WO2024012139A1 - 清洁机器人系统 - Google Patents

清洁机器人系统 Download PDF

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Publication number
WO2024012139A1
WO2024012139A1 PCT/CN2023/100277 CN2023100277W WO2024012139A1 WO 2024012139 A1 WO2024012139 A1 WO 2024012139A1 CN 2023100277 W CN2023100277 W CN 2023100277W WO 2024012139 A1 WO2024012139 A1 WO 2024012139A1
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WO
WIPO (PCT)
Prior art keywords
sewage
base station
cleaning robot
pipe section
pipe
Prior art date
Application number
PCT/CN2023/100277
Other languages
English (en)
French (fr)
Inventor
孟向伟
金静阳
陈国栋
Original Assignee
杭州萤石软件有限公司
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 杭州萤石软件有限公司 filed Critical 杭州萤石软件有限公司
Publication of WO2024012139A1 publication Critical patent/WO2024012139A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—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
    • 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
    • A47L2201/024—Emptying dust or waste liquid containers

Definitions

  • the present disclosure belongs to the technical field of cleaning equipment, and specifically relates to a cleaning robot system.
  • the cleaning robot is used to clean the floor.
  • the cleaning robot is usually equipped with a cleaning base station.
  • the cleaning base station and the cleaning robot form a cleaning robot system.
  • the cleaning base station is used to clean the mop of the cleaning robot so that the cleaning robot can perform the next cleaning operation.
  • the cleaning robot stores sewage in the host sewage tank. When the sewage storage in the host sewage tank is full, the user needs to manually remove the host sewage tank and dump the sewage, which is more inconvenient.
  • the purpose of the embodiments of the present disclosure is to provide a cleaning robot system that can solve the current inconvenient problem of cleaning sewage in the sewage tank of the host machine of the cleaning robot.
  • Embodiments of the present disclosure provide a cleaning robot system, including:
  • the cleaning robot includes a host sewage tank, and the host sewage tank is provided with a drainage outlet;
  • the cleaning base station is equipped with a robot accommodation space connected to the outside world.
  • the cleaning base station includes a base station sewage tank, an air extraction module and a telescopic sewage pipe.
  • the base station sewage tank is provided with an exhaust port and a water inlet, so
  • the air extraction module is connected to the base station sewage tank through the exhaust port, the first end of the telescopic sewage pipe is connected to the base station sewage tank through the water inlet, and the third end of the telescopic sewage pipe is connected to the base station sewage tank.
  • the two ends are free ends,
  • the telescopic sewage pipe moves to the free end and seals with the drain outlet, so that the base station sewage tank passes through the telescopic sewage discharge pipe.
  • the pipe is connected with the host sewage tank.
  • the cleaning robot when the sewage in the host sewage tank needs to be cleaned, the cleaning robot enters the robot accommodation space and is in the sewage discharge state.
  • the telescopic sewage pipe moves to its free end and seals with the drain outlet of the host sewage tank. Close, so that the base station sewage tank is connected to the host sewage tank through the telescopic sewage pipe, and then exhausts air through the air extraction module, so that the base station sewage tank is in a negative pressure state.
  • the host sewage tank The sewage enters the sewage tank of the base station, thereby avoiding the need to manually remove the host sewage tank and dump the sewage.
  • the operation is simple and helps free the user's hands. Therefore, the embodiments of the present disclosure can solve the current problem of inconvenience in cleaning sewage in the sewage tank of the host machine of the cleaning robot.
  • 1 to 2 are schematic diagrams of part of the structure of the cleaning robot system disclosed in the embodiments of the present disclosure from different viewing angles;
  • Figure 3 is an exploded view of a partial structure of the cleaning robot disclosed in the embodiment of the present disclosure.
  • 4 to 5 are cross-sectional views from different angles of view of part of the structure of the cleaning base station disclosed in the embodiment of the present disclosure.
  • first, second, etc. in the description and claims of the present disclosure are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that items defined by “first,””second,” etc. are interchangeable under appropriate circumstances so that embodiments of the present disclosure can be configured in other formats in addition to those illustrated or described herein.
  • the objects distinguished by “first”, “second”, etc. are usually of the same type, and the number of objects is not limited.
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • embodiments of the present disclosure disclose a cleaning robot system, which includes a cleaning robot 100 and a cleaning base station.
  • the cleaning robot 100 is used to clean the floor.
  • the cleaning robot 100 can be a mopping robot or an integrated sweeping and mopping robot.
  • the cleaning robot 100 includes a host sewage tank 110.
  • the host sewage tank 110 is used to collect sewage during the mopping process of the cleaning robot 100.
  • the host sewage tank 110 is provided with a drainage outlet, and the sewage stored in the host sewage tank 110 can be discharged through the drainage outlet.
  • the drain outlet can be opened on the bottom wall of the main machine sewage tank 110 or on the side wall of the main machine sewage tank 110, and there is no specific limitation here.
  • the shape of the drainage outlet may be circular, rectangular, etc., and is not specifically limited here.
  • the cleaning base station is used for the cleaning robot 100 to perform operations such as charging and cleaning mops.
  • the cleaning base station is equipped with a robot accommodation space connected to the outside world. When the cleaning robot 100 needs to perform operations such as charging and cleaning mops, it can move to the robot accommodation space. the above operations.
  • the cleaning base station includes a base station sewage tank 210, an air extraction module 220 and a telescopic sewage pipe 230.
  • the base station sewage tank 210 is provided with an exhaust port and a water inlet. The exhaust port and the water inlet are spaced apart. Optionally, the exhaust port and the water inlet are provided.
  • the water inlets are respectively opened on different side walls of the base station sewage tank 210 to avoid mutual influence and at the same time help increase the strength of the base station sewage tank 210.
  • the air extraction module 220 is connected to the base station sewage tank 210 through the exhaust port.
  • the first end of the telescopic sewage pipe 230 is connected to the base station sewage tank 210 through the water inlet.
  • the second end of the telescopic sewage pipe 230 is a free end.
  • the telescopic sewage pipe 230 moves to the free end and seals with the drain outlet, so that the base station sewage tank 210 is connected to the host sewage tank 110 through the telescopic sewage pipe 230, and then through the pump.
  • the air module 220 evacuates air, so that the base station sewage tank 210 is in a negative pressure state.
  • the sewage in the host sewage tank 110 enters the base station sewage tank 210, thereby avoiding the need to manually remove the host sewage tank 110.
  • Dumping sewage is easy to operate and helps free the user's hands. Therefore, the embodiments of the present disclosure can solve the current problem of inconvenience in cleaning sewage in the main sewage tank 110 of the cleaning robot 100 .
  • the telescopic sewage pipe 230 includes a telescopic pipe section 232, and the base station sewage tank 210 is connected to the host sewage tank 110 through the telescopic pipe section 232. Since the telescopic pipe section 232 is a flexible structure, it is inconvenient to install, and the size of the telescopic pipe section 232 It is long, has no directionality during the deformation process, and easily interferes with other structures. base
  • the telescopic sewage pipe 230 also includes a first pipe section 231 and a second pipe section 233.
  • the first pipe section 231 and the second pipe section 233 can both be rigid structures to facilitate the installation of the telescopic sewage pipe 230.
  • the telescopic pipe section 232 and the second pipe section 233 are connected in sequence. At this time, the size of the telescopic pipe section 232 can be set shorter to avoid interference with other structures during the deformation process.
  • the first pipe section 231 is connected to the base station sewage tank through the water inlet. 210 is connected, and the second pipe section 233 is provided with a free end.
  • the telescopic pipe section 232 deforms so that the second pipe section 233 moves to the free end to seal with the drain outlet.
  • the telescopic sewage pipe 230 adopting such a structure is not only convenient to install on the basis of meeting the deformation requirements, but also can prevent the telescopic pipe section 232 from interfering with other structures during the deformation process.
  • the cleaning base station further includes a driving mechanism 240 and a first support member 250.
  • the first support member 250 is provided with a through hole, the second pipe section 233 is movably disposed in the through hole, and the free end passes through the through hole. Extending to the side of the first support member 250 away from the telescopic pipe section 232, the driving mechanism 240 and the air extraction module 220 are both disposed on the first support member 250.
  • the first support member 250 provides settings for the driving mechanism 240 and the air extraction module 220.
  • the driving mechanism 240 and the air extraction module 220 can both be arranged on the same side of the base station sewage tank 210.
  • the driving mechanism 240 and the air extraction module 220 act on the first support member 250 in a relatively concentrated force, which may easily lead to the second A part of the support member 250 is deformed. Therefore, optionally, the driving mechanism 240 and the air extraction module 220 are respectively located on both sides of the base station sewage tank 210, that is, the driving mechanism 240 and the air extraction module 220 are arranged opposite to disperse the force acting on the first support member 250. , to protect the first support member 250; and when the driving mechanism 240 and the air extraction module 220 are arranged oppositely, the distance between them is relatively far, which facilitates the installation of the driving mechanism 240 and the air extraction module 220.
  • the driving mechanism 240 is connected to the second pipe section 233.
  • the driving mechanism 240 drives the second pipe section 233 to move between the first position and the second position.
  • the free end of the telescopic sewage pipe 230 is in contact with the host machine.
  • the drain outlet of the sewage tank 110 is sealed and matched; when the second pipe section 233 is in the second position, the free end of the telescopic sewage pipe 230 is separated from the drain outlet of the host sewage tank 110 .
  • the driving mechanism 240 includes a driving source 241 and a transmission gear 242.
  • the transmission gear 242 is a first transmission gear.
  • the driving source 241 is disposed on the first support 250.
  • the transmission gear 242 is connected to the output shaft of the driving source 241.
  • the outer circumferential surface of the second pipe section 233 may be provided with a second transmission gear meshed with the first transmission gear, and the driving source 241 drives the second pipe section 233 between the first position and the second position through the first transmission gear and the second transmission gear.
  • the second transmission gear occupies a larger space, which will result in a larger size of the cleaning base station.
  • the outer circumferential surface of the second pipe section 233 is provided with a rack 233a, the rack 233a extends along the moving direction of the second pipe section 233, the transmission gear 242 meshes with the rack 233a, and the driving source 241 passes through the transmission gear 242 and the gear.
  • the rack 233a drives the second pipe section 233 to move between the first position and the second position. Since the rack 233a occupies a smaller space, the cleaning base station can be smaller in size.
  • a hinged swing arm can also be provided on the outer circumference of the second pipe section 233 to allow the second pipe section 233 to move between the first position and the second position.
  • the swing arm needs to occupy a certain movement space, and The stability is poor, and it is not as good as the transmission effect of providing a rack 233a on the outer peripheral surface of the second pipe section 233 and meshing the transmission gear 242 with the rack 233a.
  • the cleaning base station also includes a positioning member 260.
  • the positioning member 260 is disposed on the inner wall of the through hole, and a portion of the positioning member 260 extends outside the through hole.
  • one end of the positioning member 260 can extend.
  • the other end of the positioning member 260 can extend to the side of the first support member 250 away from the telescopic pipe section 232.
  • the positioning member 260 is provided with a positioning hole, and at least part of the second pipe section 233 is movably disposed in the positioning hole, thereby improving the positioning effect of the second pipe section 233 and preventing the second pipe section 233 from tilting during movement, thereby improving freedom of movement.
  • the hole wall of the positioning hole is provided with a guide groove 261
  • the guide groove 261 extends along the moving direction of the second pipe section 233
  • the outer peripheral surface of the second pipe section 233 has a guide protrusion 233b.
  • 233b cooperates with the guide groove 261 to prevent the second pipe section 233 from circumferential rotation to protect the telescopic pipe section 232.
  • the cleaning base station also includes a positioning member 260.
  • a guide groove 261 is provided in the positioning hole of the positioning member 260, and the guide protrusion 233b cooperates with the guide groove 261. , the guide protrusion 233b and the rack 233a are spaced apart to avoid interference between the guide protrusion 233b and the rack 233a during the movement of the second pipe section 233.
  • the cleaning robot 100 further includes a sewage suction pipe 120 and a closing door module 130 .
  • the sewage suction pipe 120 and the closing door module 130 are both disposed in the accommodation cavity of the host sewage tank 110 .
  • the closing door module 130 includes a main body 131 and a movable door 132.
  • the drain outlet is opened in the main body 131.
  • the movable door 132 is movably arranged at the drain outlet.
  • One end of the sewage suction pipe 120 is connected with the drain outlet, and the other end of the sewage suction pipe 120 extends to the bottom wall of the accommodation cavity.
  • the movable door 132 in order to drain the sewage in the accommodation cavity cleanly, when the cleaning robot 100 enters the robot accommodation space and is in the sewage discharge state, the movable door 132 is opened to discharge the sewage in the accommodation cavity into the base station sewage tank 210 .
  • the cleaning robot 100 is in the working state, the movable door 132 is closed, so that the accommodation cavity is in a negative pressure state, so that the cleaning robot 100 can collect sewage into the accommodation cavity during the cleaning process of the floor; and, when the movable door 132 When closed, it can prevent impurities in the external environment from entering the accommodating cavity, and also prevent sewage in the accommodating cavity from splashing out.
  • the cleaning robot 100 further includes a second sealing ring 140 disposed between the sewage suction pipe 120 and the main body 131 to improve the sealing performance of the accommodation cavity.
  • the host sewage tank 110 includes a box body 111, a sewage tank cover 112, a sewage tank sealing ring 113, and a sewage suction pipe.
  • 120 and the closing door module 130 are both arranged on the box 111, and the sewage tank sealing ring 113 is arranged between the sewage tank cover 112 and the box 111, so that the sewage tank cover 112 and the box 111 are sealed and matched, thereby improving the host sewage tank 110.
  • the tightness of the containing cavity is possible.
  • the telescopic sewage pipe 230 has a movable door trigger part 234, which is disposed adjacent to the end surface of the second end, and the main body part 131 has a movable door switch valve 131a.
  • the telescopic sewage pipe 230 moves to the movable door triggering part 234 to press the movable door opening and closing valve 131a, so that the movable door 132 is opened.
  • the embodiment of the present disclosure adopts such a mechanical switch valve, which is not only convenient to control, but also does not require power consumption.
  • solenoid valves may also be used in the embodiments of the present disclosure, and there is no specific limitation here.
  • the main body 131 is provided with a groove
  • the movable door switch valve 131a includes an elastic member, a pressing member, a cover body and a movable member, and the elastic member is provided between the cover body and the movable member.
  • a through hole is provided on the side wall of the cover body.
  • One end of the movable member extends through the through hole to the outside of the cover body.
  • the pressing member is movably provided on the cover body.
  • the movable door trigger part 234 When the movable door trigger part 234 is pressed, When the pressing member is pressed, the movable member presses the movable door 132 to open the movable door 132; when the movable door triggering part 234 is separated from the pressing member, the movable member is separated from the movable door 132 and the movable door 132 is closed.
  • the movable door triggering part 234 is disposed on the outer peripheral surface of the second end of the telescopic sewage pipe 230.
  • the movable door triggering part 234 includes a connected connecting part 234a and a triggering part 234b.
  • the connecting part 234a is connected to the second end, and the movable door triggering part 234 is connected to the second end.
  • the trigger portion 234b extends along the moving direction of the telescopic waste pipe 230.
  • the trigger portion 234b is provided at an end of the outer peripheral surface of the connecting portion 234a away from the second end, so that there is a certain distance between the trigger portion 234b and the opening of the free end, so that there is a certain distance between the trigger portion 234b and the opening of the free end. Avoiding mutual interaction between the two is conducive to the smooth flow of sewage.
  • the cleaning base station also includes a first sealing ring 270.
  • the first sealing ring 270 is provided at the free end.
  • the first sealing ring 270 sealingly cooperates with the drain outlet. , thereby improving the sealing performance of the base station sewage tank 210 and improving the efficiency of the sewage in the host sewage tank 110 entering the base station sewage tank 210 .
  • the cleaning base station also includes a second support member 290.
  • the base station sewage tank 210 is disposed on the second support member 290.
  • the second support member 290 is the foundation for the base station sewage tank 210.
  • the second support member 290 is connected to the first
  • the support member 250 may be of a split structure or an integrated structure. When the second support member 290 and the first support member 250 are of a split structure, it is convenient for them to be flexibly arranged and disassembled for maintenance; when the second support member 290 and the first support member 250 are of a split structure, 290 and the first support member 250 are of an integrated structure, which facilitates installation.
  • the second support member 290 is provided with a sewage pipe connection port.
  • the sewage pipe connection port is opposite to the water inlet.
  • the first end of the telescopic sewage pipe 230 is fixedly connected to the second support member 290.
  • the cleaning base station also includes a third seal. Ring 280 and the third sealing ring 280 are arranged between the second support member 290 and the base station sewage tank 210.
  • the third sealing ring 280 seals with the water inlet and the sewage pipe connection port respectively, thereby improving the sealing performance of the base station sewage tank 210. To improve the sewage discharge efficiency of the host sewage tank 110.
  • the cleaning base station also includes a fourth sealing ring 291.
  • the air extraction module 220 includes an air extraction pump 221 and an air extraction pipe 222.
  • the air extraction pump 221 is provided on the first support member 250, and the second support member 290 is provided with an air extraction interface.
  • the air extraction pipe 222 is connected between the air extraction port and the air extraction pump 221
  • the fourth sealing ring 291 is provided between the second support member 290 and the base station sewage tank 210
  • the fourth sealing ring 291 is connected with the exhaust port and the air extraction port.
  • the interfaces are sealed and matched respectively, thereby improving the sealing performance of the base station sewage tank 210 and improving the air extraction efficiency of the air extraction pump 221.

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  • Cleaning In General (AREA)

Abstract

提供了一种清洁机器人系统，包括：清洁机器人（100），清洁机器人（100）包括主机污水箱（110），主机污水箱（110）开设有排水口；清洁基站，清洁基站设有与外界连通的机器人容纳空间，清洁基站包括基站污水箱（210）、抽气模组（220）和伸缩排污管（230），基站污水箱（210）开设有排气口和进水口，抽气模组（220）通过排气口与基站污水箱（210）相连通，伸缩排污管（230）的第一端通过进水口与基站污水箱（210）相连通，伸缩排污管（230）的第二端为自由端，在清洁机器人（100）进入机器人容纳空间并处于排污状态的情况下，伸缩排污管（230）运动至自由端与排水口密封配合，以使基站污水箱（210）通过伸缩排污管（230）与主机污水箱（110）相连通。

Description

清洁机器人系统 技术领域
本公开属于清洁设备技术领域，具体涉及一种清洁机器人系统。
背景技术
随着科技的发展以及生活节奏的加快，越来越多的家用智能设备出现在人们的生活中，如清洁机器人、洗碗机等，以便于解放人们的双手。
清洁机器人用于清洁地板，清洁机器人通常配套有清洁基站，清洁基站与清洁机器人构成清洁机器人系统，清洁基站用于对清洁机器人的拖布进行清洗，以便清洁机器人进行下一次的清洁作业。清洁机器人在清洁地板的过程中，将污水储存在主机污水箱内，待主机污水箱内的污水储存满后，需要用户手动取下主机污水箱倾倒污水，较为不便。
发明内容
本公开实施例的目的是提供一种清洁机器人系统，能够解决目前清洁机器人的主机污水箱内的污水清理较为不便的问题。
为了解决上述技术问题，本公开是这样实现的：
本公开实施例提供了一种清洁机器人系统，包括：
清洁机器人，所述清洁机器人包括主机污水箱，所述主机污水箱开设有排水口；
清洁基站，所述清洁基站设有与外界连通的机器人容纳空间，所述清洁基站包括基站污水箱、抽气模组和伸缩排污管，所述基站污水箱开设有排气口和进水口，所述抽气模组通过所述排气口与所述基站污水箱相连通，所述伸缩排污管的第一端通过所述进水口与所述基站污水箱相连通，所述伸缩排污管的第二端为自由端，
在所述清洁机器人进入所述机器人容纳空间并处于排污状态的情况下，所述伸缩排污管运动至所述自由端与所述排水口密封配合，以使所述基站污水箱通过所述伸缩排污管与所述主机污水箱相连通。
在本公开实施例中，当需要清理主机污水箱内的污水时，清洁机器人进入机器人容纳空间内并处于排污状态下，伸缩排污管运动至其自由端与主机污水箱的排水口密封配 合，以使基站污水箱通过伸缩排污管与主机污水箱相连通，然后通过抽气模组抽气，使基站污水箱内处于负压状态，此时在大气压强的作用下，主机污水箱内的污水进入基站污水箱内，从而避免手动取下主机污水箱倾倒污水，其操作简单，有利于解放用户的双手。因此，本公开实施例能够解决目前清洁机器人的主机污水箱内的污水清理较为不便的问题。
附图说明
图1至图2为本公开实施例公开的清洁机器人系统的部分结构处于不同视角下的示意图；
图3为本公开实施例公开的清洁机器人的部分结构的爆炸图；
图4至图5为本公开实施例公开的清洁基站的部分结构处于不同视角下的剖视图。
附图标记说明：
100-清洁机器人、110-主机污水箱、111-箱体、112-污水箱盖、113-污水箱密封圈、
120-抽污管、130-闭合门模块、131-主体部、131a-活动门开关阀、132-活动门、140-第二密封圈；
210-基站污水箱、220-抽气模组、221-抽气泵、222-抽气管、230-伸缩排污管、231-
第一管段、232-伸缩管段、233-第二管段、233a-齿条、233b-导向凸起、234-活动门触发部、234a-连接部、234b-触发部、240-驱动机构、241-驱动源、242-传动齿轮、250-第一支撑件、260-定位件、261-导向凹槽、270-第一密封圈、280-第三密封圈、290-第二支撑件、291-第四密封圈。
具体实施方式
下面将结合附图，对本公开实施例中的技术方案进行清楚、完整的描述，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解以“第一”、“第二”等限定的对象在适当情况下可以互换，以便本公开的实施例能够以除了在这里图示或描述的那些以 外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象中的至少之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图，通过具体的实施例及其应用场景对本公开实施例提供的清洁机器人系统进行详细地说明。
如图1至图5所示，本公开实施例公开一种清洁机器人系统，其包括清洁机器人100和清洁基站。
清洁机器人100用于清洁地面，可选地，清洁机器人100可以为拖地机器人，还可以为扫拖一体式机器人，这里不作具体限制。清洁机器人100包括主机污水箱110，主机污水箱110用于收集清洁机器人100在拖地过程中的污水，主机污水箱110开设有排水口，主机污水箱110内储存的污水可以通过排水口排出。可选地，排水口可以开设于主机污水箱110的底壁，也可以开设于主机污水箱110的侧壁，这里不作具体限制。可选地，排水口的形状可以为圆形、矩形等，这里不作具体限制。
清洁基站用于供清洁机器人100进行充电、清洗拖布等操作，清洁基站设有与外界连通的机器人容纳空间，当清洁机器人100需要进行充电、清洗拖布等操作时，可以运动至机器人容纳空间内进行上述操作。清洁基站包括基站污水箱210、抽气模组220和伸缩排污管230，基站污水箱210开设有排气口和进水口，排气口与进水口间隔设置，可选地，排气口和进水口分别开设于基站污水箱210的不同侧壁上，以避免相互影响，同时有利于增大基站污水箱210的强度。抽气模组220通过排气口与基站污水箱210相连通，伸缩排污管230的第一端通过进水口与基站污水箱210相连通，伸缩排污管230的第二端为自由端，在清洁机器人100进入机器人容纳空间并处于排污状态的情况下，伸缩排污管230运动至自由端与排水口密封配合，以使基站污水箱210通过伸缩排污管230与主机污水箱110相连通，然后通过抽气模组220抽气，使基站污水箱210内处于负压状态，此时在大气压强的作用下，主机污水箱110内的污水进入基站污水箱210内，从而避免手动取下主机污水箱110倾倒污水，其操作简单，有利于解放用户的双手。因此，本公开实施例能够解决目前清洁机器人100的主机污水箱110内的污水清理较为不便的问题。
在一些实施例中，伸缩排污管230包括伸缩管段232，基站污水箱210通过伸缩管段232与主机污水箱110相连通，由于伸缩管段232为柔性结构，不便于设置，且该伸缩管段232的尺寸较长，在形变的过程中不具有定向性，容易与其他结构发生干涉。基 于此，可选地，伸缩排污管230还包括第一管段231和第二管段233，第一管段231和第二管段233可以均为刚性结构，以便于伸缩排污管230的设置，第一管段231、伸缩管段232和第二管段233依次相连，此时可以将伸缩管段232的尺寸设置的较短，避免在形变的过程中与其他结构发生干涉，第一管段231通过进水口与基站污水箱210相连通，第二管段233设有自由端，在清洁机器人100进入机器人容纳空间并处于排污状态的情况下，伸缩管段232形变以使第二管段233移动至自由端与排水口密封配合。由此可知，采用此种结构的伸缩排污管230在满足形变需求的基础上，不仅方便设置，而且可以避免伸缩管段232在形变的过程中与其他结构发生干涉。
在一些实施例中，清洁基站还包括驱动机构240和第一支撑件250，第一支撑件250开设有通孔，第二管段233可移动地设置于通孔中，且自由端穿过通孔延伸至第一支撑件250背离伸缩管段232的一侧，驱动机构240和抽气模组220均设置于第一支撑件250，第一支撑件250为驱动机构240和抽气模组220提供设置基础，驱动机构240和抽气模组220可以均设置于基站污水箱210的同一侧，此时驱动机构240和抽气模组220作用于第一支撑件250的作用力较为集中，容易导致第一支撑件250的局部发生变形。故，可选地，驱动机构240与抽气模组220分别位于基站污水箱210的两侧，即驱动机构240与抽气模组220相对设置，从而分散作用于第一支撑件250的作用力，以保护第一支撑件250；并且，当驱动机构240与抽气模组220相对设置时，二者之间的距离较远，便于驱动机构240与抽气模组220的设置。驱动机构240与第二管段233相连，驱动机构240驱动第二管段233在第一位置与第二位置之间移动，当第二管段233处于第一位置时，伸缩排污管230的自由端与主机污水箱110的排水口密封配合；当第二管段233处于第二位置时，伸缩排污管230的自由端与主机污水箱110的排水口分离。
在一些实施例中，驱动机构240包括驱动源241和传动齿轮242，该传动齿轮242为第一传动齿轮，驱动源241设置于第一支撑件250上，传动齿轮242与驱动源241的输出轴相连，第二管段233的外周面可以设有与第一传动齿轮啮合的第二传动齿轮，驱动源241通过第一传动齿轮和第二传动齿轮驱动第二管段233在第一位置与第二位置之间移动，但是该第二传动齿轮占据的空间较大，将导致清洁基站的尺寸较大。故，可选地，第二管段233的外周面设有齿条233a，齿条233a沿第二管段233的移动方向延伸，传动齿轮242与齿条233a啮合，驱动源241通过传动齿轮242和齿条233a驱动第二管段233在第一位置与第二位置之间移动，由于齿条233a占据的空间较小，能够使清洁基站的尺寸较小。当然，也可以在第二管段233的外周面设置铰链式摆臂，以使第二管段233在第一位置与第二位置之间移动，同样地，该摆臂需要占据一定的运动空间，且 稳定性较差，其不如在第二管段233的外周面设有齿条233a，通过传动齿轮242与齿条233a啮合的传动效果好。
当第二管段233可移动地设置于通孔时，通孔可以为第二管段233提供导向，但是由于通孔的内壁与第二管段233的接触面积较小，其导向效果不好。故，在一些实施例中，清洁基站还包括定位件260，定位件260设置于通孔的内壁，且定位件260的部分延伸至通孔之外，可选地，定位件260的一端可以延伸至第一支撑件250靠近伸缩管段232的一侧，定位件260的另一端可以延伸至第一支撑件250背离伸缩管段232的一侧，这里对定位件260的设置方式不作具体限制。定位件260开设有定位孔，第二管段233的至少部分可移动地设置于定位孔内，从而提升对第二管段233的定位效果，避免第二管段233在移动过程中出现倾斜，进而提升自由端与排水口密封配合的精准性。
在驱动机构240驱动第二管段233移动的过程中，第二管段233容易沿周向转动，将导致伸缩管段232被损坏。故，在一些实施例中，定位孔的孔壁开设有导向凹槽261，导向凹槽261沿第二管段233的移动方向延伸，第二管段233的外周面具有导向凸起233b，导向凸起233b与导向凹槽261配合，从而避免第二管段233发生周向转动，以保护伸缩管段232。在第二管段233的外周面设有齿条233a的实施例中，清洁基站还包括定位件260，定位件260的定位孔内开设有导向凹槽261，导向凸起233b与导向凹槽261配合，导向凸起233b与齿条233a间隔设置，从而避免在第二管段233移动的过程中，导向凸起233b与齿条233a之间互相干扰。
在一些实施例中，清洁机器人100还包括抽污管120和闭合门模块130，抽污管120和闭合门模块130均设置于主机污水箱110的容纳腔内，闭合门模块130包括主体部131和活动门132，排水口开设于主体部131，活动门132可活动地设置于排水口，抽污管120的一端与排水口相连通，抽污管120的另一端延伸至容纳腔的底壁，以便于将容纳腔内的污水排干净，在清洁机器人100进入机器人容纳空间并处于排污状态的情况下，活动门132开启，从而将容纳腔中的污水排出至基站污水箱210内。在清洁机器人100处于工作状态的情况下，活动门132关闭，使容纳腔内处于负压状态，以便于清洁机器人100在清洁地面的过程中将污水收集到容纳腔中；并且，当活动门132关闭时，可以防止外界环境中的杂质进入容纳腔中，也可以防止容纳腔中的污水溅出。
可选地，清洁机器人100还包括第二密封圈140，第二密封圈140设置于抽污管120与主体部131之间，从而提高容纳腔的密封性。
可选地，主机污水箱110包括箱体111、污水箱盖112和污水箱密封圈113，抽污管 120和闭合门模块130均设置于箱体111，污水箱密封圈113设置于污水箱盖112与箱体111之间，以使污水箱盖112与箱体111密封配合，从而提高主机污水箱110的容纳腔的密封性。
在一些实施例中，伸缩排污管230具有活动门触发部234，活动门触发部234邻近第二端的端面设置，主体部131具有活动门开关阀131a，在清洁机器人100进入机器人容纳空间并处于排污状态的情况下，伸缩排污管230运动至活动门触发部234按压活动门开关阀131a，以使活动门132开启。由此可知，本公开实施例采用此种机械式开关阀，不仅方便控制，而且不需要耗电。当然，本公开实施例也可以采用电磁阀，这里不作具体限制。
可选地，当活动门开关阀131a为机械式开关阀时，主体部131开设有凹槽，活动门开关阀131a包括弹性件、按压件、盖体和活动件，弹性件设置于盖体与凹槽的槽底之间，盖体的侧壁开设有通孔，活动件的一端穿过通孔延伸至盖体之外，按压件可活动地设置于盖体，当活动门触发部234按压按压件时，活动件按压活动门132，以使活动门132开启；当活动门触发部234与按压件分离时，活动件与活动门132分离，活动门132关闭。
在一些实施例中，活动门触发部234设置于伸缩排污管230的第二端的外周面，活动门触发部234包括相连的连接部234a和触发部234b，连接部234a与第二端相连，触发部234b沿伸缩排污管230的移动方向延伸，可选地，触发部234b设置于连接部234a远离第二端的外周面的一端，以使触发部234b与自由端的开口之间具有一定的距离，从而避免二者之间相互影响，有利于污水的顺畅流通。
可选地，清洁基站还包括第一密封圈270，第一密封圈270设置于自由端，在清洁机器人100进入机器人容纳空间并处于排污状态的情况下，第一密封圈270与排水口密封配合，从而提高基站污水箱210的密封性，有利于提高主机污水箱110内的污水进入基站污水箱210的效率。
在一些实施例中，清洁基站还包括第二支撑件290，基站污水箱210设置于第二支撑件290，第二支撑件290为基站污水箱210的设置基础，第二支撑件290与第一支撑件250可以为分体式结构，也可以为一体式结构，当第二支撑件290与第一支撑件250为分体式结构时，便于二者灵活设置，且便于拆卸维修；当第二支撑件290与第一支撑件250为一体式结构时，便于安装。
可选地，第二支撑件290开设有排污管连接口，排污管连接口与进水口相对设置，伸缩排污管230的第一端与第二支撑件290固定连接，清洁基站还包括第三密封圈280，第三密封圈280设置于第二支撑件290与基站污水箱210之间，第三密封圈280与进水口和排污管连接口分别密封配合，从而提高基站污水箱210的密封性，以提升主机污水箱110的排污效率。
可选地，清洁基站还包括第四密封圈291，抽气模组220包括抽气泵221和抽气管222，抽气泵221设置于第一支撑件250，第二支撑件290开设有抽气对接口，抽气管222连接于抽气对接口与抽气泵221之间，第四密封圈291设置于第二支撑件290与基站污水箱210之间，第四密封圈291与排气口和抽气对接口分别密封配合，从而提高基站污水箱210的密封性，以提升抽气泵221的抽气效率。
上面结合附图对本公开的实施例进行了描述，但是本公开并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本公开的启示下，在不脱离本公开宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本公开的保护之内。

Claims (10)

  1. 一种清洁机器人系统，其特征在于，包括：
    清洁机器人(100)，所述清洁机器人(100)包括主机污水箱(110)，所述主机污水箱(110)开设有排水口；
    清洁基站，所述清洁基站设有与外界连通的机器人容纳空间，所述清洁基站包括基站污水箱(210)、抽气模组(220)和伸缩排污管(230)，所述基站污水箱(210)开设有排气口和进水口，所述抽气模组(220)通过所述排气口与所述基站污水箱(210)相连通，所述伸缩排污管(230)的第一端通过所述进水口与所述基站污水箱(210)相连通，所述伸缩排污管(230)的第二端为自由端，
    在所述清洁机器人(100)进入所述机器人容纳空间并处于排污状态的情况下，所述伸缩排污管(230)运动至所述自由端与所述排水口密封配合，以使所述基站污水箱(210)通过所述伸缩排污管(230)与所述主机污水箱(110)相连通。
  2. 根据权利要求1所述的清洁机器人系统，其特征在于，所述伸缩排污管(230)包括依次相连的第一管段(231)、伸缩管段(232)和第二管段(233)，所述第一管段(231)通过所述进水口与所述基站污水箱(210)相连通，所述第二管段(233)设有所述自由端，
    在所述清洁机器人(100)进入所述机器人容纳空间并处于排污状态的情况下，所述伸缩管段(232)形变以使所述第二管段(233)移动至所述自由端与所述排水口密封配合。
  3. 根据权利要求2所述的清洁机器人系统，其特征在于，所述清洁基站还包括驱动机构(240)和第一支撑件(250)，所述第一支撑件(250)开设有通孔，所述第二管段(233)可移动地设置于所述通孔，且所述自由端穿过所述通孔延伸至所述第一支撑件(250)背离所述伸缩管段(232)的一侧，所述驱动机构(240)和所述抽气模组(220)均设置于所述第一支撑件(250)，且所述驱动机构(240)与所述抽气模组(220)分别位于所述基站污水箱(210)的两侧，所述驱动机构(240)与所述第二管段(233)相连，所述驱动机构(240)驱动所述第二管段(233)移动。
  4. 根据权利要求3所述的清洁机器人系统，其特征在于，所述驱动机构(240)包括驱动源(241)和传动齿轮(242)，所述驱动源(241)设置于所述第一支撑件(250)，所述传动齿轮(242)与所述驱动源(241)的输出轴相连，所述第二管段(233)的外周面设有齿条(233a)，所述齿条(233a)沿所述第二管段(233)的移动方向延伸，所述传动齿轮(242)与所述齿条(233a)啮合。
  5. 根据权利要求3所述的清洁机器人系统，其特征在于，所述清洁基站还包括定位件(260)，所述定位件(260)设置于所述通孔的内壁，且所述定位件(260)的部分延伸至所述通孔之外，所述定位件(260)开设有定位孔，所述第二管段(233)的至少部分可移动地设置于所述定位孔内。
  6. 根据权利要求5所述的清洁机器人系统，其特征在于，所述定位孔的孔壁开设有导向凹槽(261)，所述导向凹槽(261)沿所述第二管段(233)的移动方向延伸，所述第二管段(233)的外周面具有导向凸起(233b)，所述导向凸起(233b)与所述导向凹槽(261)配合。
  7. 根据权利要求1所述的清洁机器人系统，其特征在于，所述清洁机器人(100)还包括抽污管(120)和闭合门模块(130)，所述抽污管(120)和所述闭合门模块(130)均设置于所述主机污水箱(110)的容纳腔内，所述闭合门模块(130)包括主体部(131)和活动门(132)，所述排水口开设于所述主体部(131)，所述活动门(132)可活动地设置于所述排水口，所述抽污管(120)的一端与所述排水口相连通，所述抽污管(120)的另一端延伸至所述容纳腔的底壁，
    在所述清洁机器人(100)进入所述机器人容纳空间并处于排污状态的情况下，所述活动门(132)开启；在所述清洁机器人(100)处于工作状态的情况下，所述活动门(132)关闭。
  8. 根据权利要求7所述的清洁机器人系统，其特征在于，所述伸缩排污管(230)具有活动门触发部(234)，所述活动门触发部(234)邻近所述第二端的端面设置，所述主体部(131)具有活动门开关阀(131a)，
    在所述清洁机器人(100)进入所述机器人容纳空间并处于排污状态的情况下，所述伸缩排污管(230)运动至所述活动门触发部(234)按压所述活动门开关阀(131a)，以使所述活动门(132)开启。
  9. 根据权利要求8所述的清洁机器人系统，其特征在于，所述活动门触发部(234)设置于所述第二端的外周面，所述活动门触发部(234)包括相连的连接部(234a)和触发部(234b)，所述连接部(234a)与所述第二端相连，所述触发部(234b)沿所述伸缩排污管(230)的移动方向延伸。
  10. 根据权利要求1所述的清洁机器人系统，其特征在于，所述清洁基站还包括第一密封圈(270)，所述第一密封圈(270)设置于所述自由端，
    在所述清洁机器人(100)进入所述机器人容纳空间并处于排污状态的情况下，所述第一密封圈(270)与所述排水口密封配合。
PCT/CN2023/100277 2022-07-14 2023-06-14 清洁机器人系统 WO2024012139A1 (zh)

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