WO2024041067A1

WO2024041067A1 - Base station, cleaning robot system and method for using cleaning robot system

Info

Publication number: WO2024041067A1
Application number: PCT/CN2023/096945
Authority: WO
Inventors: 张鸣; 叶力荣
Original assignee: 深圳银星智能集团股份有限公司
Priority date: 2022-08-26
Filing date: 2023-05-29
Publication date: 2024-02-29
Also published as: CN115399698A

Abstract

A base station (10), a cleaning robot (20) system and a method for using the cleaning robot (20) system. The base station (10) comprises a storage tray (100) and a lifting/lowering mechanism (200). A first storage area (110) of the storage tray (100) is used for placing a clean cleaning part, and a second storage area (120) of the storage tray (100) is used for placing a dirty cleaning part. The storage tray (100) is arranged on the lifting/lowering mechanism (200), so that the storage tray (100) is switched between a first position and a second position. The first position is located at the upper half of the lifting/lowering mechanism (200), and when the storage tray (100) is located at the first position, the first storage area (110) receives the clean cleaning part, and the dirty cleaning part in the second storage area (120) is taken out. The second position is located at the lower half of the lifting/lowering mechanism (200), and when the storage tray (100) is located at the second position, the clean cleaning part in the first storage area (110) is mounted on an external cleaning robot (20), and at the same time, the second storage area (120) receives the dirty cleaning part on the cleaning robot (20). Both hands are kept free in the whole process of replacement, which saves time and effort.

Description

Base station, cleaning robot system and how to use the cleaning robot system

This application claims the priority of the earlier application with application number 202211037960.6 submitted to the State Intellectual Property Office of China on August 26, 2022, and the application title is "Base Station, Cleaning Robot System and Method of Using Cleaning Robot System", the above-mentioned earlier application The contents of are incorporated into this text by reference.

Technical field

The invention relates to the field of production and manufacturing of cleaning equipment, and specifically relates to a base station, a cleaning robot system and a method of using the cleaning robot system.

Background technique

After the cleaning parts of existing cleaning robots clean and mop the floor, the disassembly and assembly of the cleaning parts rely on the user to manually replace the dirty cleaning parts, such as manual replacement of mops, manual replacement of cleaning parts, etc. Manual replacement of cleaning parts will give the user It brings a lot of inconvenience, such as dirtying the user's hands and clothes, and manual replacement is more time-consuming and labor-intensive, seriously affecting the user experience.

Application content

The purpose of the present disclosure is to provide a base station, a cleaning robot system and a method of using the cleaning robot system, thereby overcoming, at least to a certain extent, problems caused by limitations and defects of related technologies.

A first aspect of the present disclosure provides a base station, including:

A storage tray, the storage tray includes a first storage area and a second storage area, the first storage area is used to place clean cleaning parts, and the second storage area is used to place dirty cleaning parts;

A lifting mechanism, the storage tray is provided on the lifting mechanism to switch the storage tray between the first position and the second position;

Wherein, the first position is located at the upper half of the lifting mechanism. When the storage tray is located at the first position, the first storage area receives clean cleaning parts, and the second storage area receives dirty cleaning parts. The cleaning piece is taken out; the second position is located in the lower half of the lifting mechanism, and the When the storage tray is in the second position, the clean cleaning parts in the first storage area are installed on the external cleaning robot, and the second storage area receives the dirty cleaning parts on the external cleaning robot.

In an exemplary embodiment of the present disclosure, the first storage area and the second storage area are spaced apart, and when the storage tray is in the second position, the storage tray is located where the cleaning parts of the external cleaning robot are installed. Under the position, the first storage area and the second storage area can be alternately aligned with the cleaning piece installation position of the external cleaning robot.

In an exemplary embodiment of the present disclosure, the lifting mechanism includes:

Lifting platform, the storage tray is provided on the lifting platform;

Lifting screw, the lifting screw is arranged vertically, the lifting screw penetrates the lifting platform and is threaded with the lifting platform, and the lifting screw is connected to the first driving member;

There are multiple lifting guide rods. The plurality of lifting guide rods are arranged in the same direction as the lifting screw, and the lifting guide rods are spaced apart from each other. The lifting guide rods pass through the lifting platform. Slidingly cooperates with the lifting platform.

In an exemplary embodiment of the present disclosure, a reciprocating translation assembly is included, the reciprocating translation assembly is horizontally disposed between the lifting platform and the storage tray, and the input end of the reciprocating translation assembly is connected to a second drive component, the output end of the reciprocating translation component is connected to the storage tray, and the second driving member reciprocates to make the storage tray reciprocally translate.

In an exemplary embodiment of the present disclosure, the lifting platform is provided with a horizontal groove, the notch of the horizontal groove faces upward, the side wall of the horizontal groove is provided with a limiting groove, and the notch of the limiting groove is In contrast, the reciprocating translation component is disposed between the horizontal slot and the storage tray, and the storage tray is movably disposed in the limiting slot.

In an exemplary embodiment of the present disclosure, the reciprocating translation assembly includes:

A rack, the rack is provided with the output end, and the output end is connected to the bottom surface of the storage tray;

Gear, the gear is provided with the input end, the input end is connected to the second driving member, the bottom of the horizontal groove is provided with a through hole corresponding to the rack, and the gear passes through the through hole Engage with the rack.

In an exemplary embodiment of the present disclosure,

A partition is provided between the first storage area and the second storage area; and/or

The base station also includes a cleaning parts dispensing area, which is located adjacent to the first position for distributing clean cleaning parts; and a cleaning parts recycling area, which is adjacent to the first position. Set up for recovering dirty cleaning parts, the cleaning part recovery area and the cleaning part dispensing area are arranged oppositely on both sides of the storage tray.

In a second aspect of the present disclosure, a cleaning robot system is provided, including a cleaning robot and a base station provided in the first aspect. The base station is provided with an entrance, and the cleaning robot can enter the base station from the entrance;

The cleaning robot includes a disassembly and assembly mechanism and a cleaning part. The cleaning part is connected to the disassembly and assembly mechanism and is located at the bottom of the cleaning robot; the disassembly and assembly mechanism includes an electromagnetic component, and the electromagnetic component and the cleaning component Electromagnetic connection, the electromagnetic part is powered on or off to realize the detachable connection between the cleaning robot and the cleaning part.

A third aspect of the present disclosure provides a method of using a cleaning robot system. The method, according to the cleaning robot system provided in the second aspect, includes:

The storage tray is located in the second position;

The cleaning robot is parked at the entrance of the base station, and the cleaning parts of the cleaning robot are located in the second position and above the storage tray;

The second storage area of the storage tray is translated below the installation position of the cleaning parts of the cleaning robot, and the cleaning robot disassembles the dirty cleaning parts and places them in the second storage area;

The first storage area of the storage tray is translated below the cleaning part installation position of the cleaning robot, and the cleaning robot installs clean cleaning parts.

In an exemplary embodiment of the present disclosure, it further includes:

Before the cleaning robot enters the base station, the first storage area receives clean cleaning parts at the first position and moves down to the second position;

After the cleaning robot disassembles the dirty cleaning parts, the first storage area moves horizontally below the cleaning part installation position and installs the clean cleaning parts on the cleaning robot;

After the cleaning robot leaves the base station, the storage tray rises to the first position, and the dirty cleaning parts in the second storage area are taken out.

In an exemplary embodiment of the present disclosure, it further includes:

The cleaning robot disassembles the dirty cleaning parts, places them in the second storage area, and exits base station;

The storage tray rises to the first position, the dirty cleaning parts in the second storage area are taken out, and the first storage area receives clean cleaning parts;

The storage tray is lowered to the second position, the cleaning robot enters the base station again, the first storage area is translated below the cleaning part installation position, and the cleaning robot installs clean cleaning parts.

A base station, a cleaning robot system and a method of using the cleaning robot system of the disclosed solution have the following beneficial effects: the first storage area is used to place clean cleaning parts, and the second storage area is used to place dirty cleaning parts. When the cleaning robot When replacing cleaning parts in the base station, clean cleaning parts and dirty cleaning parts can be placed in different areas to facilitate replacement. Setting up two independent storage areas on the storage tray can avoid damaging the clean parts during the replacement of cleaning parts. Cleaning parts produce secondary pollution. The storage tray is provided on the lifting mechanism so that the storage tray can be switched between the first position and the second position. The first position is located in the upper half of the lifting mechanism. When the storage tray is in the first position, the first storage area receives clean cleaning parts, and the dirty cleaning parts in the second storage area are taken out; the second position is located in the lower half of the lifting mechanism. When the storage tray is in the second position, the clean cleaning parts in the first storage area are installed on the external cleaning robot, while the second storage area receives the dirty cleaning parts on the cleaning robot. The entire replacement process Free your hands, avoid user operations, avoid dirtying hands and clothes, and save more time and effort.

Additional features and advantages of the disclosure will be apparent from the following detailed description, or, in part, may be learned by practice of the disclosure.

It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and do not limit the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a partial structural diagram of a base station in an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a reciprocating translation assembly in an embodiment of the present invention;

Figure 3 is a schematic structural diagram of the cleaning robot system in the embodiment of the present invention;

Figure 4 is a first flow diagram of a method of using the cleaning robot system in an embodiment of the present invention;

Figure 5 is a second flow diagram of the method of using the cleaning robot system in the embodiment of the present invention;

Figure 6 is a third flow diagram of a method of using the cleaning robot system in the embodiment of the present invention.

Explanation of reference symbols:

10. Base station; 20. Cleaning robot; 100. Storage tray; 110. First storage area; 120. Second storage area; 130. Partition; 200. Lifting mechanism; 210. Lifting platform; 211. Horizontal trough; 212. Limit groove; 213, through hole; 220, lifting screw; 230, lifting guide rod; 240, first driving part; 300, reciprocating translation component; 310, rack; 320, gear; 330, second driving part; 400 , entrance; 410, platform.

Detailed ways

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concepts of the example embodiments. To those skilled in the art.

Furthermore, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to provide a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known methods, apparatus, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the present disclosure.

The present disclosure will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted here that the technical features involved in each embodiment of the present disclosure described below are as long as each other. They can be combined without conflict. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present disclosure and are not to be construed as limitations of the present disclosure.

It should be noted that the "multiple" mentioned in this article refers to two or more. "And/or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and/or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the related objects are in an "or" relationship.

An embodiment of the first aspect of the present disclosure provides a base station 10. The base station 10 is used in conjunction with a cleaning robot 20 to enable the cleaning robot 20 to automatically replace cleaning parts. The cleaning parts of the cleaning robot 20 include mops or cleaning parts. The cleaning robot 20 may have the above-mentioned functions at the same time. One or more cleaning parts, the base station 10 in this embodiment can replace the relevant cleaning parts.

Referring to Figure 1, the base station 10 includes a storage tray 100 and a lifting mechanism 200. The storage tray 100 is used to store cleaning parts, including dirty cleaning parts and clean cleaning parts. The lifting mechanism 200 is used to drive the storage tray 100 in the vertical direction. Move upward so that the storage tray 100 is located in a different position and the cleaning parts in the storage tray 100 are replaced.

Referring to FIG. 1 , the storage tray 100 includes a first storage area 110 and a second storage area 120 . The first storage area 110 is used to place clean cleaning parts, and the second storage area 120 is used to place dirty cleaning parts.

In some embodiments, the storage tray 100 also includes multiple storage areas, and each storage area can place a cleaning piece. Such a design allows the same base station 10 to replace the cleaning pieces of multiple cleaning robots 20, and multiple storage areas can be used. Some storage areas of the area are used to place clean cleaning parts, and some storage areas among the multiple storage areas are used to place dirty cleaning parts. Different cleaning robots 20 enter the base station 10 to place dirty cleaning parts in the corresponding storage areas. Afterwards, install clean cleaning parts from the corresponding storage area. After the replacement of the plurality of cleaning robots 20 is completed, the dirty cleaning parts in the storage tray 100 can be taken out.

Referring to FIG. 1 , the storage tray 100 is disposed on the lifting mechanism 200 so that the storage tray 100 can be switched between a first position and a second position. The first position and the second position are opposite to each other in the vertical direction. The horizontal area of the base station 10 can be reduced.

In this embodiment, the first position is located at the upper half of the lifting mechanism 200. When the storage tray 100 is located at the first position, the first storage area 110 receives clean cleaning parts, and the dirty cleaning parts in the second storage area 120 are taken out; The second position is located in the lower half of the lifting mechanism 200, the storage tray When 100 is in the second position, the clean cleaning parts in the first storage area 110 are installed on the external cleaning robot 20 , and the second storage area 120 receives the dirty cleaning parts on the cleaning robot 20 .

Referring to FIG. 1 , the first storage area 110 and the second storage area 120 are spaced apart. When the storage tray 100 is in the second position, the storage tray 100 is located below the cleaning component installation position of the external cleaning robot 20 . The first storage area 110 and the second storage area 120 are spaced apart. The second storage area 120 can be alternately aligned with the installation positions of the cleaning parts of the external cleaning robot 20 , so that the cleaning parts can be accurately installed on the installation positions of the external cleaning robot 20 .

Referring to Figure 1, the lifting mechanism 200 includes a lifting platform 210, a lifting screw 220 and a lifting guide rod 230. The rotation of the lifting screw 220 drives the lifting platform 210 to move in the vertical direction. The lifting guide rod 230 can guide the lifting platform 210. effect.

Referring to FIG. 1 , a storage tray 100 is provided on the lifting platform 210 . The storage tray 100 is centrally aligned with the lifting platform 210 so that both sides of the storage tray 100 have the same space, which makes it easier to maintain the balance of the lifting platform 210 and facilitate assembly.

In some embodiments, the storage tray 100 can be disposed at any position on the lifting platform 210 according to actual conditions.

Referring to FIG. 1 , the lifting screw 220 is arranged vertically. The lifting screw 220 penetrates the lifting platform 210 and is threaded with the lifting platform 210 . The lifting screw 220 is connected to the first driving member 240 . The first drive can be a motor or motor, which can drive the lifting screw 220 to rotate. Both ends of the lifting screw 220 are movably installed on the base station 10, and the rotation drives the lifting platform 210 to move up and down.

Referring to FIG. 1 , multiple lifting guide rods 230 are provided. The plurality of lifting guide rods 230 are arranged in the same direction as the lifting screw 220 , and the lifting guide rods 230 are spaced apart from each other. The lifting guide rods 230 pass through the lifting platform 210 and the lifting platform 210 Sliding fit to achieve the guiding function of the lifting platform 210.

In this embodiment, the lifting platform 210 is a regular quadrilateral. The lifting guide rods 230 are arranged at the four corners of the quadrilateral. The lifting screw rod 220 is arranged between any two guide rods. The axes of the lifting screw rod 220 and the lifting guide rod 230 are on the same axis. On a plane, the storage tray 100 is installed in the space formed between the lifting guide rods 230. This design has a simple and compact structure and good stability.

In some embodiments, the lifting mechanism 200 includes a push rod and a hydraulic cylinder (or air cylinder, etc.), the push rod is connected to the lifting platform 210, and the hydraulic cylinder (or air cylinder, etc.) provides power to make the lifting platform 210 moves up and down, and the lifting platform 210 is equipped with the above-mentioned lifting guide rod 230.

Among them, the lifting guide rod 230 can replace the guide groove, etc., and can guide the lifting platform 210.

Referring to Figure 2, the base station 10 includes a reciprocating translation assembly 300. The reciprocating translation assembly 300 is horizontally disposed between the lifting platform 210 and the storage tray 100. The input end of the reciprocating translation assembly 300 is connected to a second driving member 330. The reciprocating translation assembly 300 The output end is connected to the storage tray 100, and the second driving member 330 reciprocates to make the storage tray 100 reciprocally translate.

Wherein, the reciprocating translation assembly 300 is configured as a synchronous belt assembly, a connecting rod assembly, a chain assembly or a gear 320 and a rack 310 assembly, etc.

Referring to Figure 2, the lifting platform 210 is provided with a horizontal groove 211, the notch of the horizontal groove 211 faces upward, the side wall of the horizontal groove 211 is provided with a limiting groove 212, the notches of the limiting groove 212 are opposite, and the reciprocating translation assembly 300 is arranged on between the horizontal groove 211 and the storage tray 100, and the storage tray 100 is movably arranged in the limit groove 212. The limit groove 212 can play a limiting and guiding role for the storage tray 100 to prevent the storage tray 100 from being detached during horizontal movement. trajectory.

In this embodiment, the lifting mechanism 200 does not need to move as a whole in the horizontal direction, and only the storage tray 100 needs to move laterally to achieve alignment, which can avoid occupying horizontal space and save horizontal space.

[Example 1]

Referring to FIG. 2 , the reciprocating translation assembly 300 is a gear 320 and rack 310 assembly, including the gear 320 and the rack 310 . The rack 310 is provided with an output end, and the output end is connected to the bottom surface of the storage tray 100; the gear 320 is provided with an input end, and the input end is connected to the second driving member 330. The bottom of the horizontal groove 211 is provided with a through hole 213 corresponding to the rack 310, and the gear 320 It passes through the through hole 213 and meshes with the rack 310 . The second driving member 330 drives the gear 320 to rotate, causing the rack 310 to move horizontally, thereby driving the storage tray 100 to move in the horizontal direction.

In Embodiment 1, the second driving member 330 is a motor or motor.

[Example 2]

In Embodiment 2, the reciprocating translation assembly 300 is a synchronous belt assembly, the synchronous wheel is provided on at least one side of the horizontal groove 211, a synchronous belt assembly is provided on one side, and the limiting groove 212 is provided on the other side. The synchronous belt assembly includes a synchronous belt and Synchronous wheel. There are at least two synchronous wheels, which are spaced on the side wall of the limiting groove 212. The synchronous wheels are sleeved with synchronous belts, and the synchronous wheels drive the synchronous belts to rotate. When the timing belt rotates, the storage tray 100 is connected to the side of the timing belt away from the horizontal bottom surface. The bottom surface of the storage tray 100 is fixedly connected to the timing belt. When the timing belt rotates and makes a circular motion, the storage tray 100 moves on the horizontal plane.

Specifically, the synchronous wheel makes a reciprocating circular motion, driving the synchronous belt to reciprocate so that the storage tray 100 reciprocates on the horizontal plane. The input end of the synchronous wheel is connected to a motor or motor to provide power.

[Example 3]

In Embodiment 3, the reciprocating translation assembly 300 is a chain assembly. In the chain assembly, the synchronous wheel in the synchronous belt assembly is replaced with a sprocket, and the synchronous belt is replaced with a chain. The sprocket makes a reciprocating circular motion, driving the chain to reciprocate. The storage tray 100 moves reciprocally on the horizontal plane, and the input end of the synchronous wheel is connected with a motor or motor to provide power.

Referring to Figure 2, a partition 130 is provided between the first storage area 110 and the second storage area 120. The partition 130 of the first storage area 110 and the second storage area 120 is arranged perpendicularly to the movement direction of the storage tray 100, so as to Separated areas are formed in the movement direction of the storage tray 100 to prevent dirty cleaning parts from contaminating clean cleaning parts.

In this embodiment, the base station 10 further includes a cleaning parts distribution area, which is arranged adjacent to the first position, for distributing clean cleaning parts; and a cleaning parts recycling area, which is arranged adjacent to the first position, for distributing clean cleaning parts. To collect dirty cleaning parts, the cleaning parts recovery area and the cleaning parts distribution area are arranged oppositely on both sides of the storage tray 100 .

In some embodiments, the cleaning part issuance area and the cleaning part recovery area are located in the upper half of the base station 10 , and the cleaning part issuance area and the cleaning part recovery area are located on the same side of the storage tray 100 .

In this embodiment, a grabbing assembly is installed between the cleaning piece dispensing area and the storage tray 100 for grabbing the cleaning pieces in the storage tray 100 and placing them in the cleaning piece distributing area or the cleaning piece recycling area.

The second embodiment of the present disclosure provides a cleaning robot 20 system, including the cleaning robot 20 and the base station 10 provided in the first embodiment. The base station 10 is provided with an entrance 400, and the cleaning robot 20 can enter the base station through the entrance 400. 10 in.

Referring to FIG. 3 , the entrance 400 is provided in the lower half of the base station 10 and is located on one side of the base station 10 . A platform 410 is provided at the entrance 400 . When the cleaning robot 20 enters the base station 10 from the entrance 400 , parked on the platform 410, the table top of the platform 410 and the upper surface of the storage box The cleaning parts of the cleaning robot 20 can be positioned above the storage tray 100 .

In this embodiment, the cleaning robot 20 includes a disassembly and assembly mechanism and a cleaning part. The cleaning part is connected to the disassembly and assembly mechanism and is located at the bottom of the cleaning robot 20; the disassembly and assembly mechanism includes an electromagnetic component, and the electromagnetic component is electromagnetically connected to the cleaning component. The electromagnetic component is energized or The power is cut off to achieve detachable connection between the cleaning robot 20 and the cleaning piece.

The third aspect embodiment of the present disclosure provides a method of using the cleaning robot 20 system. The method is based on the cleaning robot 20 system provided in the second aspect, as shown in FIG. 4 , and includes:

S100 and storage tray 100 are located at the second position;

S200. The cleaning robot 20 is parked at the entrance 400 of the base station 10, and the cleaning parts of the cleaning robot 20 are located in the second position and above the storage tray 100;

S300. The second storage area 120 of the storage tray 100 is translated to below the cleaning parts installation position of the cleaning robot 20, and the cleaning robot 20 disassembles the dirty cleaning parts and places them in the second storage area 120;

S400. The first storage area 110 of the storage tray 100 is translated to below the cleaning parts installation position of the cleaning robot 20, and the cleaning robot 20 installs clean cleaning parts.

In some embodiments, as shown in Figure 5, it also includes:

S510. Before the cleaning robot 20 enters the base station 10, the first storage area 110 receives the clean cleaning parts at the first position and moves down to the second position;

S520. After the cleaning robot 20 disassembles the dirty cleaning parts, the first storage area 110 moves horizontally below the cleaning part installation position and installs the clean cleaning parts on the cleaning robot 20;

S530. After the cleaning robot 20 leaves the base station 10, the storage tray 100 rises to the first position, and the dirty cleaning parts in the second storage area 120 are taken out.

Specifically, when the base station 10 is in the standby state, the storage tray 100 first grabs clean cleaning parts from the cleaning parts distribution area and places them in the first storage area 110. The storage tray 100 moves to the second position through the lifting mechanism 200 and waits. The second storage area 120 is empty waiting for the cleaning robot 20 to enter the base station 10 and receive dirty cleaning parts.

When the cleaning robot 20 completes the cleaning task and enters the base station 10, it is connected to the storage tray 100, and the second storage area 120 is aligned with the cleaning parts installation position of the cleaning robot 20. The cleaning robot 20 removes the dirty cleaning parts, and the dirty cleaning parts are dropped. into the second storage area 120 of the storage tray 100, and the second The storage area 120 moves horizontally so that the first storage area 110 is aligned with the cleaning parts installation position of the cleaning robot 20. The cleaning robot 20 installs clean cleaning parts and then exits the base station 10 to continue completing new cleaning tasks.

After the cleaning robot 20 leaves the base station 10, the lifting mechanism 200 has vertical movement space. At this time, the storage tray 100 takes the removed cleaning parts and rises to the first position through the lifting mechanism 200, and unloads the dirty cleaning parts into the cleaning machine. Afterwards, the storage tray 100 moves horizontally to the cleaning parts distribution area, grabs clean cleaning parts, places them in the first storage area 110, and moves to the second position through the lifting mechanism 200 to wait, thereby completing an automatic replacement process.

In another embodiment, as shown in Figure 6, it also includes:

S610. The cleaning robot 20 disassembles the dirty cleaning parts, places them in the second storage area 120, and exits the base station 10;

S620. The storage tray 100 rises to the first position, the dirty cleaning parts in the second storage area 120 are taken out, and the first storage area 110 receives the clean cleaning parts;

S630. The storage tray 100 is lowered to the second position, the cleaning robot 20 enters the base station 10 again, the first storage area 110 is translated to below the cleaning part installation position, and the cleaning robot 20 installs clean cleaning parts.

Specifically, when the base station 10 is in standby mode, the first storage area 110 and the second storage area 120 of the storage tray 100 are empty, waiting for the cleaning robot 20 to enter the base station 10 to receive dirty cleaning parts first. When the cleaning robot 20 completes the cleaning task and enters the base station 10, it docks with the second storage area 120, and the second storage area 120 is aligned with the cleaning parts installation position of the cleaning robot 20. The cleaning robot 20 removes the dirty cleaning parts and removes the dirty cleaning parts. Fall into the second storage area 120 of the storage tray 100 .

Then, the cleaning robot 20 leaves the base station 10 and waits, so that the lifting mechanism 200 has vertical movement space. The storage tray 100 takes the unloaded dirty cleaning parts and rises to the first position through the lifting mechanism 200, and unloads the dirty cleaning parts into the cleaning parts. recovery area, and then the storage tray 100 moves horizontally to the cleaning piece distribution area to grab clean cleaning pieces and place them in the first storage area 110, and then moves to the second position through the lifting mechanism 200 to wait.

Finally, the cleaning robot 20 waiting outside the base station 10 enters the base station 10 to dock with the storage tray 100, and installs clean cleaning parts at the first storage area 110, and then exits the base station 10 to continue completing the new cleaning task, and the storage tray 100 moves horizontally Make the second storage area 120 located below the cleaning parts installation position of the cleaning robot 20, and wait for the cleaning robot 20 to complete the cleaning task. Enter the base station 10 times for replacement.

In this disclosure, unless otherwise expressly stated and limited, the terms "set (provided)", "connected" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection. ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood according to specific circumstances.

In the description of this specification, reference to the terms "some embodiments" and the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.

Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present disclosure. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present disclosure. The embodiments are subject to changes, modifications, substitutions and modifications, so any changes or modifications made in accordance with the claims and description of the present disclosure shall be within the scope of the patent of the present disclosure.

Claims

A base station is characterized by including:

A storage tray, the storage tray includes a first storage area and a second storage area, the first storage area is used to place clean cleaning parts, and the second storage area is used to place dirty cleaning parts;

A lifting mechanism, the storage tray is provided on the lifting mechanism to switch the storage tray between the first position and the second position;

Wherein, the first position is located at the upper half of the lifting mechanism. When the storage tray is located at the first position, the first storage area receives clean cleaning parts, and the second storage area receives dirty cleaning parts. The cleaning parts are taken out; the second position is located in the lower half of the lifting mechanism. When the storage tray is in the second position, the clean cleaning parts in the first storage area are installed on the external cleaning robot. on the external cleaning robot, the second storage area receives dirty cleaning parts on the external cleaning robot.
The base station according to claim 1, wherein the first storage area and the second storage area are spaced apart, and when the storage tray is in the second position, the storage tray is located on the cleaning part of the external cleaning robot. Below the installation position, the first storage area and the second storage area can be alternately aligned with the cleaning piece installation position of the external cleaning robot.
The base station according to claim 1, characterized in that the lifting mechanism includes:

Lifting platform, the storage tray is provided on the lifting platform;

Lifting screw, the lifting screw is arranged vertically, the lifting screw penetrates the lifting platform and is threaded with the lifting platform, and the lifting screw is connected to the first driving member;

There are multiple lifting guide rods. The plurality of lifting guide rods are arranged in the same direction as the lifting screw, and the lifting guide rods are spaced apart from each other. The lifting guide rods pass through the lifting platform. Slidingly cooperates with the lifting platform.
The base station according to claim 3, characterized in that it includes a reciprocating translation component, the reciprocating translation component is horizontally disposed between the lifting platform and the storage tray, and the input end of the reciprocating translation component is connected to a second A driving member, the output end of the reciprocating translation component is connected to the storage tray, and the second driving member reciprocates to make the storage tray reciprocally translate.
The base station according to claim 4, characterized in that the lifting platform is provided with a horizontal groove, the notch of the horizontal groove faces upward, the side wall of the horizontal groove is provided with a limiting groove, and the The notches of the limiting groove are opposite to each other, the reciprocating translation component is arranged between the horizontal groove and the storage tray, and the storage tray is movably arranged in the limiting groove.
The base station according to claim 5, characterized in that the reciprocating translation component includes:

A rack, the rack is provided with the output end, and the output end is connected to the bottom surface of the storage tray;

Gear, the gear is provided with the input end, the input end is connected to the second driving member, the bottom of the horizontal groove is provided with a through hole corresponding to the rack, and the gear passes through the through hole Engage with the rack.
The base station according to claim 1, characterized in that:

A partition is provided between the first storage area and the second storage area; and/or

The base station also includes a cleaning parts dispensing area, which is located adjacent to the first position for distributing clean cleaning parts; and a cleaning parts recycling area, which is adjacent to the first position. Set up for recovering dirty cleaning parts, the cleaning part recovery area and the cleaning part dispensing area are arranged oppositely on both sides of the storage tray.
A cleaning robot system, characterized in that it includes a cleaning robot and a base station according to any one of claims 1-7, the base station is provided with an entrance, and the cleaning robot can enter the base station from the entrance. ;

The cleaning robot includes a disassembly and assembly mechanism and a cleaning part. The cleaning part is connected to the disassembly and assembly mechanism and is located at the bottom of the cleaning robot; the disassembly and assembly mechanism includes an electromagnetic component, and the electromagnetic component and the cleaning component Electromagnetic connection, the electromagnetic part is powered on or off to realize the detachable connection between the cleaning robot and the cleaning part.
A method of using a cleaning robot system, the method according to the cleaning robot system of claim 8, characterized in that it includes:

The storage tray is located in the second position;

The cleaning robot is parked at the entrance of the base station, and the cleaning parts of the cleaning robot are located in the second position and above the storage tray;

The second storage area of the storage tray is translated below the installation position of the cleaning parts of the cleaning robot, and the cleaning robot disassembles the dirty cleaning parts and places them in the second storage area;

The first storage area of the storage tray is translated below the cleaning part installation position of the cleaning robot, and the cleaning robot installs clean cleaning parts.
The method of using the cleaning robot system according to claim 9, further comprising:

Before the cleaning robot enters the base station, the first storage area receives clean cleaning parts at the first position and moves down to the second position;

After the cleaning robot disassembles the dirty cleaning parts, the first storage area moves horizontally below the cleaning part installation position and installs the clean cleaning parts on the cleaning robot;

After the cleaning robot leaves the base station, the storage tray rises to the first position, and the dirty cleaning parts in the second storage area are taken out.
The method of using the cleaning robot system according to claim 9, further comprising:

The cleaning robot disassembles the dirty cleaning parts and places them in the second storage area, and exits the base station;

The storage tray rises to the first position, the dirty cleaning parts in the second storage area are taken out, and the first storage area receives clean cleaning parts;

The storage tray is lowered to the second position, the cleaning robot enters the base station again, the first storage area is translated below the cleaning part installation position, and the cleaning robot installs clean cleaning parts.