WO2023019975A1 - 基站和清洁机器人系统 - Google Patents

基站和清洁机器人系统 Download PDF

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Publication number
WO2023019975A1
WO2023019975A1 PCT/CN2022/085650 CN2022085650W WO2023019975A1 WO 2023019975 A1 WO2023019975 A1 WO 2023019975A1 CN 2022085650 W CN2022085650 W CN 2022085650W WO 2023019975 A1 WO2023019975 A1 WO 2023019975A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
track
base station
track groove
bracket
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2022/085650
Other languages
English (en)
French (fr)
Inventor
李行
成盼
杨志敏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Rockrobo Technology Co Ltd
Original Assignee
Beijing Rockrobo Technology Co Ltd
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 Beijing Rockrobo Technology Co Ltd filed Critical Beijing Rockrobo Technology Co Ltd
Priority to JP2024507961A priority Critical patent/JP7651063B2/ja
Priority to AU2022328806A priority patent/AU2022328806B2/en
Priority to US18/684,560 priority patent/US20240349970A1/en
Priority to EP22857293.9A priority patent/EP4388960A4/en
Publication of WO2023019975A1 publication Critical patent/WO2023019975A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems 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
    • A47L11/40—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
    • A47L2201/024—Emptying dust or waste liquid containers
    • 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 disclosure relates to the technical field of smart home, and in particular to a base station and a cleaning robot system.
  • movable cleaning parts are usually set up to clean the flat mop of the sweeping and dragging integrated cleaning robot.
  • the embodiment of the first aspect of the present disclosure provides a base station, which is used for cleaning the cleaning system of the cleaning robot.
  • a cleaning part is arranged on the top, and the cleaning part can clean the cleaning system of the cleaning robot by interfering with the cleaning system of the cleaning robot; the track cleaning part is configured to run along the track groove to clean the track groove.
  • the track cleaning element is arranged on the cleaning assembly, including a cleaning element located inside the track groove.
  • the track cleaner is arranged on the side of the cleaning assembly.
  • the track cleaning member is inclined to the outside of the cleaning assembly.
  • the number of track grooves is two, and the two track grooves are arranged opposite to each other along the transverse direction of the base station body.
  • the cleaning assembly includes a support capable of running along the track groove, and the track cleaning elements are arranged at both ends of the support.
  • the bracket is provided with a track cleaning piece towards one end of the same track groove, and the track cleaning piece is arranged obliquely towards one end of the track groove, and is located at a position close to the end of the bracket; and/or
  • One end of the bracket facing the same track groove is provided with two track cleaners, including a first track cleaner and a second track cleaner, the first track cleaner is inclined towards the first end of the track groove and is located near the first end of the bracket At the position of the first part, the second track cleaner is inclined towards the second end of the track groove and is located at a position close to the second end of the bracket.
  • the track cleaning component includes a mounting portion connected to the cleaning component, and the mounting portion is detachably connected to the cleaning component.
  • the base station further includes: a rack set on the base station body, the cleaning assembly includes a driving part and a first gear linked with the driving part, the first gear is located at both ends of the bracket, and the driving part is used to drive the first gear and The racks engage to allow the carriage to follow the track grooves.
  • a rack set on the base station body the cleaning assembly includes a driving part and a first gear linked with the driving part, the first gear is located at both ends of the bracket, and the driving part is used to drive the first gear and The racks engage to allow the carriage to follow the track grooves.
  • the rack is disposed inside the track groove.
  • the base station body includes a cleaning tank located below the cleaning assembly, the track groove is arranged on the inner wall of the cleaning tank, the inner wall surface of the track groove below is inclined downward toward the inside of the cleaning tank, and the rack is arranged on the upper side of the track groove. on the wall.
  • the cleaning tank is provided with a sewage outlet
  • the cleaning assembly further includes a cleaning piece arranged towards the bottom of the cleaning tank, and the cleaning piece is used to move the sundries in the cleaning tank closer to the sewage outlet.
  • the base station further includes a track detachably connected to the base station body, the track is provided with a track groove and a rack, and the rack and the track are of an integrated structure or a separate structure.
  • a support portion is provided on the bracket, and the support portion and the first gear are distributed at intervals along the extending direction of the track groove.
  • the support portion includes a support wheel disposed away from the bracket, and the support wheel is located in the track groove.
  • the cleaning assembly further includes: a first cleaning piece and a second cleaning piece arranged on the bracket; wherein, the first cleaning piece and the second cleaning piece interfere with the cleaning system of the cleaning robot to clean the Clutter removed.
  • the driving part is also drivingly connected with the second cleaning element, so as to drive the second cleaning element to rotate relative to the bracket.
  • the cleaning assembly further includes: a liquid outlet device, and the cleaning liquid discharged from the liquid outlet device is used for cleaning the cleaning system and then stored in the cleaning tank.
  • An embodiment of the second aspect of the present disclosure provides a cleaning robot system, including: a cleaning robot including a cleaning system; and the base station according to any one of the first aspect, where the cleaning component is used to clean the cleaning system.
  • FIG. 1 is a schematic structural diagram of a cleaning robot system according to an optional embodiment of the present disclosure
  • FIG. 2 is a schematic structural diagram of a cleaning robot according to an optional embodiment of the present disclosure
  • Fig. 3 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 2;
  • Fig. 4 is a partial exploded schematic diagram of the embodiment shown in Fig. 3;
  • FIG. 5 is a schematic structural diagram of a base station according to an optional embodiment of the present disclosure.
  • Fig. 6 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 5;
  • Fig. 7 is a partial structural schematic diagram of another viewing angle of the embodiment shown in Fig. 6;
  • FIG. 8 is a partial structural schematic diagram of a base station body according to an optional embodiment of the present disclosure.
  • Fig. 9 is a partially enlarged schematic diagram of A in the embodiment shown in Fig. 8;
  • Fig. 10 is a cross-sectional view of an angle of view of the embodiment shown in Fig. 8;
  • Fig. 11 is a structural schematic diagram of another viewing angle of the embodiment shown in Fig. 8;
  • Fig. 12 is a schematic structural diagram of a track according to an optional embodiment of the present disclosure.
  • Fig. 13 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 12;
  • Fig. 14 is a schematic structural diagram of a cleaning assembly according to an optional embodiment of the present disclosure.
  • Fig. 15 is a structural schematic diagram of a viewing angle of the embodiment shown in Fig. 14;
  • Fig. 16 is a structural schematic diagram of another viewing angle of the embodiment shown in Fig. 14;
  • Fig. 17 is a schematic structural diagram of a cleaning assembly according to another optional embodiment of the present disclosure.
  • Fig. 18 is a schematic structural diagram of a cleaning assembly according to yet another optional embodiment of the present disclosure.
  • Fig. 19 is a schematic structural diagram of a cleaning assembly according to yet another alternative embodiment of the present disclosure.
  • 10 cleaning robot 110 machine main body, 111 forward part, 112 backward part, 120 perception system, 121 determining device, 122 buffer, 130 control module, 140 driving system, 141 driving wheel module, 142 driven wheel, 150 cleaning system , 151 dry cleaning system, 152 side brush, 153 wet cleaning system, 1531 cleaning head, 1532 driving unit, 1533 driving platform, 1534 supporting platform, 160 energy system, 170 human-computer interaction system, 20 base station, 21 base station body, 211 Sewage outlet, 212 cleaning tank, 22 track, 221 rack, 222 track groove, 223 first inner wall surface, 30 cleaning component, 31 first cleaning part, 32 bracket, 33 second cleaning part, 34 driving part, 341 first Gear, 342 motor, 345 first rotating shaft, 35 liquid outlet device, 351 liquid outlet, 36 cleaning part, 37 support part, 38 track cleaning part, 381 cleaning part, 382 installation part, 383 first track cleaning part, 382 the first Two track cleaning parts, 40 liquid supply parts.
  • an embodiment of the present disclosure provides a base station 20 and a cleaning robot 10 system, wherein, as shown in FIG. Cooperate with cleaning robot 10 to use.
  • the cleaning robot 10 may include a machine body 110 , a perception system 120 , a control module 130 , a driving system 140 , a cleaning system 150 , an energy system 160 and a human-computer interaction system 170 .
  • the cleaning robot 10 may be a self-moving cleaning robot or other cleaning robots meeting requirements.
  • a self-moving cleaning robot is a device that automatically performs cleaning operations in a certain area to be cleaned without user operation. Wherein, when the self-mobile cleaning robot starts to work, the self-mobile cleaning device starts from the base station 20 to perform cleaning tasks. When the self-mobile cleaning robot 10 completes the cleaning task or needs to stop the cleaning task in other situations, the self-mobile cleaning robot 10 can return to the base station 20 for charging or other operations.
  • the main body 110 of the machine includes a forward portion 111 and a rearward portion 112, and has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to an approximate D shape with a front and rear circles. Rectangular or square shape in shape and front and rear.
  • the perception system 120 includes a position determination device 121 located on the main body 110 of the machine, a collision sensor and a proximity sensor disposed on the buffer 122 of the forward portion 111 of the main body 110 of the machine, and is arranged on the lower part of the main body 110 of the machine.
  • the cliff sensor as well as the magnetometer, accelerometer, gyroscope, odometer and other sensing devices arranged inside the main body 110 of the machine, are used to provide various position information and motion state information of the machine to the control module 130 .
  • the location determining device 121 includes but is not limited to a camera and a laser distance measuring device (LDS, full name Laser Distance Sensor).
  • the forward portion 111 of the machine body 110 can carry a buffer 122 , and when the driving wheel module 141 propels the cleaning robot 10 to walk on the ground during the cleaning process, the buffer 122 passes through a sensor system disposed thereon, such as The infrared sensor detects one or more events in the travel path of the cleaning robot 10.
  • the cleaning robot 10 can control the driving wheel module 141 to make the cleaning robot 10 respond to the events detected by the buffer 122, such as obstacles and walls. Events, such as moving away from obstacles.
  • the control module 130 is arranged on the main board of the main body 110 of the machine, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • a computing processor such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device uses a positioning algorithm, such as Simultaneous Localization and Mapping (SLAM, full name Simultaneous Localization And Mapping), to draw an instant map of the environment where the cleaning robot 10 is located.
  • SLAM Simultaneous Localization and Mapping
  • drive system 140 may steer machine body 110 across the ground based on drive commands having distance and angular information (eg, x, y, and theta components).
  • the driving system 140 includes a driving wheel module 141, which can simultaneously control the left wheel and the right wheel.
  • the driving wheel module 141 includes a left driving wheel module and a right driving wheel module respectively.
  • Left and right drive wheel modules are positioned along a transverse axis defined by machine body 110 .
  • the cleaning robot 10 may include one or more driven wheels 142 , and the driven wheels 142 include but are not limited to universal wheels.
  • the driving wheel module 141 includes road wheels, a driving motor and a control circuit for controlling the driving motor, and the driving wheel module 141 can also be connected with a circuit for measuring driving current and an odometer.
  • the drive wheels may have a biased drop suspension system, be movably secured, eg rotatably attached, to the machine body 110 and receive a spring bias biased downward and away from the machine body 110 .
  • the spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain pressure.
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.
  • the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and user-friendly functional items.
  • the cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153 .
  • the dry cleaning system 151 may include a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dry cleaning system 151 may also include a side brush 152 having an axis of rotation angled relative to the floor for moving debris into the area of the roller brush of the cleaning system 150 .
  • the wet cleaning system 153 may include: a cleaning head 1531 , a driving unit 1532 , a water delivery mechanism, a liquid storage tank, and the like.
  • the cleaning head 1531 can be arranged under the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transported to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned.
  • the cleaning liquid inside the liquid storage tank may also be directly sprayed onto the plane to be cleaned, and the cleaning head 1531 cleans the plane by spreading the cleaning liquid evenly.
  • the cleaning head 1531 is used to clean the surface to be cleaned
  • the driving unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along the target surface, and the target surface is a part of the surface to be cleaned.
  • the cleaning head 1531 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 1531 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned .
  • the base station 20 includes a base station body 21 and a cleaning component 30 , wherein the cleaning component 30 is movably arranged on the base station body 21 .
  • the cleaning assembly 30 can move relative to the base station body 21.
  • the cleaning assembly 30 can reciprocate along the left and right directions of the base station 20.
  • the left and right directions of the base station 20 are shown by the solid arrows in FIG.
  • the directions shown are the front and rear directions of the base station 20 .
  • the cleaning component 30 includes a cleaning element for removing debris on the cleaning system 150 by interfering with the cleaning and system 150 of the cleaning robot 10 .
  • the base station body 21 is provided with a rail groove 222, and the cleaning assembly 30 is configured to run along the rail groove 222.
  • the cleaning assembly 30 is configured to be able to run along the The track groove 222 reciprocates, so that the cleaning component 30 can move along the base station body 21 , and then the cleaning component 30 interferes with the cleaning system 150 of the cleaning robot 10 to realize automatic cleaning of the cleaning system 150 . That is to say, the cleaning robot 10 can realize automatic cleaning on the cleaning component 30 of the base station 20, thereby saving the operation of manually cleaning the cleaning system 150 or replacing a new cleaning system 150, simplifying the manual operation, and improving the manual cleaning experience. , and is conducive to reducing cleaning costs, suitable for popularization and application.
  • the base station 20 also includes a track cleaning part 38 for cleaning the track groove 222, since debris and sewage adhere and remain inside the track groove 222, it will corrode and damage the track groove , and affect the smoothness of the cleaning assembly 30 running along the track groove 222, therefore, use the track cleaner 38 to clean the track groove 222, and discharge the sundries and sewage in the track groove 222 in time, which can reduce the residue of sundries and sewage , the possibility of accumulation in the track groove 222, and then improve the smoothness and reliability of the cleaning assembly 30 running in the track groove 222, help to improve the cleaning efficiency of the cleaning assembly 30, and help prolong the service life of the track groove 222, Improve the reliability of the base station 20 .
  • the track cleaning part 38 can be separated from the track groove 222.
  • the track cleaning part 38 can be set separately, or it can be detachably arranged on the base station body 21.
  • the track cleaning piece 38 can be held to clean the track groove 222, and remove the track cleaning piece 38 from the track groove 222 for storage after cleaning.
  • Simple and easy to use It can be understood that the track cleaning member can also be arranged on other structures that meet the requirements.
  • the track cleaning member 38 can be arranged on the cleaning assembly 30 , that is, the track cleaning member 38 moves along the track groove 222 with the cleaning assembly 30 Therefore, when the cleaning assembly 30 runs along the track groove 222 to clean the cleaning system 150 of the cleaning robot 10, the track cleaning part 38 is used to clean the track groove 222, which simplifies the manual hand-held track cleaning part 38 to clean the track groove 222.
  • the operation increases the function of the cleaning assembly 30 and is suitable for popularization and application.
  • the track cleaning member 38 is arranged on the cleaning assembly 30, including a brush portion 381 located in the track groove 222. Therefore, when the cleaning assembly 30 runs along the track groove 222, the track cleaning member 38 is located inside the track groove 222.
  • the brush part 381 also moves along the track groove 222, and then the track groove 222 is cleaned, avoiding the situation that the track groove 222 is corroded and rusted by sewage or sundries remaining in the track groove 222 for a long time, which is conducive to improving the track groove 222.
  • the brush part 381 can be a bristle, a rubber sheet, a scraper or other cleaning structures that meet requirements, which is not specifically limited in the present disclosure.
  • the track cleaner 38 is arranged on the side of the cleaning assembly 30, and the end of the cleaning assembly 30 between the two sides is used to be movably connected with the track groove 222, so that when the cleaning assembly 30 is relatively During the moving process of the track groove 222, the track cleaning part 38 arranged on the side of the cleaning assembly 30 is located in front of the running direction of the end of the cleaning assembly 30, that is, the part of the track where the track cleaning part 38 can match the end of the cleaning assembly 30
  • the groove 222 is cleaned in advance, which is beneficial to improve the smoothness and reliability of the cleaning assembly 30 running along the track groove 222 .
  • the track cleaning member 38 is inclined to the outside of the cleaning assembly 30, that is, the track cleaning member 38 is inclined toward the end of the track groove 222 along the extending direction of the track groove 222, which is conducive to improving the cleaning of the track by the track cleaning member 38. Thoroughness and effectiveness of slot 222.
  • the track cleaning member 38 when the track cleaning member 38 is arranged on the cleaning assembly 30 perpendicular to the extending direction of the track groove 222, that is, when the track cleaning member 38 is arranged perpendicular to the moving direction of the cleaning assembly 30, along with the cleaning assembly 30 moving left and right along the track groove 222, the track The cleaning element 38 mostly pushes the impurities in the track groove 222 to both ends of the track groove 222 , and cannot remove the impurities from the track groove 222 well.
  • the track cleaning member 38 is inclined to the outside of the cleaning assembly 30, that is, the track cleaning member 38 is inclined to the end of the track groove 222 along the extending direction of the track groove 222.
  • the track cleaning part 38 can better remove impurities in the track groove 222 to the outside of the track groove 222, thereby improving the thoroughness and effectiveness of the track cleaning part 38 cleaning the track groove 222, and helping to extend the life of the track groove 222. service life, and improve the smoothness and reliability of the cleaning assembly 30 running along the track groove 222 .
  • the number of track grooves 222 is two, and the two track grooves are arranged opposite to each other along the transverse direction of the base station body 21, wherein the transverse direction of the base station body 21 is shown in the left and right directions in FIG.
  • the support 32 that the track groove 222 runs that is to say, the extension direction of the track groove 222 is parallel to the length direction of the base station body 21, and the support 32 of the cleaning assembly 30 runs along the two track grooves 222 to ensure that the cleaning assembly 30 is relative to the base station body 21 Reliability and stability of operation.
  • the two track grooves 222 are located on two sides of the bracket 32 .
  • track cleaning piece 38 can be distributed in support 32 towards any side of track groove 222, also can all be provided with track cleaning piece 38 at the both sides of support 32 towards track groove 222, like this, can clean two sides by track cleaning piece 38 Track grooves 222 are cleaned to further improve the smoothness and reliability of the support 32 relative to the base station body 21.
  • FIG. 14 is a schematic structural view of the cleaning assembly 30 in an embodiment of the present disclosure.
  • the track cleaning member 38 is inclined toward one end of the track groove 222 .
  • the track cleaning member 38 is disposed on the bracket 32 near the left end of the track groove 222 , and the track cleaning member 38 is inclined toward the left end of the track groove 222 .
  • the track cleaning member 38 is located on the bracket 32 near the right end of the track groove 222 , the track cleaning member 38 is inclined toward the right end of the track groove 222 .
  • the obliquely arranged track cleaning part 38 can smoothly remove the sundries in the track groove 222.
  • the support 32 is provided with two track cleaning parts 38 towards the side of the same track groove 222, that is, two track cleaning parts 38 are used to clean a track groove 222, which is conducive to improving the track groove. 222 cleaning efficiency and cleaning effect.
  • the two track cleaners 38 include a first track cleaner 383 and a second track cleaner 384
  • the track groove 222 includes a first end and a second end
  • the first track cleaner 383 faces toward the first end of the track groove 222.
  • the ends are inclined and located near the first end of the bracket 32
  • the second track cleaner 384 is inclined toward the second end of the track groove 222 and located near the second end of the bracket 32 .
  • the first end is the left end of the track groove 222
  • the second end is the right end of the track groove 222
  • the first track cleaning part 383 is located at the position of the support 32 near the left end of the track groove 222
  • the second track cleaning part 384 Located at the position where the bracket 32 is close to the right end of the track groove 222, that is, the first track cleaner 383 is located on the left side of the second track cleaner 384, and the first track cleaner 383 is inclined to the left end of the track groove 222.
  • the second track The cleaning member 384 is inclined to the right end of the track groove 222 .
  • the track cleaning members 38 located at both ends of the bracket 32 can better remove impurities in the track 22 out of the track 22 .
  • the cleaning assembly 30 moved to the left along the track groove 222, under the action of the first track cleaning part 383, the sundries and sewage in the track groove 222 could be moved closer to the left end of the track groove 222, because the first track cleaning The member 383 is inclined to the left end of the track groove 222, so that the sundries and sewage at the left end of the track groove 222 can be cleaned out of the track groove 222, ensuring the thoroughness of the track groove 222 cleaning.
  • the cleaning assembly 30 moves to the right along the track groove 222, under the action of the second track cleaning member 384, the sundries and sewage in the track groove 222 can be moved closer to the right end of the track groove 222, because the second track The cleaning part 384 is inclined to the right end of the track groove 222, and then the sundries and sewage located at the right end of the track groove 222 can be cleaned out of the track groove 222, ensuring the thoroughness of the track groove 222 cleaning.
  • the first track cleaner 383 and the second track cleaner 384 are located on both sides of the bracket 32 And tilt toward the outside of the support, like this, in the process that the cleaning assembly 30 moves back and forth along the track groove 222, the two track cleaners 38 clean the sundries and sewage thoroughly and reliably in the corresponding part of the track groove 222 respectively. Clear to the outside of the track groove 222, thereby ensuring that the track groove 222 has a high cleanliness, which is conducive to prolonging the service life of the track groove 222, and improving the smoothness and reliability of the cleaning assembly 30 running relative to the base station body 21, suitable for Promote apps.
  • one track cleaning piece 38 or two track cleaning pieces 38 can be provided on either side of the bracket 32 facing the two track grooves 222, for example, as shown in FIG. 15 , both sides of the support 32 are respectively provided with a track cleaning part 38, or, as shown in Figure 19, two track cleaning parts 38 are respectively provided on both sides of the support 32, or, as shown in Figure 18, one track cleaning part 38 of the support 32.
  • One track cleaning part 38 is provided on one side, and two track cleaning parts 38 are provided on the other side of the support 32.
  • the different setting numbers of the track cleaning parts 38 can meet the needs of different structures of the cleaning assembly 30 and different cleaning capabilities of the track groove 222. The scope of use of the product has been expanded.
  • the rail cleaner 38 includes a mounting portion 382 connected to a brush portion 381 , and the mounting portion 382 is detachably connected to the cleaning assembly 30 , that is, the mounting portion 382 is connected.
  • the groove 222 is clean, simple in structure and low in cost.
  • the installation part 382 connected with the brush part 381 can be disassembled from the cleaning assembly 30 for maintenance, cleaning, and replacement.
  • the operation is simple, which is conducive to reducing maintenance and replacement costs, and Improve the cleaning experience of track cleaner 38.
  • the detachable connection may be realized through other connection structures meeting requirements such as bolt thread connection, hook buckle, etc., which is not specifically limited in the present disclosure.
  • the first gear 341 linked by the part 34 is located on both sides of the bracket 32, the driving part 34 is used to drive the first gear 341 to mesh with the rack 221 so that the bracket 32 runs along the track groove 222, wherein the driving part 34 It can drive the first gear 341 to move along the positive and negative directions on the rack 221, and then drive the bracket 32 of the cleaning assembly 30 to reciprocate along the track groove 222. Cleaning effect.
  • the driving part 34 drives the first gear 341 to move on the rack 221 in a predetermined direction, and the cleaning assembly 30 runs along the track groove 222 .
  • the driving part 34 includes a motor 342 and a first rotating shaft 345, the motor 342 and the first rotating shaft 345 are drivingly connected, that is, the motor 342 can drive the first rotating shaft 345 to rotate, and the first rotating shaft 345
  • the bracket 32 the two ends of the first rotating shaft 345 are provided with the first gear 341 meshing with the rack 221. Therefore, the first rotating shaft 345 is driven to rotate by the motor 342, and the first gear 341 at the two ends of the first rotating shaft 345 is connected to the gear.
  • the bars 221 are engaged to drive the bracket 32 to move relative to the base station body 21 along the two track grooves 222 , thereby realizing the cleaning of the cleaning system 150 of the cleaning robot 10 .
  • the motor 342 can drive the first rotating shaft 345 to rotate forward or reversely, so that the bracket 32 can reciprocate along the track groove 222 , so as to improve the cleaning effect of the cleaning assembly 30 on the cleaning system 150 .
  • the first gear 341 can be integrated with the first rotating shaft 345. Such an arrangement simplifies the operation of assembling the first gear 341 and the first rotating shaft 345, which is beneficial to improve production efficiency.
  • the first gear 341 and the first rotating shaft 345 are split structures, that is, the first gear 341 is detachably arranged on the first rotating shaft 345. Such an arrangement facilitates the removal of the first gear 341 from the first rotating shaft 345 for maintenance and replacement. It is beneficial to reduce the cost of maintenance and replacement parts.
  • the present disclosure does not specifically limit the specific connection manner between the first gear 341 and the first rotating shaft 345 .
  • the rack 221 is arranged inside the track groove 222, such an arrangement reduces the size between the rack 221 and the track groove 222, which is conducive to reducing the size of the base station.
  • the volume of the main body 21 can further meet the installation requirements of the compact structure of the base station 20 and expand the application range of the product.
  • the rack 221 is arranged on the upper inner wall of the track groove 222, that is, the rack 221 that determines the running direction and provides running power for the cleaning assembly 30 relative to the base station body 21 is arranged on the upper wall of the track groove 222, and the track
  • the lower wall surface of the groove 222 opposite to the upper wall surface can provide support for the operation of the guard assembly relative to the base station body 21.
  • the lower wall surface of the track groove 222 is a relatively smooth wall surface compared with the rack 221, such a setting avoids
  • the rack 221 is arranged on the lower wall of the track groove 222, so that during the cleaning process of the cleaning system 150 of the cleaning robot 10 by the cleaning assembly 30, debris falls on the rack 221 and is difficult to clean, which affects the operation of the cleaning assembly 30 relative to the base station body 21 Convenience issues.
  • the base station 20 further includes a rail 22 detachably connected to the base station body 21, and the rail 22 is provided with a rail groove 222 and a rack 221, which are opposite to the cleaning assembly 30.
  • the rack 221 running on the base station body 21 to determine the running direction and provide running power, and the track groove 222 to provide support for the cleaning assembly 30 to run relative to the base station body 21 are all arranged on the track 22, which is conducive to reducing the assembly difficulty of the base station 20 , improve production efficiency, and can reduce the noise generated by the operation of the cleaning assembly 30, which is suitable for popularization and application.
  • the track 22 is detachably connected to the base station body 21, so that the track 22 can be disassembled from the base station body 21 for maintenance, cleaning, and replacement, which is conducive to improving maintenance efficiency, improving cleaning experience, and reducing replacement costs. for promoting applications.
  • the integrated structure of the rack 221 and the track 22 simplifies the assembly operation of the rack 221 and the track 22 , which is beneficial to further reduce the difficulty of assembling the track 22 .
  • the rack 221 and the track 22 are split structures, that is, the rack 221 can be installed at a suitable position on the track 22, so that the rack 221 can be easily removed from the track 22 for cleaning and cleaning the rack 221. Maintenance, and at the same time, it is convenient to clean and maintain the track groove 222, and the operation is simple, which is conducive to reducing maintenance costs and improving cleaning experience.
  • the base station body 21 includes a cleaning tank 212 located below the cleaning component 30 , and the cleaning tank 212 is used to accommodate cleaning
  • the component 30 removes the debris from the cleaning system 150 of the cleaning robot 10, and/or is used to collect the sewage generated in the process of cleaning the cleaning system 150, so as to facilitate subsequent treatment of the debris and sewage, and is beneficial to improve the base station 20.
  • the cleanliness of the surrounding environment It can be understood that the sundries removed from the cleaning system 150 may include sewage, hair, debris, particle dust, or other sundries that meet requirements, which is not specifically limited in the present disclosure.
  • the track groove 222 is arranged on the inner wall of the cleaning tank 212, so that the track groove 222 is located in the inside of the cleaning tank 212, that is, the cleaning assembly 30 can move above the cleaning tank 212 along the track groove 222, so that the cleaning assembly 30 is in the cleaning robot.
  • the sewage and debris in the cleaning system 150 of 10 can reliably fall into the cleaning tank 212, reducing the possibility of secondary pollution caused by sewage and debris falling outside the cleaning tank 212, which is conducive to improving the cleaning of the cleaning component 30 Effect.
  • the inner wall surface of the track groove 222 below is inclined downward toward the inside of the cleaning tank 212, such as the first inner wall surface 223 of the track groove 222 below, and the first inner wall surface 223 and the track
  • the notch of the groove 222 is connected, and the first inner wall surface 223 is inclined downward toward the inside of the cleaning groove 212, so that the cleaning assembly 30 cleans the cleaning system 150 of the cleaning robot 10, after sewage and debris enter the track groove 222
  • the possibility of the cleaning assembly 30 not running smoothly relative to the base station body 21 and corroding the rail groove 222 is conducive to improving the smoothness and reliability of the cleaning assembly 30 operating relative to the base station 20 and improving the service life of the rail 22 .
  • the sundries and sewage in the track groove 222 flow into the cleaning tank under the guidance of the first inner wall surface 223, which reduces the possibility of sewage and sundries falling into the outside of the cleaning tank 212 and causing secondary pollution.
  • the sundries in the cleaning tank 212 are treated centrally to improve the treatment efficiency of the sundries.
  • the cleaning tank 212 is provided with a sewage outlet 211, and the sewage outlet 211 is located on one side of the cleaning tank 212. Through the sewage outlet 211, the sundries and sewage in the cleaning tank 212 can be removed. to the outside of the cleaning tank 212.
  • cleaning assembly 30 also comprises cleaning part 36, and cleaning part 36 is towards the groove bottom of cleaning tank 212, and by cleaning part 36, the debris in cleaning tank 212 is moved closer to sewage outlet 211, as by cleaning part 36 and The bottom of the cleaning tank 212 is in contact with the bottom of the cleaning tank 212.
  • the cleaning member 36 moves the sundries in the cleaning tank 212 to the sewage outlet 211, so that the sundries can be concentrated, quickly and smoothly pass through.
  • the discharge from the sewage outlet 211 is conducive to improving the sewage discharge efficiency and sewage discharge effect of the base station 20, and improving user satisfaction.
  • the base station 20 can also include a sewage discharge mechanism, which communicates with the sewage discharge port 211, so as to transport the sundries in the cleaning tank 212 to the cleaning tank through the sewage discharge port 211 through the suction action and pumping action of the sewage discharge mechanism. 212 to further improve the sewage discharge effect of the base station 20.
  • the sewage discharge mechanism may include a fan assembly or a pump body assembly, or a sewage discharge assembly that meets requirements, which is not specifically limited in the present disclosure.
  • the base station 20 also includes a collection box, the collection box communicates with the cleaning tank 212 through the sewage outlet 211, so that the sundries in the cleaning tank 212 are transported to the collection box through the sewage discharge mechanism, so as to prevent the sundries in the cleaning tank 212 from overflowing. It will affect the cleaning effect of the cleaning parts and cause the working environment to be dirty.
  • the setting of the collection box is beneficial to ensure a good cleaning effect and facilitate the centralized treatment of the collected sundries.
  • a support portion 37 is further provided on the bracket 32 , and the support portion 37 and the first gear 341 are distributed at intervals along the extending direction of the track groove 222 . That is to say, the support portion 37 is distributed on both sides of the support 32 near the track 22, the support portion 37 includes support wheels arranged away from the support 32, and the support wheel is located in the track groove 222, so that the support wheel runs along the track 22 to clean the cleaning assembly 30.
  • the support is conducive to improving the stability of the cleaning assembly 30 relative to the operation of the base station body 21.
  • the setting of the support part 37 enables the support part 37 and the first gear 341 to support the bracket 32 at the same time, thereby helping to reduce the size of the first gear.
  • the supporting force of 341 improves the life of the first gear 341 and helps to reduce the noise of the first gear 341 running along the rack 221 .
  • the driving part 34 drives the first rotating shaft 345 to rotate, and the first gear 341 meshes with the rack 221 on the track 22 of the base station body 21 to drive the bracket 32 to run relative to the base station body 21.
  • the support wheels of the support part 37 run along the track groove 222, and further, the reliability and stability of the support 32 running along the track groove 222 are greatly improved, which is suitable for popularization and application.
  • the cleaning assembly 30 further includes a first cleaning part 31 and a second cleaning part 33 arranged on the bracket 32, wherein the first cleaning part 31 and the second cleaning part
  • the two cleaning parts 33 have different structures. Because the support 32 can move along the track groove 222 arranged on the base station body 21 under the drive of the driving part 34, the support 32, as a moving part, can drive the first cleaning part 31 and the first cleaning part 31.
  • the second cleaning part 33 then moves relative to the base station body 21, thereby making the first cleaning part 31 interfere with the cleaning system 150 of the cleaning robot 10, and the second cleaning part 33 interferes with the cleaning system 150 to clean the cleaning system 150.
  • the debris removal that is, the cleaning robot 10 can realize automatic cleaning on the cleaning components. It can be understood that, after the first cleaning part 31 and the second cleaning part 33 remove the sundries on the cleaning system 150 , the sundries will fall into the cleaning tank 212 .
  • the first cleaning member 31 includes a cleaning scraper, which interferes with the cleaning system 150 and can remove sundries on the cleaning system 150 .
  • the second cleaning member 33 includes cleaning rollers, and the cleaning rollers are rotatably arranged relative to the bracket 32 . The cleaning rollers interfere with the cleaning system 150 and can remove sundries on the cleaning system 150 . Further, brushes and/or blades are provided on the outer surface of the cleaning roller, and the brushes and/or blades can go deep into the cleaning system 150 to bring out the dirt hidden therein, further improving the cleaning effect.
  • the second cleaning part 33 and the first cleaning part 31 are arranged on the bracket 32 in parallel.
  • the second cleaning part 33 can be arranged in parallel on any side of the first cleaning part 31, as there are multiple second cleaning parts 33, the second cleaning part 33 can also be distributed in parallel on any side or both sides of the first cleaning part 31.
  • there are a plurality of first cleaning parts 31 and the first cleaning parts 31 may be distributed in parallel on any side or both sides of the second cleaning part 33 .
  • the second cleaning part 33 may always be in front of the first cleaning part 31 .
  • This kind of setting can make the second cleaning part 33 first clean the to-be-cleaned part of the cleaning system 150 (such as the cleaning head), that is, the bristles or blades of the second cleaning part 33 can clean the cleaning part 33 during the rotation process of the second cleaning part 33.
  • the head produces a beating effect, causing the sundries contained in the cleaning head to be shaken out and scraped off in the vibration generated by the beating effect, and then the scraper of the first cleaning part 31 is taken out or shaken off the cleaning head Scrape off the debris and the sewage on the cleaning head to ensure that the cleaning head can be cleaned more thoroughly.
  • the driving part 34 is also drivingly connected with the second cleaning part 33 to drive the second cleaning part 33 to rotate relative to the bracket 32, that is to say, the motor 342 of the driving part 34 drives the second cleaning part 33 to rotate.
  • the motor 342 drives the second cleaning element 33 to rotate relative to the bracket 32 . Therefore, make use of a motor 342 to simultaneously drive the movement of the support 32 relative to the base station body 21, and drive the second cleaning part 33 to rotate relative to the support 32, such as the rotation of the second cleaning part 33, which simplifies the operation of a driving part 34.
  • the configuration can meet the design requirement of compact product structure, and is beneficial to reduce the cost, and is suitable for popularization and application.
  • the driving part 34 drives the cleaning assembly 30 to move left and right along the track groove 222 and drives the second cleaning component 33 to rotate through the motor 342 and the multi-stage gears.
  • the driving part 34 includes a motor 342 and a gear transmission assembly.
  • the motor 342 drives the bracket 32 to move through the gear transmission assembly while the second cleaning part 33 rotates, that is, the driving gear assembly and the second cleaning part 33 rotate synchronously.
  • the motor 342 can realize forward rotation and reverse rotation, so it can drive the bracket 32 to move in two opposite directions, and at the same time drive the second cleaning member 33 to rotate in two directions (that is, to rotate clockwise and anticlockwise rotation).
  • the motor 342 can drive the support 32 to move to the left relative to the base station body 21 while driving the second cleaning member 33 to rotate clockwise;
  • the cleaning part 33 rotates counterclockwise.
  • the types and sizes of the above-mentioned gears are not limited here, and can be selected according to actual needs.
  • the cleaning assembly 30 further includes a liquid outlet device 35 , and when the cleaning assembly 30 cleans the cleaning system 150 of the cleaning robot 10 , the outlet of the cleaning assembly 30
  • the liquid device 35 can work at the same time.
  • the liquid outlet device 35 sprays the cleaning liquid onto the cleaning system 150, uses the impact force of the cleaning liquid to clean the cleaning system 150, or uses the cleaning liquid to infiltrate the cleaning system 150, and then cleans the cleaning system 150 when the cleaning parts are cleaned. 150 to improve the cleaning effect during the cleaning process.
  • the liquid outlet device 35 can spray the cleaning liquid on the second cleaning piece 33. Since the second cleaning piece 33 is in contact with the cleaning system 150 of the cleaning robot 10 through rotation, the liquid outlet device 35 sprays the cleaning liquid on the second cleaning piece 33. 33, the cleaning solution can be evenly applied to the cleaning system 150 by the rotation of the second cleaning member 33, thereby ensuring a good cleaning effect. It can be understood that the liquid outlet device 35 can also spray the cleaning liquid on the cleaning system 150 and the second cleaning member 33 at the same time, so as to further improve the wetting efficiency of the cleaning system 150 .
  • the cleaning assembly 30 since the cleaning assembly 30 is located above the cleaning tank 212 , the cleaning liquid will be contained in the cleaning tank 212 after cleaning the cleaning system 150 and will be discharged from the drain of the cleaning tank 212 .
  • the liquid outlet device 35 of the base station 20 is moved.
  • the liquid outlet device 35 runs along the track groove 222 with the support 32, so that the cleaning liquid can be sprayed or applied to the cleaning system 150 of the cleaning robot 10 more evenly. and/or the second cleaning member 33 , so that the cleaning component 30 can improve the cleaning effect and cleaning efficiency when cleaning the cleaning system 150 of the cleaning robot 10 .
  • the cleaning liquid should be prevented from overflowing into the external environment, or flowing into the relevant electrical components of the cleaning robot 10 .
  • the base station 20 also includes a liquid supply part 40 and a liquid delivery channel, one end of the liquid delivery channel is used to communicate with the liquid supply part 40, and the other end of the liquid delivery channel is connected to the liquid outlet device 35, so that the liquid supply part 40 passes through the liquid delivery channel.
  • the channel sends cleaning liquid into the liquid outlet device 35 ; wherein, at least part of the liquid sending channel is movably arranged with the bracket 32 .
  • the liquid supply part 40 realizes the storage of the cleaning liquid
  • the liquid delivery channel is a transmission part, which transmits the cleaning liquid to the liquid outlet device 35 .
  • the liquid delivery channel is a liquid delivery tube, and the liquid delivery tube is connected to the bracket 32, that is, a liquid outlet device 35 is arranged on the bracket 32, and the two ends of the liquid delivery tube are respectively connected to the liquid supply part 40 and the liquid outlet device 35, In this way, liquid supply is realized.
  • the liquid delivery channel is provided with a pump body, and the cleaning liquid in the liquid supply part 40 is transported to the liquid outlet device 35 under the action of the pump body, which can ensure that the cleaning liquid has a certain impact force, thereby improving the cleaning ability.
  • a plurality of liquid outlets 351 are arranged at intervals on the liquid outlet device 35, and the cleaning liquid is discharged through the liquid outlets 351, and liquid outlets at multiple positions can be realized, improving cleaning efficiency.
  • the liquid outlet device 35 belongs to a part of the bracket 32 , and a plurality of liquid outlets 351 are arranged on the bracket 32 at intervals, so as to realize the liquid outlet at multiple positions.
  • the liquid outlet device 35 can be fixedly arranged on the base station body 21 , for example, the liquid outlet device 35 can include a plurality of liquid outlets 351 , and the liquid outlets 351 are arranged along the base station body 21 from left to right.
  • the liquid discharge sequence and the liquid discharge frequency of the liquid outlet 351 can be set according to the moving direction and moving speed of the cleaning assembly, so as to ensure that the cleaning assembly can clean the wet cleaning system of the cleaning robot 10 153, the part to be cleaned can be soaked in advance to improve cleaning efficiency.
  • a water pressure adjustment device and/or a water temperature adjustment device can also be provided for the liquid outlet 351, and the water pressure and/or water temperature of the liquid outlet 351 can be adjusted according to factors such as the degree of dirt of the object to be cleaned, to further improve cleaning. efficiency.
  • the liquid outlet 351 of the liquid outlet device 35 can face at least one of the first cleaning part 31 and the second cleaning part 33, and the cleaning liquid discharged from the liquid outlet 351 can impact the first cleaning part 31. and at least one of the second cleaning member 33 to clean it. That is, the liquid outlet 351 is not only used as a channel for the cleaning liquid to enter the cleaning tank 212, but the liquid outlet 351 can also make the water flow impact the first cleaning part 31, the second cleaning part 33 and the cleaning head of the cleaning robot 10 wet cleaning system 153. At least one of them, so as to realize its corresponding cleaning.
  • the first cleaning part 31 and the second cleaning part 33 are arranged side by side, and the liquid outlet 351 of the liquid outlet device 35 is located below the first cleaning part 31 and faces the second cleaning part. 33, the liquid outlet 351 sprays the cleaning liquid in the liquid supply part 40 to the second cleaning part 33, and the rotation of the second cleaning part 33 interferes with the cleaning head of the wet cleaning system 153 of the cleaning robot 10, and the cleaning liquid Apply to cleansing head.
  • the liquid outlet direction of the liquid outlet 351 of the liquid outlet device 35 can be towards the cleaning head, directly spray the cleaning liquid to the cleaning head, utilize the impact of the cleaning liquid on the cleaning head, and cooperate with the first cleaning member 31 and the second cleaning head. Two cleaning parts 33 are used to clean the cleaning head.

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)
  • Cleaning In General (AREA)
  • Manipulator (AREA)

Abstract

一种基站和清洁机器人系统，其中，基站（20）包括，基站本体（21）、清洗组件（30）和轨道清洁件（38），基站本体（21）上设置有轨道槽（222），清洗组件（30）配置为沿轨道槽（222）运行，轨道清洁件（38）用于清洁轨道槽（222）。

Description

基站和清洁机器人系统
相关申请的交叉引用
本申请要求于2021年8月20日递交的中国专利申请202121975448.7的优先权，在此全文引用上述中国专利申请公开的内容以作为本申请的一部分。
技术领域
本公开涉及智能家居技术领域，尤其涉及一种基站和一种清洁机器人系统。
背景技术
目前的基站，通常会设置可移动的清洗件对扫拖一体清洁机器人的平面拖布进行清洗，但是，在清洗过程中，会有污水或杂物残留在清洗件运行的轨道槽中，影响清洗件运行的可靠性。
发明内容
在公开内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本公开的此部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
本公开第一方面的实施例，提供了一种基站，用于清洗清洁机器人的清洁系统，该基站包括：基站本体、清洗组件和轨道清洁件，其中，基站本体上设置有轨道槽，清洗组件上设置有清洗件，清洗件通过与清洁机器人清洁系统的干涉，以对清洁机器人的清洁系统进行清洗；轨道清洁件被配置为沿轨道槽运行，以对轨道槽进行清洁。
可选地，轨道清洁件设置于清洗组件上，包括位于轨道槽内部的清扫件。
可选地，轨道清洁件设置于清洗组件的侧部。
可选地，轨道清洁件向清洗组件的外侧倾斜设置。
可选地，轨道槽的数量为两个，两个轨道槽沿基站本体的横向方向相对设置。
可选地，清洗组件包括能够沿轨道槽运行的支架，轨道清洁件设置于支架两端。
可选地，支架朝向同一轨道槽的一端设置有一个轨道清洁件，轨道清洁件朝向轨道槽的一个端部倾斜设置，并位于支架靠近端部的位置处；和/或
支架朝向同一轨道槽的一端设置有两个轨道清洁件，包括第一轨道清洁件和第二轨道清洁件，第一轨道清洁件朝向轨道槽的第一端部倾斜设置并位于支架靠近第一端部的位置处，第二轨道清洁件朝向轨道槽的第二端部倾斜设置并位于支架靠近第二端部的位置处。
可选地，轨道清洁件包括与清扫件连接的安装部，安装部与清洗组件可拆卸连接。
可选地，基站还包括：齿条，设置于基站本体上，清洗组件包括驱动部和与驱动部联 动的第一齿轮，第一齿轮位于支架的两端，驱动部用于驱动第一齿轮与齿条啮合以使支架沿轨道槽运行。
可选地，齿条设置于轨道槽的内部。
可选地，基站本体包括位于清洗组件下方的清洁槽，轨道槽设置于清洁槽的内壁上，轨道槽位于下方的内壁面朝向清洁槽的内部向下倾斜，齿条设置于轨道槽位于上方的壁面上。
可选地，清洁槽设置有排污口，清洗组件还包括朝向清洁槽的槽底设置的清理件，清理件用于将清洁槽内的杂物向排污口靠拢。
可选地，基站还包括与基站本体可拆卸连接的轨道，轨道设置有轨道槽和齿条，齿条与轨道为一体式结构或分体式结构。
可选地，支架上设置有支撑部，支撑部与第一齿轮沿轨道槽的延伸方向间隔分布，支撑部包括远离支架设置的支撑轮，支撑轮位于轨道槽内。
可选地，清洗组件还包括：设置于支架上的第一清洗件和第二清洗件；其中，第一清洗件和第二清洗件通过与清洁机器人的清洁系统的干涉，将清洁系统上的杂物移除。
可选地，驱动部还与第二清洗件驱动连接，以驱动第二清洗件相对于支架转动。
可选地，清洗组件还包括：出液装置，出液装置排出的清洗液体用于清洗清洁系统后容置于清洁槽。
本公开第二方面的实施例，提供了一种清洁机器人系统，包括：清洁机器人，包括清洁系统；以及第一方面任一项的基站，清洗组件用于清洁清洁系统。
附图说明
本公开的下列附图在此作为本公开实施例的一部分用于理解本公开。附图中示出了本公开的实施例及其描述，用来解释本公开的原理。
附图中：
图1为根据本公开的一个可选实施例的清洁机器人系统的结构示意图；
图2为根据本公开的一个可选实施例的清洁机器人的结构示意图；
图3为图2所示实施例的一个视角的结构示意图；
图4为图3所示实施例的部分爆炸示意图；
图5为根据本公开的一个可选实施例的基站的结构示意图；
图6为图5所示实施例的一个视角的结构示意图；
图7为图6所示实施例的又一个视角的部分结构示意图；
图8为根据本公开的一个可选实施例的基站本体的部分结构示意图；
图9为图8所示实施例的A处的局部放大示意图；
图10为图8所示实施例的一个视角的剖视图；
图11为图8所示实施例的又一个视角的结构示意图；
图12为根据本公开的一个可选实施例的轨道的结构示意图；
图13为图12所示实施例的一个视角的结构示意图；
图14为根据本公开的一个可选实施例的清洗组件的结构示意图；
图15为图14所示实施例的一个视角的结构示意图；
图16为图14所示实施例的又一个视角的结构示意图；
图17为根据本公开的另一个可选实施例的清洗组件的结构示意图；
图18为根据本公开的又一个可选实施例的清洗组件的结构示意图；
图19为根据本公开的再一个可选实施例的清洗组件的结构示意图。
附图标记说明
10清洁机器人，110机器主体，111前向部分，112后向部分，120感知系统，121确定装置，122缓冲器，130控制模块，140驱动系统，141驱动轮模块，142从动轮，150清洁系统，151干式清洁系统，152边刷，153湿式清洁系统，1531清洁头，1532驱动单元，1533驱动平台，1534支撑平台，160能源系统，170人机交互系统，20基站，21基站本体，211排污口，212清洁槽，22轨道，221齿条，222轨道槽，223第一内壁面，30清洗组件，31第一清洗件，32支架，33第二清洗件，34驱动部，341第一齿轮，342电机，345第一转轴，35出液装置，351出液口，36清理件，37支撑部，38轨道清洁件，381清扫件，382安装部，383第一轨道清洁件，382第二轨道清洁件，40供液部。
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本公开所提供的技术方案更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本公开所提供的技术方案可以无需一个或多个这些细节而得以实施。
应予以注意的是，这里所使用的术语仅是为了描述具体实施例，而非意图限制根据本公开的示例性实施例。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式。此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在所述特征、整体、步骤、操作、元件和/或组件，但不排除存在或附加一个或多个其他特征、整体、步骤、操作、元件、组件和/或它们的组合。
现在，将参照附图更详细地描述根据本公开的示例性实施例。然而，这些示例性实施例可以多种不同的形式来实施，并且不应当被解释为只限于这里所阐述的实施例。应当理解的是，提供这些实施例是为了使得本公开的公开彻底且完整，并且将这些示例性实施例的构思充分传达给本领域普通技术人员。
如图1至图19所示，本公开的实施例提供了一种基站20和一种清洁机器人10系统，其中，如图1所示，清洁机器人系统包括清洁机器人10和基站20，即基站20与清洁机器人10配合使用。
进一步地，如图2和图3所示，清洁机器人10可以包括机器主体110、感知系统120、控制模块130、驱动系统140、清洁系统150、能源系统160和人机交互系统170。可以理解的是，清洁机器人10可以为自移动清洁机器人或满足要求的其他清洁机器人。自移动清洁机器人是在无使用者操作的情况下，在某一待清洁区域自动进行清洁操作的设备。其中，当自移动清洁机器人开始工作时，自移动清洁设备从基站20出发进行清洁任务。当自移动清洁机器人10完成清洁任务或其他需要中止清洁任务的情况时，自移动清洁机器人10可以返回基站20进行充电或其他操作。
如图2所示，机器主体110包括前向部分111和后向部分112，具有近似圆形形状(前后都为圆形)，也可具有其他形状，包括但不限于前方后圆的近似D形形状及前方后方的矩形或正方形形状。
如图2所示，感知系统120包括位于机器主体110上的位置确定装置121、设置于机器主体110的前向部分111的缓冲器122上的碰撞传感器、近距离传感器，设置于机器主体110下部的悬崖传感器，以及设置于机器主体110内部的磁力计、加速度计、陀螺仪、里程计等传感装置，用于向控制模块130提供机器的各种位置信息和运动状态信息。位置确定装置121包括但不限于摄像头、激光测距装置(LDS，全称Laser Distance Sensor)。
如图2所示，机器主体110的前向部分111可承载缓冲器122，在清洁过程中驱动轮模块141推进清洁机器人10在地面行走时，缓冲器122经由设置在其上的传感器系统，例如红外传感器，检测清洁机器人10的行驶路径中的一个或多个事件，清洁机器人10可通过由缓冲器122检测到的事件，例如障碍物、墙壁，而控制驱动轮模块141使清洁机器人10来对事件做出响应，例如远离障碍物。
控制模块130设置在机器主体110内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器根据激光测距装置反馈的障碍物信息利用定位算法，例如即时定位与地图构建(SLAM，全称Simultaneous Localization And Mapping)，绘制清洁机器人10所在环境中的即时地图。并且结合缓冲器122上所设置传感器、悬崖传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断清洁机器人10当前处于何种工作状态、位于何位置，以及清洁机器人10当前位姿等，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得清洁机器人10有更好的清扫性能和用户体验。
如图3所示，驱动系统140可基于具有距离和角度信息(例如x、y及θ分量)的驱动命令而操纵机器主体110跨越地面行驶。驱动系统140包含驱动轮模块141，驱动轮模块141可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动轮模块141分别包括左驱动轮模块和右驱动轮模块。左、右驱动轮模块沿着由机器主体110界定的横向轴设置。为了清洁机器人10能够在地面上更为稳定地运动或者更强的运动能力，清洁机器人10可以包括一个或者多个从动轮142，从动轮142包括但不限于万向轮。驱动轮模 块141包括行走轮和驱动马达以及控制驱动马达的控制电路，驱动轮模块141还可以连接测量驱动电流的电路和里程计。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接到机器主体110，且接收向下及远离机器主体110偏置的弹簧偏置。弹簧偏置允许驱动轮以一定的着地力维持与地面的接触及牵引，同时清洁机器人10的清洁元件也以一定的压力接触地面。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型自动清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
清洁系统150可为干式清洁系统151和/或湿式清洁系统153。
如图3所示，本公开实施例所提供的干式清洁系统151可以包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。干式清洁系统151还可包括具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁系统150的滚刷区域中。
如图3和图4所示，本公开实施例所提供的湿式清洁系统153可以包括：清洁头1531、驱动单元1532、送水机构、储液箱等。其中，清洁头1531可以设置于储液箱下方，储液箱内部的清洁液通过送水机构传输至清洁头1531，以使清洁头1531对待清洁平面进行湿式清洁。在本公开其他实施例中，储液箱内部的清洁液也可以直接喷洒至待清洁平面，清洁头1531通过将清洁液涂抹均匀实现对平面的清洁。
其中，清洁头1531用于清洁待清洁表面，驱动单元1532用于驱动清洁头1531沿着目标面基本上往复运动的，目标面为待清洁表面的一部分。清洁头1531沿待清洁表面做往复运动，清洁头1531与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。
在本公开提供的实施例中，如图5所示，基站20包括基站本体21和清洗组件30，其中，清洗组件30可以移动地设置在基站本体21上。具体地，清洗组件30能够相对于基站本体21移动，如清洗组件30能够沿基站20左右方向往复运动，基站20的左右方向如图5中的实线箭头所示，图5中的虚线箭头所示方向为基站20的前后方向。清洗组件30包括清洗件，清洗件用于通过与清洁机器人10的清洁及系统150的干涉以将清洁系统150上的杂物移除。
具体地，如图8、图9、图10和图11所示，基站本体21上设置轨道槽222，清洗组件30配置为沿轨道槽222运行，可以理解的是，清洗组件30配置为能够沿轨道槽222往复运行，使得清洗组件30能够沿基站本体21移动，进而通过清洗组件与清洁机器人10的清洁系统150进行干涉，实现对清洁系统150的自动清洁。也就是说，清洁机器人10能够在基站20的清洗组件30上实现自动清洁，进而省去了人工清洁清洁系统150或更换新的清洁系统150的操作，简化了人工操作，提升了人工的清洁体验，并有利于降低清洁成本，适于推广应用。
其中，如图14、图15和图16所示，基站20还包括用于清洁轨道槽222的轨道清洁件38，由于杂物和污水粘附、残留在轨道槽222内部会腐蚀、损坏轨道槽，并影响清洗组件30沿轨道槽222运行的顺畅性的情况，因此，利用轨道清洁件38来清洁轨道槽222，将轨道槽222内的杂物和污水及时排出，能够降低杂物和污水残留、堆积在轨道槽222内的可能性，进而提高清洗组件30在轨道槽222内运行的顺畅性和可靠性，有利于提高清洗组件30的清洁效率，并有利于延长轨道槽222的使用寿命，提高基站20的可靠性。
具体地，轨道清洁件38可以与轨道槽222分离设置，如轨道清洁件38可以是单独设置的，或者可拆卸的设置在基站本体21上，当轨道槽222较为脏污时，或基站本体21使用一段时间后存在杂物残留在轨道槽222的情况下，操作工人可以手持轨道清洁件38对轨道槽222进行清扫，并在清扫完毕后将轨道清洁件38移除轨道槽222进行收纳，操作简单，使用方便。可以理解的是，轨道清洁件也可以设置在满足要求的其他结构上。
在本公开提供的一些可能实现的实施例中，如图14、图16所示，轨道清洁件38可以设置在清洗组件30上，即轨道清洁件38随着清洗组件30沿轨道槽222的移动而移动，因此，当清洗组件30沿轨道槽222运行对清洁机器人10的清洁系统150进行清洁时，利用轨道清洁件38对轨道槽222进行清洗，简化了人工手持轨道清洁件38清洁轨道槽222的操作，增大了清洗组件30的功能，适于推广应用。
进一步地，轨道清洁件38设置于清洗组件30上，包括位于轨道槽222内的刷部381，因此，当清洗组件30沿轨道槽222运行的过程中，轨道清洁件38位于轨道槽222内部的刷部381也沿轨道槽222移动，进而对轨道槽222进行清洁，避免了污水或杂物长时间残留在轨道槽222内使轨道槽222腐蚀、生锈的情况发生，有利于提高轨道槽222的使用寿命，同时，避免了杂物和污水影响清洗组件30相对于轨道槽222运行的顺畅性的问题，进而有利于提高清洗组件30相对于轨道槽222运行的顺畅性和可靠性，有利于确保清洗组件30较高的清洁效率。可以理解的是，刷部381可以为刷毛、橡胶片、刮条或满足要求的其他清洁结构，本公开不做具体限定。
在上述实施例中，轨道清洁件38设置于清洗组件30的侧部，清洗组件30位于两个侧部之间的端部用于与轨道槽222可移动连接，这样，在清洗组件30相对于轨道槽222移动过程中，设置在清洗组件30侧部的轨道清洁件38位于清洗组件30的端部的运行方向的前方，即轨道清洁件38能够对清洗组件30的端部相匹配的部分轨道槽222提前进行 清扫，有利于提高清洗组件30沿轨道槽222运行的顺畅性和可靠性。在本实施例中，轨道清洁件38向清洗组件30的外侧倾斜设置，即轨道清洁件38沿轨道槽222的延伸方向朝向轨道槽222的端部倾斜设置，有利于提高轨道清洁件38清洁轨道槽222的彻底性和有效性。如当轨道清洁件38垂直于轨道槽222的延伸方向设置于清洗组件30上，即轨道清洁件38垂直于清洗组件30的运动方向设置时，随着清洗组件30沿轨道槽222左右运动，轨道清洁件38更多地是将轨道槽222内的杂质推向轨道槽222的两端，无法很好地将杂物从轨道槽222内清除。而本实施例中，轨道清洁件38向清洗组件30的外侧倾斜设置，即轨道清洁件38沿轨道槽222的延伸方向向轨道槽222的端部倾斜设置，当清洗组件30沿轨道槽222左右运动时，轨道清洁件38可以较好地将轨道槽222内杂质清出至轨道槽222的外部，进而提高轨道清洁件38清洁轨道槽222的彻底性和有效性，有利于延长轨道槽222的使用寿命，并提高清洗组件30沿轨道槽222运行的顺畅性和可靠性。
进一步地，轨道槽222的数量为两个，两个轨道槽沿基站本体21的横向方向相对设置，其中，基站本体21的横向方向如图5中的左右方向所示，清洗组件30包括能够沿轨道槽222运行的支架32，也就是说，轨道槽222的延伸方向与基站本体21的长度方向平行，清洗组件30的支架32沿两个轨道槽222运行以确保清洗组件30相对于基站本体21运行的可靠性和稳定性。可以理解的是，两个轨道槽222位于支架32的两侧。
其中，轨道清洁件38可分布于支架32朝向轨道槽222的任一侧，也可在支架32朝向轨道槽222的两侧均设置有轨道清洁件38，这样，通过轨道清洁件38能够对两个轨道槽222进行清洁，进一步提高支架32相对于基站本体21运行的顺畅性和可靠性。
在本公开的一示例中，一方面，支架32朝向同一轨道槽222的一侧设置有一个轨道清洁件38，即利用一个轨道清洁件38对一条轨道槽222进行清洁。其中，图14为本公开一实施例中清洗组件30的结构示意图，在该图中，轨道清洁件38朝向轨道槽222的一个端部倾斜设置。在图16中，轨道清洁件38设置于支架32靠近轨道槽222左端部的位置，则轨道清洁件38朝向轨道槽222的左端部倾斜设置。在本公开其他实施例中，若轨道清洁件38位于支架32靠近轨道槽222右端部的位置处，则轨道清洁件38朝向轨道槽222的右端部倾斜设置。
当轨道清洁件38倾斜设置于支架32的左端部时，当支架32带动轨道清洁件38向左运动时，倾斜设置的轨道清洁件38可顺利将轨道槽222内的杂物清除。
另一方面，如图17所示，支架32朝向同一轨道槽222的一侧设置有两个轨道清洁件38，即利用两个轨道清洁件38对一条轨道槽222进行清洁，有利于提高轨道槽222的清洁效率和清洁效果。其中，两个轨道清洁件38包括第一轨道清洁件383和第二轨道清洁件384，轨道槽222包括第一端部和第二端部，第一轨道清洁件383朝向轨道槽222的第一端部倾斜设置，并位于支架32靠近第一端部的位置处，第二轨道清洁件384朝向轨道槽222的第二端部倾斜设置，并位于支架32靠近第二端部的位置处。如第一端部为轨道槽222的左端部，第二端部为轨道槽222的右端部，第一轨道清洁件383位于支架32靠 近轨道槽222左端部的位置处，第二轨道清洁件384位于支架32靠近轨道槽222右端部的位置处，即第一轨道清洁件383位于第二轨道清洁件384的左侧，第一轨道清洁件383向轨道槽222的左端部倾斜设置，第二轨道清洁件384向轨道槽222的右端部倾斜设置。
这样的设置，当清洗组件30沿轨道槽222左右运动时，位于支架32两端的轨道清洁件38可以较好地将轨道22内杂质清除出轨道22。如当清洗组件30沿轨道槽222向左移动时，在第一轨道清洁件383的作用下，能够将轨道槽222内的杂物和污水向轨道槽222的左端部靠拢，由于第一轨道清洁件383向轨道槽222的左端部倾斜设置，进而能够将位于轨道槽222左端部的杂物和污水清理出轨道槽222，确保轨道槽222清洁的彻底性。反之，当清洗组件30沿轨道槽222向右移动时，在第二轨道清洁件384的作用下，能够将轨道槽222内的杂物和污水向轨道槽222的右端部靠拢，由于第二轨道清洁件384向轨道槽222的右端部倾斜设置，进而能够将位于轨道槽222右端部的杂物和污水清理出轨道槽222，确保轨道槽222清洁的彻底性。
也就是说，通过在支架32朝向同一轨道槽222的一侧设置第一轨道清洁件383和第二轨道清洁件384，第一轨道清洁件383和第二轨道清洁件384位于支架32的两侧并朝向支架的外部倾斜，这样，在清洗组件30沿轨道槽222左右往复移动的过程中，两个轨道清洁件38分别在各自所对应的部分轨道槽222内将杂物和污水彻底、可靠地清除至轨道槽222的外部，进而确保轨道槽222具有较高的清洁性，有利于延长轨道槽222的使用寿命，并提高清洗组件30相对于基站本体21运行的顺畅性和可靠性，适于推广应用。
可以理解的是，对于两条轨道槽222，可以在支架32朝向两条轨道槽222的任一侧分别设置一个轨道清洁件38或两个轨道清洁件38，举例而言，如图15所示，支架32的两侧分别设置有一个轨道清洁件38，或者，如图19所示，支架32的两侧分别设置有两个轨道清洁件38，或者，如图18所示，支架32的一侧设置有一个轨道清洁件38，支架32的另一侧设置有两个轨道清洁件38，轨道清洁件38的不同设置数量，能够满足清洗组件30不同结构、轨道槽222不同清洁能力的需求，扩大了产品的使用范围。
在本公开提供的一些可能实现的实施例中，如图16所示，轨道清洁件38包括与刷部381连接的安装部382，安装部382与清洗组件30可拆卸连接，即安装部382连接刷部381和清洗组件30，由于刷部381位于轨道槽222内，因此，在清洗组件30沿轨道槽222移动的过程中，通过安装部382带动刷部381沿轨道槽222移动，实现对轨道槽222的清洁，结构简单，成本较低。
通过安装部382与清洗组件30可拆卸连，可以将连接有刷部381的安装部382从清洗组件30上拆卸下来进行维修、清理、更换，操作简单，有利于降低维修、换件成本，并提升轨道清洁件38的清洁体验。具体地，可拆卸连接可以通过螺栓螺纹连接、卡勾卡扣等满足要求的其他连接结构实现，本公开不做具体限定。
在本公开提供的一些可能实现的实施例中，如图7、图8、图14所示，基站20还包括设置在基站本体21上的齿条221，清洗组件30包括驱动部34和与驱动部34联动的第 一齿轮341，第一齿轮341位于支架32的两侧，驱动部34用于驱动第一齿轮341与齿条221啮合以使支架32沿轨道槽222运行，其中，驱动部34能够驱动第一齿轮341在齿条221上沿正反两个方向移动，进而带动清洗组件30的支架32沿轨道槽222能够往复运行，这样的设置，有利于提高清洗组件30清洁清洁系统150的清洁效果。
其中，通过第一齿轮341与齿条221之间的啮合，驱动部34驱动第一齿轮341在齿条221上以预定方向移动，而清洗组件30沿轨道槽222运行。
具体地，如图14和图15所示，驱动部34包括电机342和第一转轴345，电机342和第一转轴345驱动连接，即电机342工作能够驱动第一转轴345转动，第一转轴345穿设于支架32，第一转轴345的两端设置有与齿条221啮合的第一齿轮341，因此，通过电机342驱动第一转轴345转动，第一转轴345两端的第一齿轮341与齿条221啮合，带动支架32沿两个轨道槽222相对于基站本体21移动，进而实现对清洁机器人10的清洁系统150的清洗。进一步地，电机342能够驱动第一转轴345正转或反转，进而使得支架32能够沿轨道槽222往复运行，以提高清洗组件30对清洁系统150的清洁效果。
可以理解的是，第一齿轮341可以与第一转轴345为一体式结构，这样的设置，简化了第一齿轮341与第一转轴345装配的操作，有利于提高生产效率，或者，第一齿轮341与第一转轴345为分体式结构，即第一齿轮341可拆卸的设置于第一转轴345上，这样的设置，方便将第一齿轮341从第一转轴345上拆卸下来进行维修和更换，有利于降低维修换件成本。对于第一齿轮341与第一转轴345的具体连接方式，本公开不做具体限定。
在上述实施例中，如图9和图11所示，齿条221设置在轨道槽222的内部，这样的设置，减小了齿条221和轨道槽222之间的尺寸，有利于减小基站本体21的体积，进而能够满足基站20结构紧凑的设置需求，扩大产品的使用范围。
进一步地，齿条221设置于轨道槽222位于上方的内壁上，即为清洗组件30相对于基站本体21运行确定运行方向和提供运行动力的齿条221设置在轨道槽222的上壁面，而轨道槽222与上壁面相对设置的下壁面，能够为护组件相对于基站本体21运行提供支撑力，由于轨道槽222的下壁面与齿条221相比为较为光滑的壁面，这样的设置，避免了齿条221设置在轨道槽222的下壁面，使得清洗组件30在清洁清洁机器人10的清洁系统150的过程中，杂物落在齿条221上难以清理、影响清洗组件30相对于基站本体21运行顺畅性的问题。
也就是说，通过齿条221设置于轨道槽222位于上方的内壁面，有利于降低轨道槽222的清洁难度，进而有利用确保清洁槽212具有较高的清洁性，并提高清洗组件30沿轨道槽222运行的顺畅性和可靠性。同时，有利于减小清洗组件30相对于轨道槽222运行过程中产生的噪音，提升用户的使用体验。
在本公开的一示例中，如图12和图13所示，基站20还包括与基站本体21可拆卸连接的轨道22，轨道22设置有轨道槽222和齿条221，即将为清洗组件30相对于基站本体21运行确定运行方向和提供运行动力的齿条221、以及为清洗组件30相对于基站本体21 运行提供支撑力的轨道槽222均设置在轨道22上，有利于降低基站20的装配难度，提高生产效率，并能够减小清洗组件30运行产生的噪音，适于推广应用。
进一步地，轨道22与基站本体21可拆卸连接，使得可以将轨道22从基站本体21上拆卸下来进行维修、清理、更换，进而有利于提高维修效率，提升清理体验，并降低换件成本，适于推广应用。
一方面，通过齿条221与轨道22为一体式结构，简化了齿条221与轨道22的装配操作，有利于进一步减小轨道22的装配难度。
另一方面，齿条221与轨道22为分体式结构，即可以将齿条221安装在轨道22的合适位置处，进而便于将齿条221从轨道22上拆卸下料对齿条221进行清理和维修，同时便于对轨道槽222进行清理和维修，操作简单，有利于降低维修成本，提高清洁体验。
在本公开提供的一些可能实现的实施例中，如图8、图9、图10、图11所示，基站本体21包括位于清洗组件30下方的清洁槽212，清洁槽212用于容置清洗组件30从清洁机器人10的清洁系统150上移除的杂物，和/或用于收集清洁清洁系统150过程中产生的污水，进而方便对杂物和污水进行后续处理，并有利于提高基站20附近环境的清洁性。可以理解的是，从清洁系统150上移除的杂物可以包括污水、毛发、碎屑、颗粒灰尘、或满足要求的其他杂物，本公开不做具体限定。
通过轨道槽222设置在清洁槽212的内壁上，使得轨道槽222位于清洁槽212的内部，即清洗组件30能够沿轨道槽222在清洁槽212的上方移动，进而使得清洗组件30在清洗清洁机器人10的清洁系统150过程中的污水和杂物能够可靠地落入清洁槽212内，降低污水和杂物落入清洁槽212外部而造成二次污染的可能性，有利于提高清洗组件30的清洁效果。
如图10和图13所示，轨道槽222位于下方的内壁面朝向清洁槽212的内部向下倾斜，如轨道槽222位于下方的内壁面为第一内壁面223，第一内壁面223与轨道槽222的槽口连通，通过第一内壁面223朝向清洁槽212的内部向下倾斜，使得清洗组件30在对清洁机器人10的清洁系统150进行清洁过程中，污水和杂物进入轨道槽222之后不容易残留在第一内壁面223上，即污水和杂物会在倾斜设置的第一内壁面223的引导下，流入清洁槽212的内部，进而降低了污水和杂物残留在轨道槽222内导致清洗组件30相对于基站本体21运行不顺畅、腐蚀轨道槽222的可能性，有利于提高清洗组件30相对于基站20运行的顺畅性和可靠性，并有利于提高轨道22的使用寿命。同时，轨道槽222内的杂物和污水在第一内壁面223的引导下流入清洁槽，降低了污水和杂物落入清洁槽212的外部而造成二次污染的可能性，同时，便于对清洁槽212内的杂物进行集中处理，以提高杂物的处理效率。
在上述实施例中，如图6所示，清洁槽212设置有排污口211，排污口211位于清洁槽212的一侧，通过排污口211，能够将清洁槽212内的杂物和污水移除至清洁槽212的外部。
如图15所示，清洗组件30还包括清理件36，清理件36朝向清洁槽212的槽底，通过清理件36将清洁槽212内的杂物向排污口211靠拢，如通过清理件36与清洁槽212的槽底抵接，清洗组件30在沿轨道槽222运行的过程中，清理件36将清洁槽212内的杂物向排污口211靠拢，使得杂物能够集中、快速、顺畅地经排污口211排出，进而有利于提高基站20的排污效率和排污效果，提高用户使用的满意度。
可以理解的是，基站20还可以包括排污机构，排污机构与排污口211连通，以通过排污机构的抽吸动作、泵送动作等将清洁槽212内的杂物通过排污口211输送至清洁槽212的外部，进一步提高基站20的排污效果。具体地，排污机构可以包括风机组件或泵体组件，或满足要求的排污组件，本公开不做具体限定。
进一步地，基站20还包括收集箱，收集箱通过排污口211与清洁槽212相连通，从而将清洁槽212内的杂物通过排污机构输送至收集箱，以免清洁槽212内的杂物溢出而影响清洗件的清洁效果，并造成工作环境脏污，收集箱的设置，有利于保证良好的清洁效果，并利于对收集的杂物进行集中处理。
在本公开提供的一些可能实现的实施例中，如图14和图16所示，支架32上还设置有支撑部37，支撑部37与第一齿轮341沿轨道槽222的延伸方向间隔分布，也就是说，支撑部37分布在支架32靠近轨道22的两侧，支撑部37包括远离支架32设置的支撑轮，支撑轮位于轨道槽222内，使得支撑轮沿轨道22运行对清洗组件30进行支撑，有利于提高清洗组件30相对于基站本体21运行的稳定性，同时，支撑部37的设置，使得支撑部37和第一齿轮341同时对支架32进行支撑，进而有利于减小第一齿轮341的支撑力，提高第一齿轮341的寿命，并有利于减小第一齿轮341沿齿条221运行过程中的噪音。
也就是说，本公开实施例提供的基站20，驱动部34驱动第一转轴345转动，第一齿轮341与基站本体21轨道22上的齿条221啮合带动支架32相对于基站本体21运行，同时，支撑部37的支撑轮沿轨道槽222运行，进而，大大提高了支架32沿轨道槽222运行的可靠性和平稳性，适于推广应用。
在本公开的一示例中个，如图14和图16所示，清洗组件30还包括设置于支架32上的第一清洗件31和第二清洗件33，其中，第一清洗件31和第二清洗件33是不同的结构，由于支架32在驱动部34的驱动下能够沿设置在基站本体21上的轨道槽222移动，因此，支架32作为一个移动部件，能够带动第一清洗件31和第二清洗件33随之相对于基站本体21移动，进而使得第一清洗件31与清洁机器人10的清洁系统150进行干涉、第二清洗件33通过与清洁系统150进行干涉，将清洁系统150上的杂物移除，即清洁机器人10能够在清洗组件上实现自动清洁。可以理解的是，第一清洗件31和第二清洗件33将清洁系统150上的杂物移除后，杂物会落入清洁槽212内。
其中，第一清洗件31包括清洗刮子，清洗刮子与清洁系统150干涉，能够将清洁系统150上的杂物移除。第二清洗件33包括清洗辊子，且清洗辊子相对于支架32可转动地设置，清洗滚子与清洁系统150干涉，能够将清洁系统150上的杂物移除。进一步地，清 洗辊子外表面设置毛刷和/或叶片，毛刷和/或叶片可以深入清洁系统150，将藏于其中的脏污带出，进一步提高清洁效果。
其中，第二清洗件33和第一清洗件31平行设置在支架32上。第二清洗件33可以平行设置于第一清洗件31的任何一侧，如存在多个第二清洗件33，第二清洗件33也可以平行分布于第一清洗件31的任何一侧或两侧，或者，存在多个第一清洗件31，第一清洗件31可以平行分布于第二清洗件33的任何一侧或两侧。
在本公开的一示例中，驱动部34驱动支架32沿轨道槽222往复运动过程中，第二清洗件33可以始终处于第一清洗件31的前方。该种设置，可以使第二清洗件33首先对清洁系统150(如清洁头)的待清洗部位进行清洗，即第二清洗件33的刷毛或叶片在第二清洗件33的转动过程中对清洁头产生拍打效应，导致藏纳于清洁头内的杂物在拍打效应产生的震动中被抖出并被刮除，随后，第一清洗件31的刮子对清洁头中被带出或被抖出的杂物、以及清洁头上的污水进行刮除，保证清洁头可以被较为彻底地清洗。
在本公开提供的一些可能实现的实施例中，驱动部34还与第二清洗件33驱动连接，以驱动第二清洗件33相对于支架32转动，也就是说驱动部34的电机342驱动第一转轴345转动，带动支架32沿轨道槽222移动时，电机342驱动第二清洗件33相对于支架32转动。因此，使得利用一个电机342能够同时驱动支架32相对于基站本体21的移动，并驱动第二清洗件33相对于支架32转动，如第二清洗件33的自转运动，简化了一个驱动部34的设置，能够满足产品结构紧凑的设计需求，并有利于降低成本，适于推广应用。
在本实施例中，驱动部34驱动清洗组件30沿轨道槽222左右移动以及驱动第二清洗件33的转动通过电机342配合多级齿轮实现。如驱动部34包括电机342和齿轮传动组件，电机342通过齿轮传动组件驱动支架32移动的同时第二清洗件33转动，即驱动齿轮组件和第二清洗件33同步转动。
在本实施例中，电机342可以实现正转与反转，因此可以驱动支架32沿两个相反的方向进行移动，同时会驱动第二清洗件33沿两个方向进行转动(即顺时针的转动以及逆时针的转动)。例如，电机342可以驱动支架32相对于基站本体21向左移动的同时，驱动第二清洗件33顺时针转动；电机342也可以驱动支架32相对于基站本体21向右移动的同时，驱动第二清洗件33逆时针转动。需要说明的是，对于上述各个齿轮的类型和大小此处不作限定，可以根据实际需求进行相应的选择。
在本公开提供的一些可能实现实施例中，如图14所示，清洗组件30还包括出液装置35，在清洗组件30对清洁机器人10的清洁系统150进行清洗过程中，清洗组件30的出液装置35可以同时工作，出液装置35将清洗液喷洒至清洁系统150上，利用清洗液的冲击力对清洁系统150进行清洗，或者利用清洗液浸润清洁系统150，进而在清洗件对清洁系统150进行清洁的过程中，提高清洁效果。
进一步地，出液装置35可以将清洗液喷洒在第二清洗件33上，由于第二清洗件33通过转动与清洁机器人10的清洁系统150接触，因此，出液装置35喷洒在第二清洗件33 上的清洗液，可以通过第二清洗件33的自转将清洗液均匀涂抹至清洁系统150上，进而保证良好的清洁效果。可以理解的是，出液装置35也可以将清洗液同时喷洒在清洁系统150和第二清洗件33上，以进一步提高清洁系统150的浸润效率。
可以理解的是，由于清洗组件30位于清洁槽212的上方，因此，清洗液在清洗清洁系统150后会容置于清洁槽212内，并由清洁槽212的排水口排出。
在上述实施例中，基站20的出液装置35移动设置，如出液装置35随着支架32沿轨道槽222运行，可以将清洗液更为均匀地喷洒或涂抹至清洁机器人10的清洁系统150和/或第二清洗件33上，使清洗组件30在清洗清洁机器人10的清洁系统150时，提高清洁效果和清洗效率。可以理解的是，为了确保清洁机器人10和基站20用电的安全性，应避免清洗液体溢出而流入外部环境，或者流入到清洁机器人10的相关电力部件上。
进一步地，基站20还包括供液部40和送液通道，送液通道的一端用于连通供液部40，送液通道的另一端连通出液装置35，以使供液部40通过送液通道将清洗液体送入出液装置35；其中，送液通道的至少部分随支架32可移动地设置。供液部40实现了对清洗液体的存储，而送液通道为一个传输部件，将清洗液传输至出液装置35。
进一步地，送液通道为送液管，送液管与支架32相连接，即在支架32上设置有出液装置35，送液管的两端分别连通供液部40和出液装置35，以此实现供液。其中，送液通道设置泵体，供液部40内的清洗液体在泵体的作用下输送至出液装置35，可以保证清洗液体具有一定的冲击力，以此提高清洗能力。
在本公开的实施例中，如图14所示，出液装置35上间隔设置有多个出液口351，清洗液体通过出液口351排出，并能够实现多个位置处的出液，提高清洗效率。
一方面，出液装置35属于支架32的一部分，多个出液口351间隔地设置在支架32上，以此实现对多个位置处的出液。另一方面，出液装置35可以固定设置于基站本体21上，例如，出液装置35可以包括多个出液口351，出液口351沿着基站本体21从左至右排布。当清洗组件30相对于基站本体21左右移动时，出液口351的出液顺序以及出液频率可以根据清洗组件的移动方向和移动速度设置，以保证清洗组件在清洗清洁机器人10的湿式清洁系统153时，待清洁部分可以被提前浸湿，提高清洁效率。除此以外，还可以为出液口351设置水压调整装置和/或水温调整装置，根据待清洁物体的脏污程度等因素调节出液口351的水压和/或水温，以进一步提高清洁效率。
在上述实施例中，出液装置35的出液口351可以朝向第一清洗件31和第二清洗件33中的至少之一，由出液口351排出的清洗液体能够冲击第一清洗件31和第二清洗件33中的至少之一，以对其进行清洁。即出液口351不仅作为清洗液体进入清洁槽212的通道，且出液口351还能够使得水流冲击第一清洗件31、第二清洗件33以及清洁机器人10湿式清洁系统153的清洁头中的至少之一，以此实现对其相应的清洁。
在本公开的实施例中，如图14所示，第一清洗件31和第二清洗件33并列设置，出液装置35的出液口351位于第一清洗件31下方并朝向第二清洗件33，出液口351将供液 部40中的清洗液体喷至第二清洗件33，并通过第二清洗件33的自转与清洁机器人10的湿式清洁系统153的清洁头产生干涉，将清洗液涂抹至清洁头。可以理解的是，出液装置35的出液口351的出液方向可以朝向清洁头，直接将清洗液体喷洒至清洁头，利用清洗液对清洁头的冲击，并配合第一清洗件31和第二清洗件33，实现对清洁头的清洗。
本公开已经通过上述实施例进行了说明，但应当理解的是，上述实施例只是用于举例和说明的目的，而非意在将本公开限制于所描述的实施例范围内。此外本领域技术人员可以理解的是，本公开并不局限于上述实施例，根据本公开的教导还可以做出更多种的变型和修改，这些变型和修改均落在本公开所要求保护的范围以内。本公开的保护范围由附属的权利要求书及其等效范围所界定。

Claims (18)

  1. 一种基站，用于清洗清洁机器人的清洁系统，包括：
    基站本体、清洗组件和轨道清洁件，其中，
    所述基站本体上设置有轨道槽，所述清洗组件被配置为沿所述轨道槽运行，所述清洗组件上设置有清洗件，所述清洗件通过与所述清洁机器人清洁系统的干涉，以对所述清洁机器人的清洁系统进行清洗；
    所述轨道清洁件被配置为沿所述轨道槽运行，以对所述轨道槽进行清洁。
  2. 根据权利要求1所述的基站，其中，
    所述轨道清洁件设置于所述清洗组件上，包括位于所述轨道槽内部的清扫件。
  3. 根据权利要求2所述的基站，其中，
    所述轨道清洁件设置于所述清洗组件的侧部。
  4. 根据权利要求3所述的基站，其中，
    所述轨道清洁件向所述清洗组件的外侧倾斜设置。
  5. 根据权利要求3所述的基站，其中，
    所述轨道槽的数量为两个，两个所述轨道槽沿所述基站本体的横向方向相对设置。
  6. 根据权利要求5所述的基站，其中，
    所述清洗组件包括能够沿所述轨道槽运行的支架，所述轨道清洁件设置于所述支架两端。
  7. 根据权利要求6所述的基站，其中，
    所述支架朝向同一所述轨道槽的一端设置有一个所述轨道清洁件，所述轨道清洁件朝向所述轨道槽的一个端部倾斜设置，位于所述支架靠近所述端部的位置处；和/或
    所述支架朝向同一所述轨道槽的一端设置有两个所述轨道清洁件，包括第一轨道清洁件和第二轨道清洁件，所述第一轨道清洁件朝向所述轨道槽的第一端部倾斜设置并位于所述支架靠近所述第一端部的位置处，所述第二轨道清洁件朝向所述轨道槽的第二端部倾斜设置并位于所述支架靠近所述第二端部的位置处。
  8. 根据权利要求2所述的基站，其中，
    所述轨道清洁件包括与所述清扫件连接的安装部，所述安装部与所述清洗组件可拆卸连接。
  9. 根据权利要求6所述的基站，其中，还包括：
    齿条，设置于所述基站本体上，所述清洗组件包括驱动部和与所述驱动部联动的第一齿轮，所述第一齿轮位于所述支架的两端，所述驱动部用于驱动所述第一齿轮与所述齿条啮合以使所述支架沿所述轨道槽运行。
  10. 根据权利要求9所述的基站，其中，
    所述齿条设置于所述轨道槽的内部。
  11. 根据权利要求10所述的基站，其中，
    所述基站本体包括位于所述清洗组件下方的清洁槽，所述轨道槽设置于所述清洁槽的内壁上，所述轨道槽位于下方的内壁面朝向所述清洁槽的内部向下倾斜，所述齿条设置于所述轨道槽位于上方的壁面上。
  12. 根据权利要求11所述的基站，其中，
    所述清洁槽设置有排污口，所述清洗组件还包括朝向所述清洁槽的槽底设置的清理件，所述清理件用于将所述清洁槽内的杂物向所述排污口靠拢。
  13. 根据权利要求9所述的基站，其中，
    所述基站还包括与所述基站本体可拆卸连接的轨道，所述轨道设置有所述轨道槽和所述齿条，所述齿条与所述轨道为一体式结构或分体式结构。
  14. 根据权利要求9所述的基站，其中，
    所述支架上设置有支撑部，所述支撑部与所述第一齿轮沿所述轨道槽的延伸方向间隔分布，所述支撑部包括远离所述支架设置的支撑轮，所述支撑轮位于所述轨道槽内。
  15. 根据权利要求9所述的基站，其中，所述清洗组件还包括：
    设置于所述支架上的第一清洗件和第二清洗件；
    其中，所述第一清洗件和第二清洗件通过与清洁机器人的清洁系统的干涉，将所述清洁系统上的杂物移除。
  16. 根据权利要求15所述的基站，其中，
    所述驱动部还与所述第二清洗件驱动连接，以驱动所述第二清洗件相对于所述支架转动。
  17. 根据权利要求11所述的基站，其中，所述清洗组件还包括：
    出液装置，所述出液装置排出的清洗液体用于清洗所述清洁系统后容置于所述清洁槽。
  18. 一种清洁机器人系统，包括：
    清洁机器人，包括清洁系统；以及
    如权利要求1至17中任一项所述的基站，所述清洁组件用于清洁所述清洁系统。
PCT/CN2022/085650 2021-08-20 2022-04-07 基站和清洁机器人系统 Ceased WO2023019975A1 (zh)

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