection member, the mop cleaning member 120 and the driving mechanism 160 may refer to the above-mentioned embodiments.
  • the cleaning method of the cleaning device 100 is specifically described, and the specific steps of the cleaning method of the cleaning device are as follows:
  • Step S100 when the operating time of the driving mechanism reaches a first preset time, control the water injection member to stop wetting the mop of the cleaning robot, and control the driving mechanism to work for a second preset time, so as to drive the mop to clean The piece reciprocates up and down.
  • the cleaning device 100 determines whether the cleaning robot is in the cleaning position.
  • the cleaning position of the cleaning robot in the cleaning device 100 can be detected by signal induction, that is, the cleaning robot is provided with an optical signal transmitter, and the cleaning device 100 is provided with a light signal transmitter.
  • Optical signal receiver when the optical signal receiver on the cleaning device 100 receives the optical signal transmitter on the cleaning robot, it can be determined that the cleaning robot is located at the cleaning position of the cleaning device 100 .
  • the cleaning device 100 can monitor the position of the cleaning robot through a camera, and the camera transmits the captured real-time image of the cleaning robot to the processor, and the processor determines whether the cleaning robot is located at the cleaning position of the cleaning device 100 according to the image processing result. How to determine that the cleaning robot is in the cleaning position of the cleaning device 100 is not listed here.
  • the water injection member can directly spray water on the mop of the cleaning robot to wet the mop of the cleaning robot.
  • the water injection member can also spray water to the mop cleaning member 120 , and the mop cleaning member 120 reciprocating motion, the mop of the cleaning robot can be wetted, and no specific limitation is made here.
  • the driving mechanism 160 can drive the mop cleaning member 120 to reciprocate in the up and down direction. Mop 200 for cleaning.
  • the cleaning method of the cleaning device further includes: when the working duration of the driving mechanism reaches a first preset duration, controlling the water injection member to stop wetting the mop of the cleaning robot, and controlling the driving mechanism to operate a second preset duration. Set the time to drive the mop cleaning element to reciprocate up and down.
  • the working duration of the driving mechanism 160 can be determined by detecting the power-on duration of the driving mechanism 160.
  • the first preset duration can be set according to the cleanliness of the mop 200 of the cleaning robot. If the mop 200 of the cleaning robot is dirty, the first preset duration The duration can be set to be longer, such as 10-15 minutes. If the mop 200 of the cleaning robot is not very dirty, the first preset duration can be set to be shorter, such as 5-8 minutes. How to set the duration can be adjusted according to the actual situation, and no specific limitation is made here.
  • the second preset duration is set according to the water absorption performance of the mop 200 of the cleaning robot. If the water absorption performance of the mop 200 of the cleaning robot is relatively good, the second preset duration can be set to be longer, such as 5-8 minutes , if the water absorption performance of the mop 200 of the cleaning robot is relatively poor, the second preset duration can be set to be shorter, such as 1-3 minutes, and how to set the second preset duration can be determined according to the actual situation. Adjustment, no specific limitation is made here.
  • the water injection part can stop wetting the mop of the cleaning robot. If the water injection part is a water tank, the water in the water tank can be discharged; This is not listed one by one.
  • the driving mechanism 160 drives the mop cleaning member 120 to reciprocate between the first position and the second position, so as to clean the mop of the cleaning robot in the form of beating. 200 for cleaning, and at the same time after the cleaning process of the mop 200 of the cleaning robot is completed, the mop cleaning member 120 can also reciprocate between the first position and the second position to slap the mop 200 of the cleaning robot and squeeze it out for cleaning.
  • the excess water on the mop 200 of the robot is beneficial to speed up the dehydration of the mop 200 of the cleaning robot.
  • the present application also proposes a cleaning machine system 1000.
  • the cleaning machine system 1000 includes a cleaning robot and a cleaning device 100.
  • the cleaning device 100 is used to clean the mop 200 of the cleaning robot.
  • the structure refers to the above-mentioned embodiments. Since the cleaning machine system 1000 adopts all the technical solutions of the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

Landscapes

  • Cleaning Implements For Floors, Carpets, Furniture, Walls, And The Like (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种清洗装置（100）及清洗方法、清洁机器系统，其中，清洗装置（100）包括：注水件（110），注水件（110）用于打湿清洁机器人的拖布（200）；拖布清理件（120），拖布清理件（120）沿上下向往复运动以拍打清洁机器人的拖布（200），以对清洁机器人的拖布（200）进行清洁。方便清洗装置（100）对清洁机器人的拖布（200）进行清洁。

Description

清洗装置及其清洗方法、清洁机器系统
本申请要求2021年3月23日向中国国家知识产权局递交的申请号为202110308142.4，申请名称为“清洗装置及其清洗方法、清洁机器系统”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技术领域，特别涉及一种清洗装置及其清洗方法、清洁机器系统。
背景技术
清洁机器人是一种被构造成不需要用户控制的情况下在任意区域行进的同时执行清洁任务的设备，通常用于将地面上的污渍进行清理。
目前为了方便对清洁机器人的拖布进行清洁，设置与清洁机器人配套使用的清洗装置，该清洗装置通过喷头打湿清洁机器人的拖布，通过刮板刮擦清洁机器人的拖布，以将清洁机器人的拖布上的灰尘、污渍进行清洁，然而刮板与清洁机器人的拖布之间的作用力有限，这就导致附着于清洁机器人的拖布上的顽固污渍不易被清洗，如此给用户带来了不便，影响用户体验。
申请内容
本申请的主要目的是提供一种清洗装置，旨在方便对清洁机器人的拖布进行清洗。
为实现上述目的，本申请提出的一种清洗装置，用于对清洁机器人的拖布进行清洁，所述清洗装置包括：
注水件，所述注水件用于打湿清洁机器人的拖布；
拖布清理件，所述拖布清理件沿上下向往复运动以拍打清洁机器人的拖布，以对清洁机器人的拖布进行清洁。
在本申请的一实施例中，所述注水件包括上端敞口设置的水槽；
所述拖布清理件沿上下向运动而具有伸入所述水槽的水中第一位置以及伸出所述水槽并拍打清洁机器人的拖布的第二位置；
所述拖布清理件在所述第一位置和所述第二位置之间往复切换，以对清洁机器人的拖布进行清洁。
在本申请的一实施例中，所述拖布清理件包括拍打板，所述拍打板的板面面积小于所述水槽的敞口面积设置，所述拍打板受外力驱动沿上下向运动。
在本申请的一实施例中，所述水槽贯穿设置有活动通道；所述拖布清理件还包括驱动杆，所述驱动杆的一端与所述拍打板连接，所述驱动杆的另一端穿过所述活动通道设置。
在本申请的一实施例中，所述清洗装置还包括密封件，所述密封件用于将所述活动通道和所述驱动杆密封连接。
在本申请的一实施例中，所述清洗装置还包括伸缩密封圈，所述伸缩密封圈套设于所述驱动杆上，所述伸缩密封圈一端与所述拍打板密封连接，所述伸缩密封圈的另一端与所述水槽的内壁面密封连接。
在本申请的一实施例中，所述水槽贯穿设置有至少两个活动通道；
所述清洗装置包括至少两个拖布清理件，各所述拖布清理件的驱动杆与对应的活动通道配合；
所述清洗装置还包括驱动板，所述驱动板设于所述水槽外并与各所述拖布清理件的驱动杆连接。
在本申请的一实施例中，所述驱动板面对驱动杆的表面设置有至少两个插接柱，所述驱动杆远离所述拍打板的一端凹设有与所述插接柱配合的插接槽。
在本申请的一实施例中，所述驱动板和所述水槽之间还设置有柔性缓冲材料。
在本申请的一实施例中，所述水槽的槽底贯穿设置有排污口；所述清洗装置还包括安装于所述排污口的阀门，所述阀门用于控制所述排污口的打开或者关闭。
在本申请的一实施例中，所述清洗装置还包括驱动机构，所述驱动机构作用于所述拖布清理件，以驱动所述拖布清理件在上下向往复运动。
在本申请的一实施例中，所述驱动机构包括驱动电机、传动轴以及凸轮，所述驱动电机与所述传动轴传动连接，所述凸轮套设于所述传动轴上，所述 驱动电机驱动所述传动轴转动，以通过所述凸轮带动所述拖布清理件在上下向往复运动。
本申请提出一种清洗装置的清洗方法，所述清洗装置包括注水件、拖布清理件以及驱动机构，所述注水件用于打湿清洁机器人的拖布，所述驱动机构用于驱动所述拖布清理件沿上下向往复工作，以拍打清洁机器人的拖布，所述清洗装置的清洗方法包括：
在清洁机器人位于清洗装置的清洗位置时，向注水件通水以打湿清洁机器人的拖布，同时启动驱动机构驱动拖布清理件沿上下向往复运动。
在本申请的一实施例中，所述清洗装置的清洗方法还包括：
在所述驱动机构的工作时长达到第一预设时长时，控制所述注水件停止打湿清洁机器人的拖布，控制所述驱动机构工作第二预设时长，以驱动所述拖布清理件沿上下向往复运动。
本申请还提出一种清洁机器系统，其包括清洁机器人以及清洗装置，所述清洗装置包括：注水件，所述注水件用于打湿清洁机器人的拖布；拖布清理件，所述拖布清理件沿上下向往复运动以拍打清洁机器人的拖布，以对清洁机器人的拖布进行清洁。
本申请中的清洗装置在对清洁机器人的拖布进行清洁时，注水件是用于打湿清洁机器人的拖布，拖布清理件是沿上下向往复运动，以对湿润的拖布不断的拍打，从而使得附着于清洁机器人的拖布上的灰尘、污渍特别是顽固污渍都混入水中，并最终通过拖布清理件携带的水冲洗干净，如此可以将拖布上的污渍，特别是难以清除的污渍彻底的清除，保证了清洗装置的清洁效果。此外，清洗装置在完成对清洁机器人的拖布的清洁工序后，该拖布清理件可以继续沿上下向复运动，以拍打清洁机器人的拖布，从而使得清洁机器人的拖布上的水被挤出，进而加速了清洁机器人的拖布的脱水。
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使用的附图作简单地介绍，显而易见地，下面 描述中的附图仅仅是本申请的一些实施例，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示出的结构获得其他的附图。
图1为本申请清洁机器系统一实施例的结构示意图；
图2为本申请清洗装置一实施例的剖视图；
图3为图2中水槽一实施例的剖视图；
图4为图2中驱动机构一实施例的结构示意图；
图5为本申请清洗装置另一实施例的剖视图；
图6为本申请清洗装置再一实施例的结构示意图；
图7为本申请清洗装置又一实施例的结构示意图。
附图标号说明：
标号 名称 标号 名称
1000 清洁机器系统 162a 传动轴
100 清洗装置 163a 凸轮
200 清洁机器人的拖布 161b 电磁铁
110 水槽 162b 铁块
120 拖布清理件 163b 导向柱
121 拍打板 164b 弹性件
122 驱动杆 161c 摆杆
111 活动通道 162c 动力电机
130 密封件 163c 拨杆
140 驱动板 161d 摆动杆
141 插接柱 162d 传动杆
122a 插接槽 163d 输出电机
150 柔性缓冲材料 164d 偏心轮
160 驱动机构 112 排污口
161a 驱动电机    
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
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，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作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。
需要说明，本申请实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当人认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种清洗装置，该清洗装置用于对清洁机器人的呈平板状的拖布进行清洁，请参阅图1和图2，该清洗装置100包括：注水件和拖布清理件120。
该注水件的种类有很多种，其可以是能够装水的容器结构，其也可以是能够喷水的喷头，其还可以是其他能够将清洁机器人的拖布打湿的结构，在此就不一一列举。
该拖布清理件120的种类有很多种，其可以由板状结构和能够做往复直线运动的驱动设备组成，其也可以由板状结构和能够做往复摆动的驱动设备组成，其也可以由其他组件形成，在此就不一一列举。
本申请中的清洗装置120在对清洁机器人的拖布进行清洁时，注水件用于打湿清洁机器人的拖布，拖布清理件120是沿上下向往复运动，以对湿润的清洁机器人的拖布不断的拍打，从而使得附着于清洁机器人的拖布上的灰尘、污渍特别是顽固污渍都混入水中，并最终通过拖布清理件120携带的水冲洗干净，如此可以将清洁机器人的拖布上的污渍，特别是难以清除的污渍彻底的清除，保证了清洗装置的清洁效果。
此外，清洗装置100在完成对清洁机器人的拖布的清洁工序后，该拖布清理件120可以继续沿上下向复运动，以拍打清洁机器人的拖布，从而使得清洁机器人的拖布上的水被挤出，进而加速了清洁机器人的拖布的脱水。
在本申请的一些实施例中，该注水件为上端敞口的水槽110，该水槽110可以是清洗装置100独立的一部分，即该水槽110由能够盛装水的容器形成，该水槽110也可以是集成于清洗装置100的壳体上的一部分，即该水槽110由清洗装置100的外壳上的凹部形成，对于水槽110具体如何设置，在此不做具体的限定。
该水槽110的上端敞口设置，该水槽110的敞口面积大于或者等于清洁机器人的拖布200面积设置，较佳地，该水槽110的敞口面积大于清洁机器人的拖布200面积设置，如此方便清洁机器人的拖布200与水槽110的对位。
该拖布清理件120为一活动件，其可以安装在水槽110上，其也可以安装在清洗装置100的其他部件上，在此不做具体的限定。
该拖布清理件120可以沿上下运动并伸入或者伸出水槽110设置，如此使得拖布清理件120至少具有伸入水槽110的水中的第一位置以及伸出水槽110并拍打清洁机器人的拖布200的第二位置。
也就是说，在第一位置时，该拖布清理件120可以部分或者全部没入水槽110的水中，水槽110中的水与拖布清理件120接触不仅可以将拖布清理件120打湿，同时还可以将拖布清理件120携带的灰尘、污渍进行冲洗。
在第二位置时，该拖布清理件120与清洁机器人的拖布200相互碰撞，湿润的拖布清理件120不仅可以将清洁机器人的拖布200打湿，同时还能够对清洁机器人的拖布200上的灰尘、污渍进行拍打，拍打可以使附着于清洁机器人的拖布200上的灰尘、污渍、特别是难以清洗的污渍得到强有力的清洁。
需要说明的是，清洁机器人的拖布200通常搭载呈平板状的拖布，为了方便拖布清理件120对清洁机器人的拖布200进行清洗，在本申请的一些实施例中，请参阅图2，该拖布清理件120包括拍打板121，该拍打板121的板面面积小于水槽110的敞口面积设置，该拍打板121受外力驱动可在上下向运动。
该拍打板121沿上下向运动的方式有多种，在本申请的一些实施例中，该拍打板121可以沿着上下向做直线运动，即该拍打板121是直上直下的运动，该拍打板121也可以沿着上下向做弧线运动，即该拍打板121是以清洁机器人的拖布200和水槽110中的水之间的一个位置做圆心而在上下向摆动，对于拍打板121具体采用何种方式运动，在此不做具体的限定。
该拍打板121面对清洁机器人的拖布200的表面可以是平整的平面或者凹凸不平的面，较佳地，该拍打板121面对清洁机器人的拖布200的表面呈凹部不平状设置，如此设置，使得该拍打板121从与水槽110中的水接触的位置运动到与清洁机器人的拖布200接触的位置时，可以携带更多的水与清洁机器人的拖布200接触，从而可以加速清洁机器人的拖布200的打湿进程，同时更多的水与清洁机器人的拖布200接触，更容易将清洁机器人的拖布200上的灰尘、污渍冲洗干净，这样还有利于提高拖布清理件120的清洁效率。
该拍打板121的形状可以与清洁机器人的拖布200形状相同，该拍打板121的形状也可以与清洁机器人的拖布200形状不同，较佳地，该拍打板121的形状与清洁机器人的拖布200形状相同，即该清洁机器人的拖布200可以呈圆形、方形、U型以及其他规则形状，该拍打板121的形状对应呈圆形、方形、U型以及其他规则形状设置，该清洁机器人的拖布200呈其他异形的形状设置，该拍打板121对应呈其他异形的形状设置。如此设置，使得拍打板121每次都能够对整个清洁机器人的拖布200进行拍打，进而有利于对清洁机器人的拖布200进行清洁。
需要说明的是，上述拍打板121沿上下向运动所需要的动力可以来自于人，也可以来自于驱动设备，但是水槽110的内部空间比较狭小不方便人操作，同时驱动设备长期与水接触容易被腐蚀。鉴于此，请参阅图2，该水槽110的贯穿设置有活动通道111，该拖布清理件120还包括驱动杆122，该驱动杆122的一端与拍打板121连接，该驱动杆122与拍打板121之间可以通过螺钉连接、粘接、插接以及其他连接方式固定连接，该驱动杆122的另一端穿过活动通道111伸至水槽110外设置。如此设置，可以在水槽110外对拍打板121施加外力，这样就便于驱动拍打板121沿上下向运动，特别是拍打板121采用驱动装置值驱动时，该驱动装置可以安装于水槽110外，这样还 能够避免驱动装置长期接触水而被腐蚀的问题出现。
值得注意的是，该活动通道111设置的位置与拍打板121的运动方式有关，若拍打板121沿上下向做直线运动，则该活动通道111开设于该水槽110的槽底，若拍打板121沿上下向做弧线运动，则该活动通道111开设于该水槽110的槽壁，对于活动通道111具体设置在何处，在此不做限定。
应当说的是，驱动杆122是可以相对活动通道111运动的，也就是说，该驱动杆122与活动通道111之间存在间隙，这就使得水槽110中的水位高于活动通道111时，就可能从活动通道111的内壁与驱动杆122之间流出，为了避免上述问题出现，请参阅图2，该清洗装置100还设置有密封件130，该密封件130用于将活动通道111和驱动杆122密封连接。如此使得驱动杆122伸入水槽110中的部分始终与水隔绝，进而也就避免了清洗装置100出现漏水的情况。
该密封件130的结构有多种，其可以是呈环形的密封圈，该密封圈安装于活动通道111内并沿着活动通道111的周向延伸设置，该密封圈与驱动杆122紧配合，从而将活动通道111和驱动杆122密封连接。
该密封件130还可以是伸缩密封圈，该伸缩密封圈套设于在驱动杆122上，该伸缩密封圈的一端与拍打板121密封连接，该伸缩密封圈的另一端与水槽110的内壁面密封连接。如此设置，不仅可以将活动通道111和驱动杆122密封连接，同时该伸缩密封圈可以随着驱动杆122的运动产生形变，进而避免了伸缩密封圈影响驱动杆122的正常运动。
考虑到清洁机器人搭载的拖布面积比较大或者清洁机器人搭载有两个甚至两个以上的拖布，为了能够更好的对清洁机器人搭载的拖布进行清洁，请参阅图2，该清洗装置100设置有至少两个拖布清理件120，该水槽110贯穿设置有至少两个活动通道111，各拖布清理件120的驱动杆122则与对应的活动通道111配合，各拖布清理件120的拍打板121则在对应的驱动杆122的驱动下沿上下向往复运动，以对清洁机器人的拖布200进行拍打清洗。
进一步地，该清洗装置100还设置有驱动板140，该驱动板140与各拖布清理件120的驱动杆122连接，如此设置，只需对驱动板140施作用力，即可带动多个拖布清理件120的驱动杆122沿上下向运动，进而也就带动了多 个拖布清理件120的拍打板121沿上下向运动，这样就有便于驱动多个拖布清理件120同时工作。
需要说明的是，驱动板140与拖布清理件120的驱动杆122之间的连接方式有多种，两者可以通过螺钉连接、卡扣连接、粘接等其他方式连接固定。较佳地，驱动板140和驱动杆122之间通过插接的方式连接，具体的，该驱动板140面对驱动杆122的表面设置有至少两个插接柱141，该驱动杆122远离拍打板121的一端凹设有与插接柱141配合的插接槽122a，插接具有拆装方便、快捷的有点，这样就有便于拖布清洁件与驱动板140的组装和拆卸。
进一步地，该驱动板140和水槽110之间设置有柔性缓冲材料150。该柔性缓冲材料150可以设置在驱动板140对水槽110的表面，该柔性缓冲材料150可以设置在水槽110面对驱动板140的表面，该柔性缓冲材料150可以在驱动板140面板水槽110的表面以及水槽110面对驱动板140的表面同时设置。该柔性缓冲材料150可以是减震棉、橡胶等具有柔性的材料。该柔性材料的设置，可以有效地缓冲驱动板140运动时给水槽110带来的冲击，进而避免了水槽110与顶板刚性接触而产生噪音，实现了静音清洗的效果。
需要说明的是，清洁机器人的拖布200被清洁完毕后，清洁机器人的拖布200上的灰尘、污渍最终混入水中并流入水槽110中，为了方便水槽110中的水的排出，该水槽110的槽底还贯穿设置有排污口112，该清洗装置100还包括安装于排污口112的阀门(未图示)，该阀门用于控制排污口112的打开或者关闭。如此设置，只需打开排污口112的阀门即可将水槽110的污水排出，进而便于水槽110的清洁。
应当说的是，上述拖布清理件120可以在人工驱动下在上下向往复切换，上述拖布清理件120也可以在驱动机构160的驱动下在上下向往复切换，较佳地，拖布清理件120通过驱动机构160的驱动，在在上下向往复切换，如此设置，方便用户操控清洗装置100，进而便于对清洁机器人的拖布200进行清洗，有利于提高用户的使用体验。
值得注意的是，驱动机构160的种类有很多种，驱动机构160的种类与拖布清理件120的运动方式有关，当拖布清理件120沿上下向做直线运动时，请参阅图2以及图4，该驱动机构160可以由驱动电机161a、传动轴162a以 及凸轮163a组成，该驱动电机161a可以安装于水槽110上或者清洗装置100的其他部件上，该驱动电机161a与传动轴162a传动连接，该凸轮163a套设于传动轴162a上，该驱动电机161a驱动传动轴162a转动，以通过凸轮163a带动拖布清理件120在上下向往复运动。
请参阅图5，该驱动机构160还可以由电磁铁161b、铁块162b、导向柱163b以及弹性件164b组成，导向柱163b的一端与拖布清洁件连接，导向柱163b的另一端与水槽110上设置的导向通道配合，铁块162b设置在拖布清理件120上，电磁铁161b设置在水槽110上，弹性件164b的一端与拖布清理件120连接，弹性件164b的另一端与水槽110连接，电磁铁161b上电时磁性吸附铁块162b，弹性件164b处于压缩状态，拖布清理件120此时处于下方，电磁铁161b断电时释放铁块162b，弹性件164b此时恢复弹性形变，拖布清理件120从下方运动到上方，电磁铁161b上电和断电，即可驱动拖布清理件120在上下向往复切换。
显然，在拖布清理件120沿上下向做直线运动时，该驱动机构160还可以由其他结构件组成，在此就不一一列举。
当拖布清理件120沿上下向做弧线摆动时，请参阅图6，该驱动机构160可以由摆杆161c、动力电机162c、拨杆163c组成，该动力电机162c安装于水槽110上或者清洗装置100的其他部件上，该拨杆163c与动力电机162c的输出轴固定连接，该拨杆163c在动力电机162c的驱动下可在竖直平面内转动，该摆杆161c的中部与水槽110铰接，该摆杆161c的一端与拖布清理件120连接，该摆杆161c的另一端与拨杆163c铰接，该动力电机162c在预设的角度内往复转动，以驱动拨杆163c带动摆杆161c在上下向摆动，从而驱动拖布清理件120在上下向往复切换。
请参阅图7，该驱动机构160还可以由摆动杆161d、传动杆162d、输出电机163d、偏心轮164d组成，该输出电机163d安装于水槽110上或者清洗装置100的其他部件上，该输出电机163d的输出轴沿水平方向延伸设置，该偏心轮164d与输出电机163d的输出轴固定连接，该传动杆162d与偏心轮164d连接，该传动杆162d的一端与偏心轮164d铰接，该传动杆162d的另一端沿上下向延伸设置，该摆杆161c的中部与水槽110铰接，该摆杆161c的一端与 拖布清理件120连接，该摆杆161c的另一端与传动杆162d铰接，该输出电机163d带动偏心轮164d转动，传动杆162d在偏心轮164d的驱动下带动摆动杆161d在上下向摆动，从而驱动拖布清理件120在上下向往复切换。
显然，在拖布清理件120沿上下向做弧线摆动时，该驱动机构160还可以由其他结构件组成，在此就不一一列举。
本申请还提出一种清洗装置的清洗方法，该清洗装置100包括注水件、拖布清理件120以及驱动机构160，该注水件、拖布清理件120以及驱动机构160可参照上述各实施例，下面对该清洗装置100的清洗方法进行具体的描述，该清洗装置的清洗方法的具体步骤如下：
步骤S100：在所述驱动机构的工作时长达到第一预设时长时，控制所述注水件停止打湿清洁机器人的拖布，控制所述驱动机构工作第二预设时长，以驱动所述拖布清理件沿上下向往复运动。
清洗装置100判断清洁机器人是否处于清洗位置的方式有很多种，例如清洁机器人位于清洗装置100的清洗位置可以通过信号感应检测出，即清洁机器人上设置有光信号发射器，清洗装置100上设置有光信号接收器，清洗装置100上的光信号接收器接收到清洁机器人上的光信号发射器时，即可确定清洁机器人位于清洗装置100的清洗位置。再如清洗装置100可以通过摄像头监控清洁机器人的位置，摄像头将拍摄到的清洁机器人的实时画面传输至处理器，处理器根据图像处理结果判断清洁机器人是否位于清洗装置100的清洗位置。对于如何判断清洁机器人处于清洗装置100的清洗位置，在此就不一一列举。
注水件打湿清洁机器人的拖布的方式有多种，注水件可以直接向清洁机器人的拖布喷水，以将清洁机器人的拖布打湿，注水件还可以向拖布清理件120喷水，拖布清理件120往复运动，即可将清洁机器人的拖布打湿，在此不做具体的限定。
驱动机构160的种类在上述各实施例中已经做了详细介绍，在此就不再赘述，该驱动机构160可以驱动拖布清理件120沿上下向往复运动，如此往复多次，实现对清洁机器人的拖布200的清洁。
在本申请的一些实施例中，该清洗装置的清洗方法还包括：在驱动机构 的工作时长达到第一预设时长时，控制注水件停止打湿清洁机器人的拖布，控制驱动机构工作第二预设时长，以驱动拖布清理件沿上下向往复运动。
驱动机构160的工作时长可以通过检测驱动机构160的通电时长来确定，第一预设时长可以根据清洁机器人的拖布200清洁度来设定，若清洁机器人的拖布200很脏，则第一预设时长可以设定的比较长一点，如10～15分钟，若清洁机器人的拖布200不是很脏，则第一预设时长可以设定的比较短一点，如5-8分钟，对于第一预设时长具体如何设定，可以根据实际情况进行调整，在此不做具体的限定。
第二预设时长则根据清洁机器人的拖布200的吸水性能来设定，若清洁机器人的拖布200吸水性能比较好，则可以将第二预设时长设定的比较长一点，如5-8分钟，若清洁机器人的拖布200的吸水性能比较差，则可以将第二预设时长可以设定的短一点，如1-3分钟，对于第二预设时长具体如何设定，可以根据实际情况进行调整，在此不做具体的限定。
注水件停止打湿清洁机器人的拖布的方式有多种，注水件若为水槽时，则通过将水槽中的水排出即可，注水件若为喷头时，则停止向喷头通水即可，在此就不一一列举。
本申请中的清洗装置100的清洗方法通过在水槽110中加入清洁水，驱动机构160驱动拖布清理件120在第一位置和第二位置之间往复运动，以通过拍打的形式对清洁机器人的拖布200进行清洁，同时在完成清洁机器人的拖布200的清洁工序后，该拖布清理件120还可以在第一位置和第二位置之间往复运动，以对清洁机器人的拖布200进行拍打，挤出清洁机器人的拖布200上多余的水分，有利于加速清洁机器人的拖布200的脱水。
本申请还提出一种清洁机器系统1000，请参阅图1，该清洁机器系统1000包括清洁机器人和清洗装置100，该清洗装置100用于对清洁机器人的拖布200进行清洗，该清洗装置100的具体结构参照上述实施例，由于本清洁机器系统1000采用了上述所有实施例的全部技术方案，因此至少具有上述实施例的技术方案所带来的所有有益效果，在此不再一一赘述。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构 变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (15)

  1. 一种清洗装置，用于对清洁机器人的拖布进行清洁，其中，所述清洗装置包括：
    注水件，所述注水件用于打湿清洁机器人的拖布；
    拖布清理件，所述拖布清理件沿上下向往复运动以拍打清洁机器人的拖布，以对清洁机器人的拖布进行清洁。
  2. 如权利要求1所述的清洗装置，其中，所述注水件包括上端敞口设置的水槽；
    所述拖布清理件沿上下向运动而具有伸入所述水槽的水中第一位置以及伸出所述水槽并拍打清洁机器人的拖布的第二位置；
    所述拖布清理件在所述第一位置和所述第二位置之间往复切换，以对清洁机器人的拖布进行清洁。
  3. 如权利要求2所述的清洗装置，其中，所述拖布清理件包括拍打板，所述拍打板的板面面积小于所述水槽的敞口面积设置，所述拍打板受外力驱动沿上下向运动。
  4. 如权利要求3所述的清洗装置，其中，所述水槽贯穿设置有活动通道；所述拖布清理件还包括驱动杆，所述驱动杆的一端与所述拍打板连接，所述驱动杆的另一端穿过所述活动通道设置。
  5. 如权利要求4所述的清洗装置，其中，所述清洗装置还包括密封件，所述密封件用于将所述活动通道和所述驱动杆密封连接。
  6. 如权利要求5所述的清洗装置，其中，所述清洗装置还包括伸缩密封圈，所述伸缩密封圈套设于所述驱动杆上，所述伸缩密封圈一端与所述拍打板密封连接，所述伸缩密封圈的另一端与所述水槽的内壁面密封连接。
  7. 如权利要求4所述的清洗装置，其中，所述水槽贯穿设置有至少两个活动通道；
    所述清洗装置包括至少两个拖布清理件，各所述拖布清理件的驱动杆与对应的活动通道配合；
    所述清洗装置还包括驱动板，所述驱动板设于所述水槽外并与各所述拖布清理件的驱动杆连接。
  8. 如权利要求7所述的清洗装置，其中，所述驱动板面对驱动杆的表面设置有至少两个插接柱，所述驱动杆远离所述拍打板的一端凹设有与所述插接柱配合的插接槽。
  9. 如权利要求7所述的清洗装置，其中，所述驱动板和所述水槽之间还设置有柔性缓冲材料。
  10. 如权利要求2至9中任意一项所述的清洗装置，其中，所述水槽的槽底贯穿设置有排污口；所述清洗装置还包括安装于所述排污口的阀门，所述阀门用于控制所述排污口的打开或者关闭。
  11. 如权利要求1至9中所述的清洗装置，其中，所述清洗装置还包括驱动机构，所述驱动机构作用于所述拖布清理件，以驱动所述拖布清理件在上下向往复运动。
  12. 如权利要求11所述的清洗装置，其中，所述驱动机构包括驱动电机、传动轴以及凸轮，所述驱动电机与所述传动轴传动连接，所述凸轮套设于所述传动轴上，所述驱动电机驱动所述传动轴转动，以通过所述凸轮带动所述拖布清理件在上下向往复运动。
  13. 一种清洗装置的清洗方法，其中，所述清洗装置包括注水件、拖布清理件以及驱动机构，所述注水件用于打湿清洁机器人的拖布，所述驱动机 构用于驱动所述拖布清理件沿上下向往复工作，以拍打清洁机器人的拖布，所述清洗装置的清洗方法包括：
    在清洁机器人位于清洗装置的清洗位置时，向注水件通水以打湿清洁机器人的拖布，同时启动驱动机构驱动拖布清理件沿上下向往复运动。
  14. 如权利要求13所述的清洗装置的清洗方法，其中，所述清洗装置的清洗方法还包括：
    在所述驱动机构的工作时长达到第一预设时长时，控制所述注水件停止打湿清洁机器人的拖布，控制所述驱动机构工作第二预设时长，以驱动所述拖布清理件沿上下向往复运动。
  15. 一种清洁机器系统，其中，包括清洁机器人以及如权利要求1至12中任意一项所述的清洗装置，所述清洗装置用于对清洁机器人的拖布进行清洗。
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