CN112497267A

CN112497267A - Robot base station

Info

Publication number: CN112497267A
Application number: CN202011240621.9A
Authority: CN
Inventors: 杨勇; 宫海涛; 廖佰军; 罗林斌
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2020-11-09
Filing date: 2020-11-09
Publication date: 2021-03-16

Abstract

The invention provides a robot base station which comprises a storage device, a base, a moving device and a control system, wherein the storage device is used for storing cleaning pieces; the base comprises a base body, a tray arranged on the base body and a first locking piece arranged on the base body, wherein the tray is provided with a fixed station and a separation station on the base body, and the position of the tray can be switched between the fixed station and the separation station; the moving device is used for moving the tray, moving the cleaning pieces on the first locking piece into the storage device and moving the cleaning pieces in the storage device onto the first locking piece; the control system is electrically connected with the first locking piece and the moving and taking device; when the tray is positioned at the fixed station, the cleaning robot borne on the tray is connected with the cleaning piece fixed on the first locking piece; when the tray is at the separating station, the cleaning robot borne on the tray is separated from the cleaning piece fixed on the first locking piece. The robot base station can replace cleaning pieces, and the workload of a user is reduced.

Description

Robot base station

Technical Field

The invention belongs to the technical field of cleaning and maintaining equipment of cleaning robots, and particularly relates to a robot base station.

Background

In recent years, with the development of social economy and the improvement of the domestic living standard, furniture cleaning gradually enters an intelligent and mechanized era, and a cleaning robot produced by transportation can free people from household cleaning work, effectively reduce the workload of people in the aspect of household cleaning, and relieve the fatigue degree of people in the household cleaning process.

The cleaning robot is generally provided with a cleaning piece (such as a rolling brush or a mop head), in the actual use process, the cleaning piece becomes dirty, and the condition that the cleaning piece needs to be cleaned is generated, so that a robot base station capable of cleaning the cleaning piece is derived, but the cleaning piece of the cleaning robot is difficult to replace by the existing robot base station, the hands of a user cannot be completely liberated, particularly, the rolling brush of the cleaning robot needs to be manually replaced by the mop head in the use process of the cleaning robot, so that the cleaning robot is switched from a floor sweeping mode to a floor mopping mode, the inconvenient workload of the user is increased undoubtedly, and the user is caused.

Disclosure of Invention

The embodiment of the invention aims to provide a robot base station to solve the technical problem that a cleaning piece of a cleaning robot is difficult to replace in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that: there is provided a robot base station for a cleaning robot provided with a detachable cleaning member, the robot base station comprising:

a storage device for storing the cleaning members;

the cleaning robot comprises a base and a cleaning mechanism, wherein the base comprises a base body, a tray arranged on the base body and used for bearing the cleaning robot and a first locking part arranged on the base body and used for temporarily fixing the cleaning part, the tray at least comprises a fixing station and a separating station on the base body, the position of the tray can be switched between the fixing station and the separating station, and the tray is provided with an inlet for the cleaning robot to enter;

removing means for moving said tray, said cleaning members on said first locking member into said storage means and said cleaning members in said storage means onto said first locking member; and

the first locking piece and the moving device are both electrically connected to the control system;

when the tray is positioned at the fixing station, the cleaning robot borne on the tray is connected with the cleaning piece temporarily fixed on the first locking piece; when the tray is at the separating station, the cleaning robot borne on the tray is separated from the cleaning piece temporarily fixed on the first locking piece.

In one embodiment, the moving device comprises a clamping jaw for grabbing the tray or the cleaning piece, a first displacement mechanism connected with the clamping jaw and used for driving the clamping jaw to do lifting motion along the vertical direction, and a second displacement mechanism connected with the first displacement mechanism and used for driving the first displacement mechanism to do back-and-forth motion along the horizontal direction, and the vertical direction is perpendicular to the horizontal direction.

In one embodiment, the first displacement mechanism includes a fixed plate, a guide shaft fixedly connected to the fixed plate and extending in the vertical direction, a linear bearing slidably connected to the guide shaft and fixedly connected to the clamping jaw, a screw rod rotatably connected to the fixed plate and extending in the horizontal direction, a nut seat fixedly connected to the clamping jaw and threadedly connected to the screw rod, a lifting driving member for driving the screw rod to rotate, and a transmission assembly connected to the screw rod and the lifting driving member, wherein the lifting driving member drives the screw rod to rotate through the transmission assembly.

In one embodiment, the second displacement mechanism includes a rotatable horizontal driving wheel, a rotatable horizontal driven wheel disposed on one side of the rotating wheel along a horizontal direction, a horizontal synchronous belt wrapped around the horizontal driving wheel and the horizontal driven wheel, a first pressing plate fixedly connected to a fixing plate, a second pressing plate fixedly connected to one side of the first pressing plate away from the fixing plate, a horizontal driving member for driving the horizontal driving wheel to rotate, a guide rail extending along the horizontal direction, and a sliding block fixedly connected to the fixing plate and slidably connected to the guide rail, wherein the horizontal synchronous belt is sandwiched between the first pressing plate and the second pressing plate.

In one embodiment, the base has a first dust collecting pipeline and a first dust collecting opening communicated with the first dust collecting pipeline, and the tray has a dust collecting opening for exposing the first dust collecting opening.

In one embodiment, the tray further has a dust collection station on the housing, the tray being switchable between a position on the housing between the separation station and the dust collection station;

when the tray is positioned at the fixed station and/or the separation station, the bottom surface of the tray shields the first dust collecting opening; when the tray is arranged at the dust collecting station, the first dust collecting opening is opposite to the dust collecting opening.

In one embodiment, the robot base station further comprises a dust collecting container communicated with the first dust collecting pipeline and a negative pressure generating device communicated with the dust collecting container and used for providing negative pressure.

In one embodiment, the robot base station further comprises a cleaning mechanism detachably connected to the base body, and the cleaning mechanism comprises an upper shell, a lower shell connected to the upper shell, and a cleaning assembly arranged between the upper shell and the lower shell and used for cleaning the cleaning member.

In one embodiment, the upper casing, the cleaning assembly and the lower casing together enclose a cleaning chamber, and the robot base station further comprises a water tank communicated with the cleaning chamber and a pump arranged between the cleaning chamber and the water tank and used for conveying water.

In one embodiment, the cleaning assembly comprises an upper cleaning plate, a lower cleaning plate and a cleaning driving member, wherein the lower cleaning plate is connected below the upper cleaning plate in a sliding mode along the length direction of the upper cleaning plate, the cleaning driving member drives the upper cleaning plate and the lower cleaning plate to slide relatively, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along the length direction of the upper cleaning plate, and the lower cleaning plate is provided with a plurality of second comb teeth at intervals corresponding to the plurality of first comb teeth.

The use principle of the robot base station is as follows: in an initial state, the tray is located at a fixed station, the cleaning robot enters the tray from an inlet of the tray, the cleaning robot is borne on the tray, the cleaning piece is temporarily fixed by the first locking piece, and at the moment, the cleaning robot is connected with the cleaning piece; subsequently, the moving device moves the tray to a separating station, so that the cleaning robot is separated from the cleaning piece; the first locking part releases the cleaning piece, the moving device moves the cleaning piece on the first locking part into the storage device, then the moving device moves the other cleaning piece on the storage device to the first locking part, and the first locking part temporarily fixes the other cleaning piece; the removing device moves the tray to a fixed station, the first locking part releases the other cleaning piece, and the cleaning robot is connected with the other cleaning piece, so that the replacement of the cleaning piece is completed. Compared with the prior art, the robot base station can realize replacement of cleaning pieces, thoroughly liberates hands of users, greatly reduces workload of the users, and improves use experience of the users.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic perspective view of a robot base station according to an embodiment of the present invention;

fig. 2 is a schematic perspective view of a robot base station provided by an embodiment of the present invention, with a housing omitted;

fig. 3 is a schematic perspective view of a removing device according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a storage device according to an embodiment of the present invention;

fig. 5 is a schematic perspective view of a base and a tray located at a fixing station according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a second base and a tray at a separating station according to an embodiment of the present invention;

FIG. 7 is a third schematic perspective view of the base and a schematic view of the tray at a dust collecting station according to an embodiment of the present invention;

FIG. 8 is an exploded view of a base according to an embodiment of the present invention;

FIG. 9 is a schematic cross-sectional view of a tray at a fixed station according to an embodiment of the present invention;

FIG. 10 is a schematic cross-sectional view of a tray at a separation station according to an embodiment of the present invention;

FIG. 11 is a schematic cross-sectional view of a tray at a dust collection station according to an embodiment of the present invention;

FIG. 12 is an exploded view of the cleaning mechanism according to the embodiment of the present invention;

fig. 13 is an exploded view of a cleaning assembly according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100-a storage device; 110-a storage bin; 111-bracket; 120-a hanger; 121-a second locking member; 122-a hook; 200-a moving device; 210-a jaw; 220-a first displacement mechanism; 221-a fixing plate; 222-a guide shaft; 223-linear bearings; 224-a screw mandrel; 225-nut seat; 226-a lifting drive; 227-a transmission assembly; 2271-vertical driving wheel; 2272 — vertical driven wheel; 2273 — vertical timing belt; 230-a second displacement mechanism; 231-horizontal drive wheel; 232-horizontal driven wheel; 233-horizontal synchronous belt; 234 — a first platen; 235-a second platen; 236-horizontal drive; 237-a guide rail; 238-a slide block; 300-a base; 310-a seat body; 311-a receiving groove; 312 — a first dust collection conduit; 3121-a first dust collection port; 3122-a first seal; 313-a second dust collection circuit; 3131 — a second dust collecting port; 314-a chute; 3141-a first vertical slot; 3142-a second vertical slot; 3143-transverse grooves; 320-a tray; 321-a guide wheel; 322-a dust collection opening; 323-a roller; 330-a first locking member; 400-a cleaning mechanism; 410-a cleaning assembly; 411-upper cleaning plate; 4111-first comb teeth; 4112-a slide rail; 412-lower wash plate; 4121-second comb teeth; 4122-a guide groove; 413-cleaning the driving member; 414-an operator; 4141-eccentric shaft; 415-a connector; 4151-slot; 420-upper shell; 430-a lower shell; 440-a lead-out; 441-dust exhaust port; 450-a second seal; 460-a third seal; 500-a dust collecting container; 600-a negative pressure generating device; 700-a water tank; 710-a first water tank; 720-a second water tank; 900-cleaning member; y-vertical direction; x-horizontal direction.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 and 2, an embodiment of the present invention provides a robot base station for a cleaning robot (not shown) provided with a detachable cleaning member 900, where the cleaning member 900 may be a rolling brush for sweeping or a mop head for mopping. The robot base station includes a storage device 100 for storing the cleaning members 900, and the cleaning members 900 can be prevented from being lost by placing the detached cleaning members 900 in the storage device 100.

Specifically, with reference to fig. 2, 5, 6 and 8, the robot base station further includes a base 300, the base 300 includes a base body 310, a tray 320 disposed on the base body 310 and used for carrying the cleaning robot, and a first locking member 330 disposed on the base body 310 and used for temporarily fixing the cleaning member 900, the tray 320 at least has a fixing station and a separating station on the base body 310, the tray 320 can switch positions between the fixing station and the separating station, and the tray 320 has an inlet for the cleaning robot to enter; wherein, when the tray 320 is at the fixing station, the cleaning robot carried on the tray 320 is connected with the cleaning member 900 temporarily fixed on the first locking member 330; when the tray 320 is at the detaching station, the cleaning robot carried on the tray 320 is detached from the cleaning members 900 temporarily fixed to the first locking member 330. With this structure, the cleaning robot and the cleaning member 900 can be separated or coupled together by switching the tray 320 between the fixing station and the separating station, so that the cleaning member 900 can be replaced.

Specifically, referring to fig. 2 and 3, the robot base station further includes a removing device 200 and a control system, the removing device 200 is used for moving the tray 320, moving the cleaning members 900 on the first locking member 330 into the storage device 100, and moving the cleaning members 900 in the storage device 100 onto the first locking member 330, and both the first locking member 330 and the removing device 200 are electrically connected to the control system. Under the structure, the control system controls the moving device 200 and the first locking part 330 to work, so that the automation degree of the robot base station can be improved.

The robot base station of the embodiment of the invention has the following use principle: in an initial state, the tray 320 is located at a fixed station, the cleaning robot enters the tray 320 from an inlet of the tray 320, so that the cleaning robot is borne on the tray 320, the first locking member 330 temporarily fixes the cleaning member 900, and at this time, the cleaning robot is connected with the cleaning member 900; subsequently, the transfer device 200 moves the tray 320 to the separating station, so that the cleaning robot is separated from the cleaning members 900; then, the first locking member 330 releases the cleaning members 900, and the removing device 200 moves the cleaning members 900 on the first locking member 330 into the storage device 100; then, the removing device 200 moves another cleaning member 900 of the storage device 100 to the first locking member 330, and the first locking member 330 temporarily fixes another cleaning member 900; then, the removing device 200 moves the tray 320 to a fixing station, and the first locking member 330 releases another cleaning member 900, at which time the cleaning robot is coupled with another cleaning member 900, thereby completing the replacement of the cleaning member 900. Compared with the prior art, the robot base station provided by the embodiment of the invention can realize replacement of the cleaning piece 900, thoroughly liberates the hands of a user, greatly reduces the workload of the user and improves the use experience of the user.

In the robot base station according to the embodiment of the present invention, the storage device 100 is disposed above the base 300, and the moving device 200 is disposed above the storage device 100, so that the moving device 200, the storage device 100, and the base 300 are compact in structure, which is beneficial to reducing the volume of the robot base station. It is understood that the layout of the removing device 200, the storing device 100 and the base 300 can be modified according to the choice of actual conditions and specific requirements, and is not limited thereto.

Further, as an embodiment of the present invention, as shown in fig. 2 and 3, the removing device 200 includes a clamping jaw 210 for gripping the tray 320 or the cleaning member 900, a first displacement mechanism 220 connected to the clamping jaw 210 for driving the clamping jaw 210 to move up and down along a vertical direction Y, and a second displacement mechanism 230 connected to the first displacement mechanism 220 for driving the first displacement mechanism 220 to move back and forth along a horizontal direction X, wherein the vertical direction Y is perpendicular to the horizontal direction X. With this structure, the clamping jaws 210 can move up and down along the vertical direction Y and back and forth along the horizontal direction X, so that the positions of the clamping jaws 210 can be better adjusted to facilitate grasping of the tray 320 or the cleaning member 900.

It should be noted that, in the robot base station according to the embodiment of the present invention, the handle for hooking the clamping jaw 210 is disposed on the tray 320, so that the clamping jaw 210 can drive the tray 320 to move synchronously, and the slot for hooking the clamping jaw 210 is disposed on the cleaning member 900, so that the clamping jaw 210 can drive the cleaning member 900 to move synchronously.

Further, as an embodiment of the present invention, as shown in fig. 3, the first displacement mechanism 220 includes a fixing plate 221, a guide shaft 222 fixedly connected to the fixing plate 221 and extending in the vertical direction Y, a linear bearing 223 slidably connected to the guide shaft 222 and fixedly connected to the clamping jaw 210, a screw rod 224 rotatably connected to the fixing plate 221 and extending in the horizontal direction X, a nut seat 225 fixedly connected to the clamping jaw 210 and threadedly connected to the screw rod 224, a lifting driving member 226 for driving the screw rod 224 to rotate, and a transmission assembly 227 connected to the screw rod 224 and the lifting driving member 226, wherein the lifting driving member 226 drives the screw rod 224 to rotate through the transmission assembly 227. Under this structure, the lifting driving member 226 can be a motor, the lifting driving member 226 rotates through the driving screw rod 224, so that the clamping jaw 210 is driven to move up and down by the threaded connection on the nut seat 225, and the stability of the lifting movement of the clamping jaw 210 can be improved by the arrangement of the guide shaft 222 and the linear bearing 223. In this embodiment, the lift driver 226 is electrically connected to the control system. It is understood that the specific structure of the first displacement mechanism 220 can be modified as appropriate according to the choice of actual conditions and specific requirements, and is not limited thereto.

Further, as an embodiment of the present invention, as shown in fig. 3, the transmission assembly 227 includes a rotatable vertical driving wheel 2271, a plurality of rotatable vertical driven wheels 2272, and a vertical timing belt 2273 wrapped around the vertical driving wheel 2271 and the plurality of vertical driven wheels 2272, an output shaft of the lifting driving member 226 is fixedly connected to the vertical driving wheel 2271, so that the output shaft of the lifting driving member 226 and the vertical driving wheel 2271 can rotate synchronously, one end of the lead screw 224 is fixedly connected to the corresponding vertical driven wheel 2272, so that the lead screw 224 and the corresponding vertical driven wheel 2272 can rotate synchronously, and thus the lifting driving member 226 can drive the lead screw 224 to rotate. It will be understood that the specific structure of the transmission assembly 227 may be modified as appropriate, according to the choice of the actual situation and the specific requirements, and is not limited solely here.

In the robot base station according to the embodiment of the present invention, the two opposite sides of the fixing plate 221 are respectively provided with the clamping jaws 210, that is, the two clamping jaws 210 are respectively arranged on the two opposite sides of the fixing plate 221, correspondingly, the two opposite sides of the fixing plate 221 are respectively provided with the corresponding guide shaft 222, the linear bearing 223, the lead screw 224 and the nut seat 225, and the two lead screws 224 are respectively and fixedly connected with the corresponding vertical driven wheel 2272, so that the moving and picking device 200 can stably pick the tray 320 or the cleaning member 900.

Further, as shown in fig. 3, as an embodiment of the present invention, the second displacement mechanism 230 includes a rotatable horizontal driving wheel 231, a rotatable horizontal driven wheel 232 disposed on one side of the rotating wheel along the horizontal direction X, a horizontal timing belt 233 wrapped around the horizontal driving wheel 231 and the horizontal driven wheel 232, a first pressing plate 234 fixedly connected to the fixed plate 221, a second pressing plate 235 fixedly connected to one side of the first pressing plate 234 away from the fixed plate 221, a horizontal driving member 236 for driving the horizontal driving wheel 231 to rotate, a guide rail 237 extending along the horizontal direction X, and a slider 238 fixedly connected to the fixed plate 221 and slidably connected to the guide rail 237, wherein the horizontal timing belt 233 is interposed between the first pressing plate 234 and the second pressing plate 235. Under this structure, the horizontal driving member 236 may be a motor, and the horizontal driving member 236 drives the horizontal driving wheel 231 to rotate, so that the horizontal timing belt 233 wrapped around the horizontal driving wheel 231 and the horizontal driven wheel 232 synchronously rotates, and the fixing plate 221 fixedly connected to the horizontal timing belt 233 moves back and forth along the horizontal direction X, that is, the first displacement mechanism 220 and the clamping jaw 210 thereon move back and forth along the horizontal direction X, and the arrangement of the guide rail 237 and the slider 238 can improve the stability of the lifting movement of the clamping jaw 210. In this embodiment, the horizontal driving member 236 is electrically connected to the control system. It is understood that the specific structure of the second displacement mechanism 230 can be modified appropriately according to the choice of actual conditions and specific requirements, and is not limited thereto.

Further, as an embodiment of the present invention, as shown in fig. 8, a rotatable guide wheel 321 is provided at an inner side of the tray 320, and the guide wheel 321 can play a role of guiding the cleaning robot when the cleaning robot climbs into the tray 320.

Further, as an embodiment of the present invention, as shown in fig. 5, the first locking member 330 is an electromagnet, the first locking member 330 adsorbs the cleaning member 900 by magnetic force, and specifically, an iron sheet or other structure capable of being adsorbed by the electromagnet may be disposed on the cleaning member 900 at a position corresponding to the first locking member 330, when the first locking member 330 is energized, the first locking member 330 generates magnetic force and adsorbs the iron sheet on the cleaning member 900, so that the cleaning member 900 is temporarily fixed on the first locking member 330, and at this time, if the tray 320 drives the cleaning robot to move from the fixing station to the detaching station, the cleaning robot is detached from the cleaning member 900 because the cleaning member 900 is temporarily fixed on the cleaning member 900. It is understood that the first locking member 330 can be other element structures according to the choice of actual conditions and specific requirements, and is not limited thereto.

Further, as an embodiment of the present invention, as shown in fig. 4, the storage device 100 includes a storage bin 110, the storage bin 110 is provided with a bracket 111 for placing a cleaning element 900, the bracket 111 can place a plurality of cleaning elements 900, in the storage device 100 of this embodiment, two cleaning elements 900 can be placed in the bracket 111; and/or the like, and/or,

the storage device 100 comprises a hanging bracket 120, the hanging bracket 120 can hang a plurality of cleaning pieces 900, the hanging bracket 120 is provided with a second locking piece 121 and a hook 122, the cleaning pieces 900 are hung on the second locking piece 121 and the hook 122, and in the storage device 100 of the embodiment, the hanging bracket 120 can hang two cleaning pieces 900.

Further, as an embodiment of the present invention, the second locking member 121 is an electromagnet, the second locking member 121 attracts the cleaning member 900 by magnetic force, and specifically, an iron piece or other structure capable of being attracted by the electromagnet may be disposed on the cleaning member 900 at a position corresponding to the second locking member 121, and when the second locking member 121 is energized, the second locking member 121 generates magnetic force and attracts the iron piece on the cleaning member 900, so that the cleaning member 900 is temporarily fixed on the second locking member 121. It is understood that the second locking member 121 may be other element structures according to the choice of actual conditions and specific requirements, and is not limited herein.

Further, as shown in fig. 8, as an embodiment of the present invention, the base 310 is provided with a first dust collecting duct 312 and a first dust collecting opening 3121 communicated with the first dust collecting duct 312, and the tray 320 is provided with a dust collecting opening 322 for exposing the first dust collecting opening 3121. In this embodiment, the cleaning robot is further provided with a dust box (not shown), the dust box is provided with a dust outlet (not shown) opposite to the dust collection opening 322, in this structure, a negative pressure generating device 600 (a fan) and a dust collection container 500 can be arranged at one end of the first dust collection pipeline 312 far away from the first dust collection port 3121, the dust collection container 500 is communicated with the first dust collection pipeline 312, the negative pressure generating device 600 is communicated with the dust collection container 500 and is used for providing negative pressure, when the negative pressure generating device 600 generates negative pressure to generate suction force, dust or other garbage in the dust box can sequentially pass through the dust outlet, the dust collection opening 322, the first dust collection port 3121 and the first dust collection pipeline 312 and then reach the dust collection container 500, a user does not need to detach the dust box from the cleaning robot to clean the dust box, the cleaning mode of the dust box is simplified, and the use experience of the user is greatly improved.

Further, as an embodiment of the present invention, as shown in fig. 6 and 7, the tray 320 further has a dust collecting station on the seat 310, and the tray 320 can switch positions between the separating station and the dust collecting station on the seat 310; as shown in fig. 9 and 10, when the tray 320 is at the fixing station and/or the separating station, the bottom surface of the tray 320 shields the first dust collection port 3121; as shown in fig. 11, when the tray 320 is in the dust collecting station, the first dust collection port 3121 is disposed opposite to the dust collection opening 322. With the structure, the first dust collecting opening 3121 is exposed from the tray 320 only at the dust collecting station, so that the first dust collecting opening 3121 is prevented from being dirty and difficult to clean due to dust accumulation in the air at the first dust collecting opening 3121.

Further, as an embodiment of the present invention, as shown in fig. 8, a containing groove 311 is formed on the base 310, the tray 320 is disposed in the containing groove 311, and the tray 320 has a fixing station, a separating station and a dust collecting station in the containing groove 311. Under the structure, the base 300 is compact in structure, the size of the base 300 is reduced, and the robot base station is miniaturized.

Further, as one embodiment of the present invention, as shown in fig. 8 to 11, the first dust collection port 3121 is provided with a first sealing member 3122; when the tray 320 is in the fixed station, the first sealing member 3122 is arranged between the first dust collecting port 3121 and the bottom surface of the tray 320; when the tray 320 is in the dust collecting station, the first dust collecting opening 3121 is in sealed communication with the dust collecting opening 322 via the first sealing member 3122. Under this structure, can improve the gas tightness in dust collection route, improve dust collection efficiency, and can prevent that the dust from piling up and causing the dirty difficult clearance of first dust collection port 3121 in first dust collection port 3121 department.

Further, as an embodiment of the present invention, as shown in fig. 8, the slot walls of the receiving slot 311 are provided with sliding slots 314, the tray 320 is provided with rotatable rollers 323 corresponding to the sliding slots 314, the rollers 323 are embedded in the sliding slots 314, and the positions of the tray 320 can be switched between different stations by the cooperation of the rollers 323 and the sliding slots 314.

Specifically, as shown in fig. 8, the sliding groove 314 includes a first vertical groove 3141 and a horizontal groove 3143 communicated with the first vertical groove 3141, the first vertical groove 3141 extends in a direction perpendicular to the bottom surface of the accommodating groove 311, and the horizontal groove 3143 extends in a direction parallel to the bottom surface of the accommodating groove 311, and with this structure, when the roller 323 is located at one end of the first vertical groove 3141 close to the bottom surface of the accommodating groove 311, the tray 320 is located at the fixing station; when the tray 320 is located at the fixing station, the roller 323 moves along the first vertical groove 3141 and the transverse groove 3143 in sequence and finally stays at one end of the transverse groove 3143 far away from the first vertical groove 3141, that is, the tray 320 moves along the first vertical groove 3141 to one end of the transverse groove 3143 close to the first vertical groove 3141 and then moves along the transverse groove 3143 to one end of the transverse groove 3143 far away from the first vertical groove 3141, and at this time, the tray 320 is located at the separating station, that is, the cleaning robot carried on the tray 320 is separated from the cleaning member 900 temporarily fixed to the first locking member 330 by moving the tray 320 in two different directions for a certain distance.

Specifically, as shown in fig. 8, the sliding groove 314 further includes a second vertical groove 3142, the horizontal groove 3143 is used to connect the first vertical groove 3141 and the second vertical groove 3142, and the second vertical groove 3142 extends in a direction perpendicular to the bottom surface of the accommodating groove 311, in this structure, when the tray 320 is located at the separating station, the roller 323 is located at an end of the horizontal groove 3143 away from the first vertical groove 3141, the tray 320 is pushed and the roller 323 passes through the horizontal groove 3143 to reach an end of the second vertical groove 3142 close to the bottom surface of the accommodating groove 311, that is, the tray 320 moves along the horizontal groove 3143 to an end of the second vertical groove 3142 away from the bottom surface of the accommodating groove 311 (i.e., an end of the second vertical groove 3142 close to the horizontal groove 3143), and then moves along the second vertical groove 3142 to an end of the second vertical groove 3142 close to the bottom surface of the accommodating groove 311 (i.e., an end of the second vertical groove 3142 away from the horizontal groove 3143), when the tray 320 is located at the separating station 3121, the first dust collecting opening is located, and the first dust collection port 3121 is in sealed communication with the dust collection opening 322 via the first sealing member 3122.

Further, as an embodiment of the present invention, as shown in fig. 8, 12 and 13, the robot base station further includes a washing mechanism 400 detachably coupled to the housing 310, and the washing mechanism 400 includes an upper case 420, a lower case 430 coupled to the upper case 420, and a washing unit 410 disposed between the upper case 420 and the lower case 430 and used for washing the cleaning members 900. Under this structure, the user need not wash cleaning member 900 manually, reduces user's work load, improves user's use experience. In this embodiment, the upper case 420 and the lower case 430 are detachably connected, and the detachable connection can be realized by, but not limited to, a screw connection, so as to separate the upper case 420 from the lower case 430 and perform cleaning and maintenance.

Further, as an embodiment of the present invention, as shown in fig. 8, 12 and 13, the upper case 420, the washing unit 410 and the lower case 430 together enclose to form a washing chamber, as shown in fig. 2, the robot base station further includes a water tank 700 communicating with the washing chamber, and a pump (not shown) disposed between the washing chamber and the water tank 700 and used for delivering water. In this embodiment, the lower case 430 is provided with a water inlet (not shown) and a water outlet (not shown), the water tank 700 may include a first water tank 710 and a second water tank 720, both the first water tank 710 and the second water tank 720 are composite water tanks, the pump may convey water in the first water tank 710 or the second water tank 720 into the cleaning chamber through the water inlet to clean the cleaning member, and the sewage in the cleaning chamber may be discharged through the water outlet.

Further, as an embodiment of the present invention, as shown in fig. 13, the cleaning assembly 410 includes an upper cleaning plate 411, a lower cleaning plate 412 slidably connected below the upper cleaning plate 411 along a length direction of the upper cleaning plate 411, and a cleaning driving member 413 for driving the upper cleaning plate 411 and the lower cleaning plate 412 to relatively slide, wherein the upper cleaning plate 411 is provided with a plurality of first comb teeth 4111 at intervals along a length direction thereof, and the lower cleaning plate 412 is provided with a plurality of second comb teeth 4121 at intervals corresponding to the plurality of first comb teeth 4111. In this embodiment, the lower cleaning plate 412 is provided with a guide groove 4122, and the upper cleaning plate 411 is provided with a slide rail 4112 embedded in the guide groove 4122, so that the upper cleaning plate 411 and the lower cleaning plate 412 are slidably connected; the cleaning driving member 413 is electrically connected to a control system, and the control system can control the working state of the cleaning driving member 413.

The cleaning principle of the cleaning assembly 410 is as follows: when the cleaning member 900 is located at a fixed station, the bristles or the mop cloth of the cleaning member 900 are arranged on the cleaning assembly 410, the bristles or the mop cloth pass through the gap between two adjacent first comb teeth 4111 and the gap between two corresponding adjacent second comb teeth 4121, and the cleaning driving member 413 drives the upper cleaning plate 411 and the lower cleaning plate 412 to slide relatively, so that the second comb teeth 4121 scrub the bristles or the mop cloth, and dirt can be removed, thereby completing cleaning.

Further, as shown in fig. 13, as an embodiment of the present invention, the cleaning driving member 413 is a motor, the cleaning assembly 410 further includes an operating member 414 fixedly connected to an output shaft of the motor and a connecting member 415 fixedly connected to the lower cleaning plate 412, a free end of the operating member 414 is provided with an eccentric shaft 4141, the eccentric shaft 4141 is disposed to be deviated from an axis of the output shaft of the motor, and the connecting member 415 is provided with a slot 4151 into which the eccentric shaft 4141 is inserted. With this structure, when the output shaft of the motor drives the operating member 414 to rotate, the eccentric shaft 4141 of the operating member 414 is offset from the axis of the output shaft of the motor, so that the connecting member 415 coupled to the eccentric shaft 4141 and the lower cleaning plate 412 can slide left and right with respect to the upper cleaning plate 411. In this embodiment, the slot 4151 may be a waist-shaped slot, and of course, the shape of the slot 4151 may be modified according to the choice of the actual situation and the specific requirement, and is not limited herein.

Further, as shown in fig. 12, as an embodiment of the present invention, the cleaning mechanism 400 further includes a leading-out member 440 disposed between the upper shell 420 and the lower shell 430, the leading-out member 440 is provided with a dust discharge port 441 communicated with the cleaning chamber, and with reference to fig. 8, the base 310 is provided with a second dust collecting pipeline 313 and a second dust collecting port 3131 communicated with the second dust collecting pipeline 313, and the second dust collecting port 3131 is disposed opposite to the dust discharge port 441, so as to collect the dirt in the cleaning chamber. In this embodiment, the second dust collecting pipe 313 communicates in parallel with the first dust collecting pipe 312, and thus, the second dust collecting pipe 313 and the first dust collecting pipe 312 can share one negative pressure source to absorb and collect dust and dirt.

Further, as an embodiment of the present invention, as shown in fig. 12, the cleaning mechanism 400 further includes a second sealing member 450 disposed at the dust discharge port 441, and the second sealing member 450 is interference-fitted between the second dust collection port 3131 and the dust discharge port 441, so that the second dust collection port 3131 and the dust discharge port 441 are in sealed communication.

Further, as an embodiment of the present invention, as shown in fig. 12, the first locking member 330 is fixed on the cleaning mechanism 400, and when the cleaning mechanism 400 is assembled on the seat body 310, the first locking member 330 is located in the receiving groove 311. Specifically, the base 300 of the embodiment of the present invention is provided with four first locking members 330, wherein two first locking members 330 are fixed to the upper shell 420 of the cleaning mechanism 400, and the other two first locking members 330 are fixed to the lower shell 430 of the cleaning mechanism 400.

Further, as an embodiment of the present invention, as shown in fig. 12, the washing mechanism 400 further includes a third sealing member 460 provided on the upper case 420, and when the cleaning member 900 is temporarily fixed to the first locking member 330, the third sealing member 460 is interference-fitted between the upper case 420 and the cleaning member 900, so that water in the washing chamber can be prevented from leaking.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot base station for a cleaning robot provided with a detachable cleaning member, the robot base station comprising:

a storage device for storing the cleaning members;

2. The robotic base station of claim 1, wherein the removing means comprises a gripper for gripping the tray or the cleaning element, a first displacement mechanism connected to the gripper for driving the gripper to move up and down in a vertical direction, and a second displacement mechanism connected to the first displacement mechanism for driving the first displacement mechanism to move back and forth in a horizontal direction, the vertical direction being perpendicular to the horizontal direction.

3. The robotic base station of claim 2, wherein the first displacement mechanism comprises a fixed plate, a guide shaft fixedly connected to the fixed plate and extending in the vertical direction, a linear bearing slidably connected to the guide shaft and fixedly connected to the clamping jaw, a screw rod rotatably connected to the fixed plate and extending in the horizontal direction, a nut seat fixedly connected to the clamping jaw and threadedly connected to the screw rod, a lifting driving member for driving the screw rod to rotate, and a transmission assembly connected to the screw rod and the lifting driving member, wherein the lifting driving member drives the screw rod to rotate through the transmission assembly.

4. The robot base station of claim 3, wherein the second displacement mechanism comprises a rotatable horizontal driving wheel, a rotatable horizontal driven wheel disposed at one side of the rotating wheel along a horizontal direction, a horizontal synchronous belt wrapped around the horizontal driving wheel and the horizontal driven wheel, a first pressing plate fixedly connected to a fixing plate, a second pressing plate fixedly connected to one side of the first pressing plate away from the fixing plate, a horizontal driving member for driving the horizontal driving wheel to rotate, a guide rail extending along the horizontal direction, and a sliding block fixedly connected to the fixing plate and slidably connected to the guide rail, wherein the horizontal synchronous belt is sandwiched between the first pressing plate and the second pressing plate.

5. The robot base station of claim 1, wherein the base body has a first dust collecting pipe and a first dust collecting opening connected to the first dust collecting pipe, and the tray has a dust collecting opening for exposing the first dust collecting opening.

6. The robotic base station of claim 5 wherein said tray further has a dust collection station on said housing, said tray being switchable between positions on said housing between said separating station and said dust collection station;

7. The robot base station of claim 5, further comprising a dust collection container in communication with the first dust collection conduit and a negative pressure generating device in communication with the dust collection container for providing a negative pressure.

8. The robotic base station of claim 1, further comprising a washing mechanism removably coupled to the housing, the washing mechanism including an upper shell, a lower shell coupled to the upper shell, and a washing assembly disposed between the upper shell and the lower shell for washing the cleaning elements.

9. The robotic base station of claim 8 wherein the upper housing, the wash assembly, and the lower housing collectively enclose a wash chamber, the robotic base station further comprising a water tank in communication with the wash chamber and a pump disposed between the wash chamber and the water tank for delivering water.

10. The robotic base station of claim 8, wherein the cleaning assembly includes an upper cleaning plate, a lower cleaning plate slidably coupled to a lower portion of the upper cleaning plate along a length of the upper cleaning plate, and a cleaning driving member for driving the upper cleaning plate and the lower cleaning plate to slide relative to each other, the upper cleaning plate having a plurality of first comb teeth spaced along a length of the upper cleaning plate, and the lower cleaning plate having a plurality of second comb teeth spaced corresponding to the plurality of first comb teeth.