CN212281208U - Base station and cleaning system - Google Patents

Abstract

The utility model provides a basic station and clean system, the basic station is used for establishing and supplying cleaning machines people to berth, and it includes: a base plate; a collecting frame provided on the base plate for collecting the dirty cleaning media discharged from the cleaning robot; a driving component arranged on the collecting frame; the swinging piece is driven by the driving assembly and has a working stroke moving towards the direction of the collecting frame and a return stroke moving away from the direction of the collecting frame; a rake part arranged at the lower end of the swinging part; when the swinging piece is in a working stroke, the rake part is contacted with the bottom plate so as to press dirty cleaning media and drag the cleaning media to move towards the collecting frame on the bottom plate; when the oscillating piece is in the return stroke, the rake part disengages from the floor. The utility model discloses base station can realize the collection of the dirty cleaning medium that lifts off to cleaning machines people automatically, replaces artificial manual intervention, promotes user experience.

Description

Base station and cleaning system

Technical Field

The utility model relates to a cleaning device technical field especially relates to a basic station and clean system.

Background

Cleaning robots (including but not limited to sweepers, mopers, window cleaners, etc.) typically use a cleaning medium (e.g., paper towels, mops, etc.) for cleaning operations. As the cleaning operation time is prolonged, stains attached to the cleaning medium increase, and the cleaning effect becomes poor. For this reason, the dirty cleaning medium has to be removed and replaced with a clean cleaning medium.

At present, the dirty cleaning media unloaded by a cleaning robot can be collected manually, manual intervention is needed in the collection process, and the collection process is not intelligent enough. And the user easily gets dirty both hands in the collection process, and the experience is poor.

SUMMERY OF THE UTILITY MODEL

Based on aforementioned prior art defect, the embodiment of the utility model provides a basic station and clean system, it can realize the collection of the dirty cleaning medium that lifts off to cleaning machines people automatically, replaces artificial manual intervention, promotes user experience.

In order to achieve the above object, the present invention provides the following technical solutions.

A base station for a cleaning robot to stop; the method comprises the following steps: a base plate; the collecting frame is arranged on the bottom plate and used for collecting dirty cleaning media unloaded by the cleaning robot; the driving assembly is arranged on the collecting frame; the rake assembly is driven by the driving assembly, and the lower end of the rake assembly is provided with a working stroke moving towards the direction of the collecting frame and a return stroke moving away from the direction of the collecting frame; when in a working stroke, the lower end of the rake assembly is in contact with the bottom plate so as to press dirty cleaning media and drag the dirty cleaning media to move on the bottom plate towards the collecting frame; when in a return stroke, the lower end of the rake assembly disengages from the floor.

Preferably, the lower end of the rake assembly also has a descending stroke moving towards the direction of the bottom plate and an ascending stroke moving away from the direction of the bottom plate; the rake assembly is driven by the driving assembly to enable the lower end of the rake assembly to circularly move according to a working stroke, an ascending stroke, a returning stroke and a descending stroke.

Preferably, the rake assembly comprises a swing; the driving component comprises a motor and an actuating piece which is driven by the motor to rotate; the actuating member is matched with the swinging member to drive the lower end of the swinging member to move along a working stroke or a return stroke.

Preferably, the drive assembly further comprises an input shaft rotationally driven by the motor; the two actuating pieces are respectively arranged at two ends of the input shaft; correspondingly, the number of the swinging parts is also two, and the swinging parts are respectively correspondingly matched with the two actuating parts.

Preferably, the rake assembly further comprises a connecting piece and a push plate; the two ends of the connecting piece are respectively connected with the lower ends of the two swinging pieces; the push plate is rotatably connected to the lower end of the connecting piece.

Preferably, connecting shafts are arranged at two ends of the connecting piece, shaft holes are arranged at the lower ends of the two swinging pieces, and the shaft holes extend along the vertical direction; the two connecting shafts are respectively inserted in the two shaft holes.

Preferably, a torsion spring is arranged between the push plate and the connecting piece, and the torsion spring applies torsion to the push plate so that the end part, close to the collecting frame, of the push plate has a tendency of rotating towards the direction of the bottom plate.

Preferably, a guide piece is arranged between the two swinging pieces and above the connecting piece, a guide hole is formed in the guide piece, a guide pin movably penetrates through the guide hole, and the lower end of the guide pin is fixedly connected with the connecting piece.

Preferably, an elastic member is disposed between the guide member and the connecting member in a compressed state.

Preferably, the collection frame includes: the rear plate, two side plates which are connected with the rear plate and are arranged oppositely, and a pressing plate which is arranged between the two side plates in a sliding manner and is opposite to the rear plate; the lower end of the pressing plate is provided with a wedging inclined surface facing the pushing plate, and the end part of the pushing plate facing the wedging inclined surface is a wedging end.

Preferably, when the push plate moves along the working stroke until the wedging end abuts against the wedging inclined surface, the press plate is pushed by the push plate to slide upwards; when the push plate is in a return stroke, the lower end of the pressure plate is in contact with the bottom plate.

Preferably, the swinging piece is provided with a pivoting part, and the side plate is provided with a matching part; one of the pivoting part and the adapting part is a long strip-shaped sliding groove extending along the vertical direction, and the other one is a guide component; the guide component is embedded into the strip-shaped sliding groove and can rotate and slide in the strip-shaped sliding groove; the actuating member includes an eccentric structure that is rotatably coupled to the upper end of the oscillating member.

Preferably, the eccentric structure is an eccentric wheel, a wheel ring is arranged at the upper end of the swinging piece, and the eccentric wheel is arranged in the wheel ring; or the eccentric structure is a connecting rod, the extending direction of the connecting rod is perpendicular to the axial direction of the input shaft, and the upper end of the swinging piece is rotatably connected with the connecting rod.

Preferably, the side plate is provided with a sliding part which can move along the working stroke direction or the return stroke direction; a first resetting piece is arranged between the sliding piece and the side plate, and the resetting force applied to the sliding piece by the first resetting piece makes the sliding piece have a tendency of moving towards the return stroke direction;

the swinging piece is arranged on the side plate in a sliding mode, and the swinging piece and the sliding piece are fixed in the working stroke direction or the return stroke direction; a second resetting piece is arranged between the swinging piece and the sliding piece, and the resetting force applied to the swinging piece by the second resetting piece makes the swinging piece have a tendency of moving away from the direction of the bottom plate;

the swinging piece is provided with a first profiling groove; the actuator member includes a first cam disposed in the first contoured recess.

Preferably, a guide sliding groove is formed in the sliding part, and the swinging part is arranged in the guide sliding groove in a penetrating mode and limited by the guide sliding groove in the horizontal direction.

Preferably, the swinging member includes a rod body, and a first extending portion provided on the rod body and extending toward the return stroke direction; the surface of the rod body facing the return stroke direction and the lower surface of the first extending part define the first profiling groove.

Preferably, the first cam comprises two straight contour faces which are arranged oppositely and an arc contour face which is in smooth transition with the two straight contour faces; the connecting point of the first cam and the input shaft is positioned at the center of one of the circular arc profiling surfaces.

Preferably, the first profiling groove comprises a circular arc-shaped smooth transition surface which is connected between the surface of the rod body facing the return stroke direction and the lower surface of the first extending portion, and the curvature of the circular arc-shaped smooth transition surface is matched with that of the circular arc-shaped profiling surface.

Preferably, the circular arc-shaped profile surface close to the connection point of the first cam and the input shaft forms the lowest potential energy point of the first cam, and the circular arc-shaped profile surface far away from the connection point of the first cam and the input shaft forms the highest potential energy point of the first cam;

when the push plate is in a working stroke, the lowest potential energy point of the first cam rotates in the circular arc smooth transition surface, and the highest potential energy point of the first cam slides on the surface of the rod body facing to the return stroke direction;

when the push plate is in a return stroke, the lowest potential energy point of the first cam slides on the surface of the rod body facing to the return stroke direction, and the highest potential energy point of the first cam slides on the lower surface of the first extending part.

Preferably, a surface of the pressure plate facing the return stroke direction is formed with a second profiling groove; the input shaft is provided with a second cam, and the second cam is arranged in the second profiling groove; the potential energy highest point of the second cam and the potential energy highest point of the first cam are positioned on two sides of the input shaft.

Preferably, the swinging member further includes a second extending portion provided at a lower end of the rod body and extending toward the return stroke direction, and the connecting member is rotatably provided at an end portion of the second extending portion.

A cleaning system, comprising: the cleaning robot comprises a cleaning robot and a base station for the cleaning robot to stop; the base station includes: a base plate; the collecting frame is arranged on the bottom plate and used for collecting dirty cleaning media unloaded by the cleaning robot; the driving assembly is arranged on the collecting frame; the rake assembly is driven by the driving assembly, and the lower end of the rake assembly is provided with a working stroke moving towards the direction of the collecting frame and a return stroke moving away from the direction of the collecting frame; when in a working stroke, the lower end of the rake assembly is in contact with the bottom plate so as to press dirty cleaning media and drag the dirty cleaning media to move on the bottom plate towards the collecting frame; when in a return stroke, the lower end of the rake assembly disengages from the floor.

The utility model discloses the basic station is through setting up by drive assembly driven rake subassembly, rake subassembly by the drive assembly drive and make its lower extreme have the working stroke of collecting the frame direction motion and deviate from the return stroke of collecting the frame direction motion towards. And when the rake is in a working stroke, the lower end of the rake assembly is in contact with the bottom plate, so that the dirty cleaning media can be pressed and dragged to slide on the bottom plate, and the dirty cleaning media are dragged into the collecting frame. When in return stroke, the lower end of the rake assembly disengages from the floor. By repeating or circulating the above steps, the dirty cleaning media discharged from the cleaning robot can be gradually collected in the collecting frame. Therefore, the collection of dirty cleaning media is automated, manual intervention is not needed, and the user experience is better.

Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, which specify the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the present invention are not so limited in scope.

Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for helping the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. The skilled person in the art can, under the teaching of the present invention, choose various possible shapes and proportional dimensions to implement the invention according to the specific situation. In the drawings:

FIG. 1 is a schematic structural view of a cleaning robot in an obstacle crossing mode;

FIG. 2 is a schematic view of the cleaning robot in an operating mode;

FIG. 3 is a schematic view of a cleaning robot in a state of clamping or unclamping a cleaning medium;

fig. 4 is a schematic structural diagram of a cleaning system formed by a cleaning robot parked on a base station according to a first embodiment of the present invention;

FIG. 5 is a schematic view of the oscillating member of FIG. 4;

FIG. 6 is a schematic structural view of a cleaning medium collecting mechanism included in the base station shown in FIG. 4;

fig. 7A to 7E are process diagrams of the base station of the first embodiment of the present invention shown in fig. 4 collecting dirty cleaning media;

FIG. 8 is a schematic diagram of a base station according to a second non-limiting embodiment of the present invention;

FIG. 9 is an exploded view of the base station shown in FIG. 8;

fig. 10 is a schematic view showing an assembly structure between an input shaft and a motor and a cam included in the base station shown in fig. 9;

FIGS. 11A to 11H are schematic diagrams illustrating a state change of a slide plate during a process of collecting dirty cleaning media in a base station according to a second non-limiting embodiment of the present invention;

fig. 12A to 12H are process diagrams of collecting dirty cleaning media by a base station according to a second non-limiting embodiment of the present invention.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In this specification, the base station according to the embodiment of the present invention is defined as "lower" in a direction toward or facing the ground and as "upper" in a direction away from the ground in a normal use state. More specifically, the upward direction illustrated in fig. 1 to 12H is defined as "up", and the downward direction illustrated in fig. 1 to 12H is defined as "down".

It should be noted that the definitions of the directions in the present specification are only for convenience of describing the technical solution of the present invention, and do not limit the directions of the base station in other scenarios, including but not limited to use, test, transportation, and manufacture, which may cause the base station to be inverted in orientation or changed in position.

As shown in fig. 1 to 12H, the embodiment of the present invention provides a base station 200 for a cleaning robot 100 to stop and a cleaning system using or configuring the base station 200. In the present embodiment, the cleaning robot 100 may include, but is not limited to, a sweeper, a mopping machine, a window cleaner, etc., and any suitable conventional structure may be adopted, which is not limited in the present invention.

As shown in fig. 1 to 3, in one embodiment, the cleaning robot 100 may include a main body 101, an energy supply unit 102 (e.g., a battery pack) provided in the main body 101, a control module 103 provided in the main body 101 and electrically connected to the energy supply unit 102, a driving wheel 104 provided at a rear side of a bottom of the main body 101, a universal wheel 105 provided at a front end of the bottom of the main body 101, a liftable cleaning module 106 provided at the bottom of the main body 101 between the driving wheel 104 and the universal wheel 105, a lifting mechanism 107 provided in the main body 101 for driving the lifting of the cleaning module 106, and a water tank 108 provided in the main body 101 for wetting a cleaning medium held by the cleaning module 106. Wherein the driving wheel 104 is driven to rotate by a motor connected (including electrical and signal connections) to the control module 103.

In addition, the universal wheel 105 may be coupled to the control module 103 and controlled to retract or retract by the control module 103. The top of the main body 101 may be provided with a detection element 109 (e.g., a laser scanning module) connected to the control module 103 for detecting whether there is an obstacle in front of the traveling direction of the cleaning robot 100. When the detection element 109 detects that an obstacle exists in front of the cleaning robot 100 in the traveling direction, the control module 103 controls the lifting mechanism 107 to lift the cleaning module 106 and lower the universal wheels 105. At this time, the cleaning robot 100 is in the obstacle detouring mode (shown in fig. 1). After the cleaning robot 100 passes over an obstacle, the control module 103 controls the lifting mechanism 107 to lower the cleaning module 106, and the universal wheels 105 are retracted. At this time, the cleaning robot 100 is in the operation mode (as shown in fig. 2), and the cleaning operation can be performed.

Further, the cleaning module 106 includes a clamp 110 for holding the cleaning medium, and the clamp 110 is clamped or opened, i.e., clamping or releasing of the cleaning medium is achieved. When the cleaning robot 100 operates for a certain time, the cleaning medium becomes dirty. The control module 103 may control the cleaning robot 100 to move to the base station 200 and then control the clamp 110 to open to release the dirty cleaning medium 300 onto the base station 200. Subsequently, the dirty cleaning media 300 discharged from the cleaning robot 100 are collected by the base station 200.

As shown in fig. 4, 8 and 9, in the present embodiment, the base station 200 may include a base plate 201 for being placed on a support surface (e.g., a floor), and a collection frame 202 provided on the base plate 201 for collecting the dirty cleaning media 300 discharged from the cleaning robot 100. Wherein, the area of the bottom plate 201 is larger than the projection area of the collecting frame 202 on the bottom plate 201. Thus, the collection frame 202 occupies only a partial area of the upper surface of the base plate 201 when the collection frame 201 is disposed on the base plate 201, so that the base plate 201 forms a vacant area outside the collection frame 202 for the cleaning robot 100 to park (as shown in fig. 4). In order to make the base station 200 as compact as possible, the collection frame 202 is preferably arranged at a position close to the edge of the bottom plate 201. Thus, when the size of the bottom plate 201 is constant, the area of the vacant region can be increased as much as possible.

In the present embodiment, the collecting frame 202 may be a semi-open structure, which may include a rear plate 202a, two side plates 202b connected to and disposed opposite to the rear plate 202a, and a pressing plate 202c slidably disposed between the two side plates 202b and opposite to the rear plate 202 a. Among them, the back plate 202a and the two side plates 202b may be provided on the bottom plate 201 in a vertical state, the two side plates 202b may be provided in parallel, the pressing plate 202c is sandwiched between the two side plates 202b, and the pressing plate 202c is also preferably parallel to the back plate 202 a. Thus, the collecting frame 202 may have a regular square hollow case shape, and the pressing plate 202c may slide up and down relative to the two side plates 202b, so that the collecting frame 202 may be opened or closed.

As shown in fig. 9, in order to guide and limit the up-and-down sliding of the pressing plate 202c, the horizontal ends of the pressing plate 202c may be formed with lug structures 202d, the two side plates 202b may be respectively provided with elongated limit guide holes 202e extending vertically, and the limit guide holes 202e may be through holes penetrating through the inner and outer side surfaces of the pressing plate 202c or blind holes penetrating through only the inner side surface. The lug structures 202d are embedded in the limit guide holes 202e of the two side plates 202b and can move up and down in the limit guide holes 202e, thereby realizing the limit and the up-and-down sliding guide of the pressure plate 202 c.

In order to recycle the dirty cleaning media 300 discharged from the cleaning robot 100 into the collection frame 202, the base station 200 may further include a cleaning media collection mechanism. As shown in fig. 4, 5, 8 and 9, the cleaning medium collecting mechanism may comprise a drive assembly provided on the collecting frame 202 and a rake assembly driven by the drive assembly. The rake assembly is driven by the drive assembly to have a working stroke moving in a direction towards the collection frame 202 and a return stroke moving away from the collection frame 202 at its lower end. When in the working stroke, the lower end of the rake assembly contacts the floor 201 to press against the dirty cleaning media 300 and drag the dirty cleaning media 300 over the floor 201 towards the collection frame 202. And when on the return stroke the lower end of the rake assembly disengages from the base plate 201.

The working stroke may be a leftward movement as illustrated in fig. 7A to 7E and 12A to 12H, and the return stroke may be a rightward movement as illustrated in fig. 7A to 7E and 12A to 12H.

Further, the rake assembly is driven by the drive assembly such that its lower end also has a down stroke moving towards the floor 201 and an up stroke moving away from the floor 201. The descending stroke is connected in series with the tail end of the return stroke and the initial end of the working stroke, and the ascending stroke is connected in series with the tail end of the working stroke and the initial end of the return stroke. Thus, the rake assembly can be driven by the drive assembly so that the lower end thereof can move cyclically according to the working stroke, the lifting stroke, the return stroke and the descending stroke.

The path of motion of the lower end of the rake assembly is defined by the base plate 201 since it is in contact with the base plate 201 when in the operating stroke. Therefore, when the rake is in a working stroke, the motion track of the lower end of the rake component is a straight line. When the rake is in an ascending stroke, a returning stroke and a descending stroke, the motion track of the lower end of the rake component can be an arc or a straight line.

When the rake is in an ascending stroke, a returning stroke and a descending stroke, and the motion track of the lower end of the rake component is an arc, the ascending stroke, the descending stroke and the returning stroke are partially overlapped. That is, when in the lifting stroke, the lower end of the rake assembly moves back while lifting. When the rake is in a descending stroke, the lower end of the rake component descends and moves back at the same time. The lower end of the rake assembly completes a complete circular motion, and the motion track of the rake assembly is in a partial circular arc shape. That is, if there is no floor 201 to limit the path of movement of the lower end of the rake assembly during its working stroke, the path of movement of the lower end of the rake assembly through a complete cycle may be circular.

When the motion trail of the lower end of the rake component is a straight line in the ascending stroke, the returning stroke and the descending stroke, the motion trails of the lower end of the rake component are not overlapped in different strokes and are transited with each other. The lower end of the rake assembly completes a complete circular motion, and the motion track of the rake assembly is quadrilateral.

As shown in fig. 4, 8 and 9, the rake assembly may comprise a swing 203. The drive assembly may include a motor 204, an actuator rotationally driven by the motor 204. The actuating member cooperates with the oscillating member 203 to drive the lower end of the oscillating member 203 to move along the working stroke or the return stroke.

In this embodiment, the actuator can be directly driven by the motor 204. Specifically, the actuators may be provided on the output shaft of the motor 204, and the motor 204 needs to be configured in the same number as the actuators. Therefore, in the embodiment where there are a plurality of actuators, the motors 204 are also correspondingly configured in a plurality.

Of course, when a plurality of actuators are provided, a plurality of actuators may be driven by one motor 204. The specific implementation manner may be that the driving assembly further includes an input shaft 205 rotationally driven by the motor 204, the input shaft 205 may be disposed on the two side plates 202b of the collecting frame 202, two ends of the input shaft may respectively penetrate to the outer sides of the two side plates 202b, and two ends of the input shaft may respectively be provided with an actuating component. The output shaft of the motor 204 is provided with a driving gear, the input shaft 205 is provided with a driven gear, and the driving gear is meshed with the driven gear. The motor 204 drives the input shaft 205 to rotate by means of gear engagement.

Correspondingly, the number of the swinging members 203 is two, and the swinging members are respectively correspondingly matched with the two actuating members. In this way, the oscillating piece 203 is arranged outside the collection frame 202, avoiding interference with other structures.

The swinging member 203 has a substantially rod shape extending lengthwise. In one possible embodiment, the rake assembly may comprise only the oscillating piece 203, or the oscillating piece 203 alone may constitute the rake assembly. The lower end of the swing member 203 may abut on the bottom plate 201, press the dirty cleaning media 300, and drag the dirty cleaning media 300 to move into the collection frame 202 when in the working stroke. The lower end of the swing member 203 now constitutes the lower end of the rake assembly.

In the first scene that the motion trail of completing a complete cyclic motion at the lower end of the rake assembly is partially arc-shaped, when the rake assembly is in a working stroke, the force of the lower end of the rake assembly contacting the bottom plate 201 is gradually increased and then gradually reduced. Thus, in embodiments where the rake assembly comprises only the swing 203, the lower end of the swing 203 may be held against the base plate 201 so as not to be able to move, thereby resulting in limited use in the first scenario described above.

In the second scenario where the lower end of the rake assembly completes a complete circular motion, the motion trajectory is quadrilateral, and the force with which the lower end of the rake assembly touches the base plate 201 may remain substantially unchanged during the working stroke. Thus, in embodiments where the rake assembly may include only the oscillating piece 203, the second scenario described above may be applicable even if the oscillating piece 203 does not have elastic contractibility.

Therefore, in order to break through the limitation of the application of the rake assembly only comprising the swinging member 203 in the first scenario, the rake assembly can be better applied to the two scenarios, in another feasible embodiment, the rake assembly further comprises a connecting member 206 and a pushing plate 207, two ends of the connecting member 206 are respectively rotatably connected with the lower ends of the two swinging members 203, and the pushing plate 207 is rotatably arranged at the lower end of the connecting member 206. The lower end of the blade 207 now constitutes the lower end of the rake assembly.

In this embodiment, the connecting member 206 may be a substantially horizontally extending strip, and two ends of the connecting member are respectively connected to the two side plates 202b of the collecting frame 202. The push plate 207 may have a substantially horizontally extending plate shape, and in order to increase contact friction between the lower surface thereof and the dirty cleaning media 300, the lower surface of the push plate 207 may be formed with a concavo-convex texture extending in the length direction thereof. Wherein, the convex part of the concave-convex texture can incline towards the working stroke direction.

The push plate 207 and the connecting member 206 are rotatably connected by a pin 208. Specifically, as shown in fig. 5, one or more notches 209 may be formed at the lower end of the push plate 207, and one or more connecting protrusions may be correspondingly formed at the upper end of the push plate 207. Pin holes are arranged on two sides of the notch 209 and in the connecting bulges, pin shafts 208 penetrate through the pin holes, and the connecting bulges are clamped in the corresponding notches 209.

Bearing in mind the above, to adapt the rake assembly to the first scenario described above, the blade 207 is designed to have a degree of freedom to float up and down. To this end, in one embodiment, the connecting member 206 is movable up and down relative to the oscillating member 203, thereby allowing the push plate 207 connected to the connecting member 206 to float up and down. Specifically, as shown in fig. 5, the connecting members 206 are provided with connecting shafts 210 at both ends thereof, the lower ends of the two swinging members 203 are provided with shaft holes 211 extending in the vertical direction, and the two connecting shafts 210 are respectively inserted into the two shaft holes 211. Similarly, the shaft hole 211 may be a through hole penetrating the inner and outer surfaces of the swing member 203, or may be a blind hole (in this case, a groove) penetrating only the inner surface of the swing member 203. The shaft hole 211 is extended in a vertical direction to have a certain length so that the connecting shaft 210 can move up and down in the shaft hole 211, thereby floating the push plate 207.

Thus, when the descending stroke is switched to the beginning of the working stroke, the push plate 207 presses the dirty cleaning medium 300 on the bottom plate 201. As the working stroke continues, the pressing force of the push plate 207 on the dirty cleaning medium 300 and the bottom plate 201 gradually increases, i.e., the connecting member 206 is pushed to move upward. Then, the pressing force of the push plate 207 against the dirty cleaning medium 300 and the bottom plate 201 is gradually reduced again, and the connection member 206 falls back. Thus, the push plate 207 can be kept pressed against the dirty cleaning medium 300 and the base plate 201 at all times during the entire working stroke.

In addition, a guide 212 positioned above the connecting piece 206 can be arranged between the two swinging pieces 203, a guide hole 212a is arranged in the guide 212, a guide pin 213 is movably arranged in the guide hole 212a in a penetrating way, and the lower end of the guide pin 213 is fixedly connected with the connecting piece 206. The guide member 212 may have a horizontally extending plate shape, and both ends thereof are fixedly connected to the two swing members 203. The guide holes 212a may be through holes penetrating the upper and lower surfaces of the guide 212, and the number thereof may be plural and may be uniformly arranged along the length direction of the guide 212. The diameter of the guide pin 213 is smaller than that of the guide hole 212a with a clearance fit therebetween, so that the guide pin 213 can move in the guide hole 212 a.

Thus, when the push plate 207 moves on the base plate 201 and pushes the connecting member 206 to move up and down relative to the oscillating member 203, the guide pin 213 is driven to move up and down in the guide hole 212a, so as to guide and center the up and down floating of the connecting member 206 and the push plate 207.

In one embodiment, the application of the pressing force to the dirty cleaning medium 300 and the bottom plate 201 may be achieved by the own weight of the link 206 and the push plate 207 during the entire working stroke. Of course, to improve the pressing force on the dirty cleaning medium 300 and the bottom plate 201, in another embodiment, an elastic member 214 may be provided to push the connecting member 206 and the push plate 207. An elastic member 214 is provided between the guide member 212 and the connecting member 206 in a compressed state.

The elastic member 214 is biased between the lower surface of the guide member 212 and the upper surface of the connecting member 206, and may be a spiral spring, which is sleeved outside the guide pin 213, or may not be sleeved outside the guide pin 213, but is fixed at both ends to the lower surface of the guide member 212 and the upper surface of the connecting member 206.

Thus, in the whole working process, along with the up-and-down movement of the connecting piece 206 relative to the swinging piece 203, the elastic piece 214 biased between the guide piece 212 and the connecting piece 206 can apply downward elastic acting force of different degrees to the connecting piece 206, so as to improve the force of the pushing plate 207 pressing the dirty cleaning medium 300 and the bottom plate 201, avoid the situation that the dirty cleaning medium 300 is not dragged by the pushing plate 207 due to the small pressing force applied by the pushing plate 207, and ensure that the dirty cleaning medium 300 can be smoothly collected and moved towards the collecting frame 202.

Further, a torsion spring 215 may be disposed between the pushing plate 207 and the connecting member 206, and the torsion applied by the torsion spring 215 to the pushing plate 207 may cause the end of the pushing plate 207 near the collecting frame 202 to have a tendency to rotate toward the bottom plate 201. Specifically, as shown in fig. 5, the torsion spring 215 may be sleeved outside the pin 208, and one end of the torsion spring abuts against the connecting member 206, and the other end abuts against the upper surface of the rear side of the push plate 207.

Thus, under the torsion force exerted by the torsion spring 215, the end of the push plate 207 near the collection frame 202 (the left end as illustrated in fig. 7A to 7E and 12A to 12H) always has a tendency to rotate downward. Therefore, when the push plate 207 is switched from the descending stroke to the beginning of the working stroke, the left end of the push plate 207 firstly contacts the dirty cleaning medium 300 and the bottom plate 201, and along with the continuous descending of the push plate 207, the push plate 207 rotates by taking the end of the push plate contacting the bottom plate 201 as a fulcrum until the lower surface of the push plate is completely contacted with the dirty cleaning medium 300 and the bottom plate 201. In this way, the pressing effect of the push plate 207 on the dirty cleaning medium 300 can be improved by gradually pressing the push plate 207 in contact with the dirty cleaning medium 300 and the bottom plate 201.

Further, in order to allow the dirty cleaning media 300 dragged by the push plate 207 to smoothly enter the collection frame 202, the pressing plate 202c of the collection frame 202 is designed to be opened when the push plate 207 moves to the end of the working stroke. Specifically, as shown in fig. 7A to 7E and fig. 12A to 12H, the lower end of the pressure plate 202c may be formed with a wedge slope facing the push plate 207, and the end of the push plate 207 facing the wedge slope is a wedge end. The wedge slope may be formed such that a part of the lower end surface of the pressure plate 202c is inclined toward the push plate 207, and the wedge end may be a tip whose sectional area in the working stroke direction is gradually reduced.

In this manner, when the push plate 207 moves along the working stroke until the wedging end abuts against the wedging slope, the pressing plate 202c can be pushed up by the wedging end to slide, so that the collection frame 202 can be opened, and the dirty cleaning media 300 pressed against the lower end of the push plate 207 can enter the collection frame 202 through the opened opening. Until the working stroke is completed, the push plate 207 moves upward to reach the return stroke. The pressing plate 202c may fall under its own gravity to make its lower end contact the bottom plate 201 and press the dirty cleaning medium 300, so that the dirty cleaning medium 300 is kept at the current position, and the dirty cleaning medium 300 is prevented from being displaced due to external factors (e.g., wind blowing, air flow).

As shown in fig. 5, in an embodiment, a solution to implement the first scenario may be that the swinging member 203 is provided with a pivot portion 216, and the side plate 202b of the collecting frame 202 is provided with a mating portion 217. One of the pivoting portion 216 and the mating portion 217 is a long strip-shaped sliding groove extending in the vertical direction, and the other is a guide member; the guide component is embedded into the long strip-shaped sliding groove and can rotate and slide in the long strip-shaped sliding groove. The actuating member comprises an eccentric structure which is in rotational connection with the upper end of the oscillating member 203.

As described above, the number of the swinging members 203 is two, and the swinging members are respectively provided on the outer sides of the two side plates 202b of the collection frame 202. Thus, the number of the pivot portions 216 provided on the swing member 203 and the number of the mating portions 217 provided on the side plate 202b are also two, respectively.

In one possible embodiment, the pivot portion 216 may be an elongated sliding groove provided on the swinging member 203 and extending along the length direction of the swinging member 203, and the mating portion 217 may be a guide member fixed to the side plate 202b of the collection frame 202. The elongated sliding slot may be located in the middle of the oscillating member 203, and may be a through hole structure penetrating through the inner and outer side surfaces of the oscillating member 203, or a blind hole structure penetrating only through the inner side surface of the oscillating member 203. The guide member is fixed to the side plate 202b of the collection frame 202, and may be a protrusion fixed to the outer wall of the side plate 202b of the collection frame 202, or may be a rod or a shaft inserted between the two side plates 202 b.

Or, conversely, the pivoting portion 216 may be a guide member provided on the swinging member 203, and the mating portion 217 may be an elongated sliding groove fixed to the side plate 202b of the collection frame 202 and extending in the vertical direction. Similarly, the elongated sliding slot may be a through hole structure penetrating through the inner and outer side surfaces of the side plate 202b of the collecting frame 202, or may be a blind hole structure penetrating only through the outer side surface of the side plate 202b of the collecting frame 202. The guide member may be a projection structure fixedly provided on the inner side surface of the oscillating piece 203.

The eccentric structure may be an eccentric 218, and the eccentric 218 has a circular longitudinal section. Furthermore, the eccentric 218 is disposed eccentrically to the input shaft 205, i.e., the axis of the input shaft 205 does not coincide with the center of the eccentric 218. To achieve the connection with the eccentric 218, the upper end of the oscillating piece 203 can be provided with a ring 219, the ring 219 being annular, the eccentric 218 being provided in the ring 219. Alternatively, the eccentric structure may be a link, the extending direction of the link is perpendicular to the axial direction of the input shaft 205, and the upper end of the swinging member 203 is rotatably connected to the link.

As shown in fig. 6, the input shaft 205 drives the eccentric structure to rotate, the eccentric structure can drive the upper end of the swinging member 203 which is rotatably connected with the eccentric structure to rotate around the axis of the input shaft 205, and the rotating track of the upper end of the swinging member 203 is circular. And, since the position of the swing member 203 near the middle is restricted by the pivot portion 216 and the fitting portion 217. Thus, the swinging member 203 pivots about the joint of the pivot portion 216 and the mating portion 217 as a fulcrum, so that the lower end thereof can swing, and the swing locus of the lower end is also circular. Thereby, the connecting member 206 and the pushing plate 207 provided at the lower end of the swinging member 203 are driven to swing.

The operation of this embodiment is described below with reference to fig. 7A to 7E:

as shown in fig. 7A, the rake assembly push plate 207 is initially in a raised position, the cleaning gas robot is working back into the base station 200, the grippers 110 are opened and the dirty cleaning media 300 is released onto the base plate 201 of the base station 200.

As shown in fig. 7B, the motor 204 then drives the input shaft 205 to rotate clockwise, and the push plate 207 gradually moves downward under the driving of the eccentric structure until pressing the dirty cleaning medium 300.

As shown in fig. 7C, the motor 204 drives the input shaft 205 to rotate clockwise, and the push plate 207 is driven to move in the working stroke direction, thereby dragging the dirty cleaning media 300 to move together. Until the wedge end of the pusher plate 207 abuts the wedge slope of the pressing plate 202c of the collection frame 202, the pressing plate 202c is pushed open and the dirty cleaning medium 300 is fed into the collection frame 202 as the pusher plate 207 continues to move forward.

As shown in fig. 7D, the pushing plate 207 moves to the end of the working stroke, the motor 204 drives the input shaft 205 to continue to rotate clockwise, the pushing plate 207 starts to lift up and move back, the wedging end disengages from the wedging inclined surface, the pressing plate 202c moves downward under the action of gravity, pressing the dirty cleaning medium 300, and a portion of the dirty cleaning medium 300 is input into the collecting frame 202.

As shown in fig. 7E, the motor 204 drives the input shaft 205 to continue to rotate clockwise and the push plate 207 moves in a return stroke. The above process is repeated until the dirty cleaning media 300 is fully received in the collection box 202.

As shown in fig. 8 and 9, in another embodiment, a solution for implementing the second scenario may be that a sliding member 220 movable in a working stroke direction or a return stroke direction is disposed on a side plate 202b of the collecting frame 202, a first returning member 221 is disposed between the sliding member 220 and the side plate 202b, and a returning force applied to the sliding member 220 by the first returning member 221 makes it have a tendency to move in the return stroke direction.

The slider 220 may be substantially plate-shaped or block-shaped, and may be horizontally movable on the side plate 202b of the collection frame 202. Specifically, a guide clip 222 is disposed on the side plate 202b of the collecting frame 202, and the sliding member 220 is inserted into the guide clip 222 and is vertically limited by the guide clip 222. Alternatively, the outer wall of the side plate 202b of the collection frame 202 may be provided with a horizontal sliding groove, and the sliding member 220 is inserted into the sliding groove.

As shown in fig. 9, the end of the sliding member 220 corresponding to the pressing plate 202c may be formed with a notch 220a, and the first hanging member 220b is disposed in the notch 220 a. The outer wall of the end of the side plate 202b corresponding to the pressing plate 202c may be provided with a second hanging member 202 f. The first restoring member 221 may be a spring, and both ends thereof may be respectively hooked on the first hooking member 220b and the second hooking member 202 f. The first hanging piece 220b may be a pin structure vertically disposed at the opening 220a, and the second hanging piece 202f may be a protrusion structure disposed on the outer wall of the side plate 202 b. The first restoring member 221 is in a stretched state, and applies a pulling force toward the return stroke direction to the slider 220.

Of course, the arrangement of the first restoring member 221 is not limited thereto. In other possible embodiments, the outer wall of the end of the side plate 202b corresponding to the rear plate 202a may be provided with a stop step, and the first restoring member 221 may be biased between the stop step and the end of the sliding member 220. In this embodiment, the first restoring member 221 is in a compressed state, and applies an elastic force toward the return stroke direction to the slider 220.

The swinging member 203 is slidably provided on the side plate 202b, and the swinging member 203 and the slider 220 are fixed in the working stroke direction or the return stroke direction. A second reset piece 223 is arranged between the swinging piece 203 and the sliding piece 220, and the reset force applied to the swinging piece 203 by the second reset piece 223 causes the swinging piece 203 to have the tendency of moving away from the bottom plate 201.

As shown in fig. 9, the outer wall of the upper end of the swinging member 203 is provided with a third hanging member 203a, the outer wall of the lower end of the sliding member 220 is provided with a fourth hanging member 220c, and the second restoring member 223 may be a spring, and both ends of the spring may be respectively hung on the third hanging member 203a and the fourth hanging member 220 c. The third hanging member 203a may be a protrusion structure disposed on the outer wall of the swinging member 203, and the fourth hanging member 220c may be a hook structure disposed on the outer wall of the sliding member 220. The second restoring member 223 is in a stretched state to apply an upward pulling force to the oscillating member 203.

Of course, the arrangement of the second restoring member 223 is not limited thereto. In other possible embodiments, the outer wall of the sliding member 220 may be provided with a stopping step, the outer wall of the swinging member 203 near the lower end is provided with another stopping step, and the second restoring member 223 is biased to be disposed between the two stopping steps. The second restoring member 223 is in a compressed state in this embodiment, and applies a downward elastic force to the oscillating member 203.

That is, the swing member 203 can move up and down with respect to the sliding member 220, and the horizontal direction is fixed to the sliding member 220. Specifically, as shown in fig. 9, the sliding member 220 may be provided with a guide sliding slot 220d, and the swinging member 203 may be disposed in the guide sliding slot 220d and horizontally limited by the guide sliding slot 220 d. The guide chute 220d extends in a vertical direction, and may be disposed on an inner sidewall of the sliding member 220. Therefore, when the swinging piece 203 is arranged in the slide groove in a penetrating way, the swinging piece can be attached to the outer wall of the side plate 202b of the collecting frame 202, and the swinging piece 203 is limited better.

Further, the oscillating piece 203 may be provided with a first profile groove 203c thereon. The actuator may include a first cam 224, the first cam 224 being disposed in the first contoured recess 203 c. In this way, the first cam 224 is driven by the input shaft 205 to rotate in the first profile groove 203c, and by contacting the surface of the first profile groove 203c, the swinging member 203 is driven to move, and under the action of the first resetting member 221 and the second resetting member 223, the swinging member 203 is reset, and then the movement of the swinging member 203 is circulated.

In this embodiment, the swinging member 203 may include a rod 203d and a first extending portion 203e disposed on the rod 203d and extending toward the return stroke direction. The surface of the rod 203d facing the return stroke direction and the lower surface of the first extension 203e define a first profile groove 203 c. The rod 203d can be disposed in the guiding sliding slot 220d, and the first extending portion 203e is located below the sliding member 220. Further, the swinging member 203 may further include a second extending portion 203f provided at a lower end of the rod 203d and extending toward the return stroke direction, and the connecting member 206 may be rotatably provided at an end portion of the second extending portion 203 f.

As shown in fig. 12A to 12H, the swinging member 203 is inverted in an "F" shape as a whole. In the second scenario where the motion trajectory of the pushing plate 207 completing a complete circular motion is quadrilateral, the pressing force of the pushing plate 207 on the dirty cleaning medium 300 and the bottom plate 201 is substantially balanced when the pushing plate 207 moves on the bottom plate 201. Thus, the connecting member 206 and the push plate 207 may not have the freedom to float up and down with respect to the oscillating member 203. Thus, the link 206 can be rotatably attached only to the end of the second extension 203f of the swinging member 203 without floating compared to the second extension 203 f.

As shown in fig. 9, the first cam 224 may include two straight contoured surfaces disposed opposite to each other, and a circular arc contoured surface smoothly transiting to the two straight contoured surfaces, and a connection point of the first cam 224 and the input shaft 205 is located at a center of one of the circular arc contoured surfaces. Further, the first profiling groove 203c may include a circular arc-shaped smooth transition surface between the surface of the connecting rod 203d facing the return stroke direction and the lower surface of the first extension portion 203e, and the curvature of the circular arc-shaped smooth transition surface is matched with the curvature of the circular arc-shaped profiling surface.

Thus, the arcuate profile near the point of attachment of the first cam 224 to the input shaft 205 forms the lowest point of potential for the first cam 224. Accordingly, the rounded contoured surface away from the point of connection of the first cam 224 to the input shaft 205 forms the highest point of potential energy of the first cam 224.

As shown in fig. 12F and 12G, when the push plate 207 is in the working stroke, the lowest point of potential energy of the first cam 224 rotates in the circular arc-shaped smooth transition surface, and the highest point of potential energy of the first cam 224 slides on the surface of the rod 203d toward the return stroke direction. Thus, the lower surface of the first extension portion 203e comes into contact with the potential energy lowest point of the first cam 224, and the swinging member 203 is located at the lowest position. In this way, the connecting member 206 and the push plate 207 provided at the lower end of the swinging member 203 can be press-fitted on the base plate 201. At the same time, the highest potential energy point of the first cam 224 slides on the surface of the rod 203d toward the return stroke direction, and the distance between the connection points of the oscillating member 203 and the input shaft 205 gradually increases. Since the input shaft 205 is fixed with respect to the collection frame 202, the swinging member 203 makes a movement gradually away from the input shaft 205. Thus, the link 206 and the push plate 207 provided at the lower end of the swing member 203 are moved toward the collection frame 202. Therefore, the pushing plate 207 presses the dirty cleaning media 300 on the bottom plate 201, the swinging member 203 is pushed by the first cam 224 to drive the connecting member 206 and the pushing plate 207 to move towards the collecting frame 202, and the dirty cleaning media 300 are recovered.

Accordingly, as shown in fig. 12A and 12B, when the push plate 207 is in the return stroke, the lowest point of potential energy of the first cam 224 slides on the surface of the rod 203d toward the return stroke direction, and the highest point of potential energy of the first cam 224 slides on the lower surface of the first extension portion 203 e. Thus, the lower surface of the first extension portion 203e comes into contact with the potential energy highest point of the first cam 224, and the swinging member 203 is in the highest position. Thus, the link 206 and the push plate 207 provided at the lower end of the swinging member 203 are lifted off the bottom plate 201. At the same time, the lowest potential energy point of the first cam 224 slides on the surface of the rod 203d facing the return stroke direction, and the sliding member 220 and the swinging member 203 are pulled to move in the return stroke direction by the first restoring member 221, and the connecting member 206 and the push plate 207 provided at the lower end of the swinging member 203 also move in the return stroke direction. Therefore, the push plate 207 is lifted off the base plate 201, and the swinging member 203, the connecting member 206 provided at the lower end of the swinging member 203, and the push plate 207 are driven by the first restoring member 221 to move in the direction of the return stroke, thereby returning the swinging member 203.

Further, as shown in fig. 9, the surface of the platen 202c facing the return stroke direction is formed with a second profile groove 202 g. The input shaft 205 is provided with a second cam 225 which is accommodated in the second profiling groove 202g, and the highest potential energy point of the second cam 225 and the highest potential energy point of the first cam 224 are positioned at two sides of the input shaft 205.

As shown in fig. 9 and 10, each of the first cam 224 and the second cam 225 is two, the two first cams 224 are provided at both ends of the input shaft 205, respectively, and the two second cams 225 are provided on the input shaft 205 and located inside the two first cams 224, respectively. Wherein the highest or lowest potential energy points of the two first cams 224 are located on the same side of the input shaft 205, and the highest or lowest potential energy points of the two second cams 225 are located on the other side of the input shaft 205.

The second contour groove 202g includes a surface facing the return stroke direction (hereinafter simply referred to as a front side surface) and a lower surface. Since the potential energy highest point of the second cam 225 and the potential energy highest point of the first cam 224 are located at two sides of the input shaft 205, when the push plate 207 is in the working stroke, the potential energy highest point of the first cam 224 is located below, and the potential energy highest point of the second cam 225 is located above and contacts against the lower surface of the second profiling groove 202g, so that the press plate 202c is pushed open by the second cam 225 to be in an open state, and the dirty cleaning medium 300 dragged by the push plate 207 can enter the collection frame 202.

When the push plate 207 is in the return stroke, the potential energy highest point of the first cam 224 is located above, and the potential energy highest point of the second cam 225 is located below, that is, the potential energy lowest point of the second cam 225 is against the lower surface of the second profiling groove 202g, so that the press plate 202c falls under the action of its own gravity and presses the dirty cleaning medium 300.

The operation of this embodiment will be described below with reference to fig. 11A to 11H and fig. 12A to 12H:

as shown in fig. 11A and 12A, the highest potential energy point of the first cam 224 is in contact with the lower surface of the first extension portion 203e, that is, the highest potential energy point of the first cam 224 is located above, and the lowest potential energy point of the second cam 225 is located above. Then, at this time, the highest point of potential energy of the first cam 224 abuts against the lower surface member of the first profile surface, the swinging member 203 is at the highest point, and the push plate 207 provided at the lower end of the swinging member 203 is initially at the raised position. The lowest potential energy point of the second cam 225 is contacted with the lower surface of the second profiling surface, the pressure plate 202c is at the lowest point, and the lower end of the pressure plate 202c is pressed on the bottom plate 201. After the cleaning gas robot works, the base station 200 is opened, the clamp 110 is opened, and the dirty cleaning media 300 are released onto the bottom plate 201 of the base station 200.

As shown in fig. 11B and 12B, subsequently, the motor 204 drives the input shaft 205 to rotate clockwise, the lowest point of potential energy of the first cam 224 slides upward on the surface of the rod 203d facing the return stroke direction, and the highest point of potential energy of the first cam 224 slides rightward on the lower surface of the first extension portion 203 e. Thus, the height of the oscillating member 203 gradually decreases, and then the push plate 207 gradually moves downward. While the highest potential energy point of the second cam 225 gradually slides toward the front side surface, the potential energy of the surface thereof contacting with the lower surface of the second profile recess 202g is unchanged, and the pressing plate 202c is still in a state of contacting with the bottom plate 201.

As shown in fig. 11C and 12C, the motor 204 drives the input shaft 205 to rotate clockwise, until the straight cam surface of the first cam 224 abuts against the lower surface of the first extension portion 203e, and the swinging member 203 descends to the lowest point, at which time the push plate 207 presses the dirty cleaning medium 300. The highest potential energy point of the second cam 225 slides into contact with the front side surface, and the potential energy of the surface thereof in contact with the lower surface of the second profile groove 202g is also unchanged, and the pressing plate 202c is still in a state of contact with the bottom plate 201.

As shown in fig. 11D and 11E, and fig. 12D and 12E, the lowest point of potential energy of the first cam 224 rotates at the circular arc-shaped smooth transition surface until the other straight profile surface of the first cam 224 abuts against the surface of the rod 203D facing the return stroke direction. The highest potential energy point of the second cam 225 slides to gradually contact the lower surface of the second profiling groove 202g, so that the pressing plate 202c is gradually jacked up by the second cam 225. When the lowest potential energy point of the first cam 224 is in contact with the lower surface of the first profile groove 203c and the highest potential energy point of the second cam 225 is in contact with the lower surface of the second profile groove 202g, the pressing plate 202c is fully jacked up.

As shown in fig. 11F and 12F, the highest potential energy point of the first cam 224 slides on the surface of the rod 203d facing the return stroke direction, pushing the swinging member 203 to move toward the collecting frame 202, and further dragging the dirty cleaning medium 300 to move together. In the process, the highest potential energy point of the second cam 225 starts to gradually contact the bottom of the second profile groove 202g, the pressing plate 202c is pushed open, and the dirty cleaning medium 300 is fed into the collection frame 202. The highest potential energy point of the second cam 225 slides on the lower surface of the second profile groove 202g, the potential energy of the surface thereof contacting with the lower surface of the second profile groove 202g is gradually reduced, and the pressing plate 202c is gradually lowered but still in a state of being disengaged from the base plate 201.

As shown in fig. 11G and 12G, when the pushing plate 207 is driven to the end of the working formation by the swinging member 203, the potential energy highest point of the second cam 225 is staggered with the bottom of the second profiling groove 202G, the pressing plate 202c moves downward under the action of gravity to press the dirty cleaning medium 300, and a part of the dirty cleaning medium 300 is input into the collecting frame 202. The highest potential energy point of the second cam 225 rotates to be staggered with the lower surface of the second profiling groove 202g in a sliding manner, the lowest potential energy point of the second cam 225 is contacted with the lower surface of the second profiling groove 202g, and the pressing plate 202c continues to descend until the lower end of the pressing plate is contacted with the bottom plate 201.

As shown in fig. 11H and 12H, the motor 204 drives the input shaft 205 to continue to rotate clockwise, the push plate 207 moves along the return stroke, and the press plate 202c presses the dirty cleaning medium 300 to ensure that the dirty cleaning medium 300 does not follow the push plate 207 backwards. The above process is repeated until the dirty cleaning media 300 is fully received in the collection box 202. The lowest point of potential energy of the second cam 225 continues to contact the lower surface of the second profiling groove 202g, and the pressing plate 202c maintains a state in which the lower end thereof contacts the bottom plate 201.

The utility model discloses base station 200 is through setting up by the driven rake subassembly of drive assembly, the rake subassembly is driven by drive assembly and makes its lower extreme have the working stroke of collecting frame 202 direction motion and the return stroke that deviates from collecting frame 202 direction motion. And, when in the working stroke, the lower end of the rake assembly contacts the bottom plate 201, so that the dirty cleaning media can be pressed and dragged to slide on the bottom plate 201, and the dirty cleaning media are dragged into the collecting frame 202. When on the return stroke the lower end of the rake assembly disengages from the base plate 201. By repeating or circulating the above-described operation, the dirty cleaning media discharged from the cleaning robot can be gradually stored in the collection frame 202. Therefore, the collection of dirty cleaning media is automated, manual intervention is not needed, and the user experience is better.

It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no order is shown between the two, and no indication or suggestion of relative importance is understood. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The above description is only for the embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention according to the disclosure of the application document.

Claims (22)

1. A base station for a cleaning robot to stop; it is characterized by comprising:

a base plate;

the collecting frame is arranged on the bottom plate and used for collecting dirty cleaning media unloaded by the cleaning robot;

the driving assembly is arranged on the collecting frame;

the rake assembly is driven by the driving assembly, and the lower end of the rake assembly is provided with a working stroke moving towards the direction of the collecting frame and a return stroke moving away from the direction of the collecting frame; when in a working stroke, the lower end of the rake assembly is in contact with the bottom plate so as to press dirty cleaning media and drag the dirty cleaning media to move on the bottom plate towards the collecting frame; when in a return stroke, the lower end of the rake assembly disengages from the floor.

2. The base station of claim 1, wherein the lower end of the rake assembly further has a down stroke moving in a direction towards the floor and an up stroke moving away from the floor; the rake assembly is driven by the driving assembly to enable the lower end of the rake assembly to circularly move according to a working stroke, an ascending stroke, a returning stroke and a descending stroke.

3. The base station of claim 1, wherein the rake assembly comprises a swing; the driving component comprises a motor and an actuating piece which is driven by the motor to rotate; the actuating member is matched with the swinging member to drive the lower end of the swinging member to move along a working stroke or a return stroke.

4. The base station of claim 3, wherein the drive assembly further comprises an input shaft rotationally driven by the motor; the two actuating pieces are respectively arranged at two ends of the input shaft; correspondingly, the number of the swinging parts is also two, and the swinging parts are respectively correspondingly matched with the two actuating parts.

5. The base station of claim 4, wherein the rake assembly further comprises a connector and a pusher plate; the two ends of the connecting piece are respectively connected with the lower ends of the two swinging pieces; the push plate is rotatably connected to the lower end of the connecting piece.

6. The base station as claimed in claim 5, wherein the connecting members are provided at both ends thereof with connecting shafts, and the two swinging members are provided at lower ends thereof with shaft holes extending in a vertical direction; the two connecting shafts are respectively inserted in the two shaft holes.

7. The base station as claimed in claim 5, wherein a torsion spring is disposed between the push plate and the connecting member, and the torsion spring applies a torsion force to the push plate so that an end of the push plate close to the collecting frame has a tendency to rotate toward the bottom plate.

8. The base station as claimed in claim 5, wherein a guide member is disposed between the two swinging members and above the connecting member, the guide member has a guide hole, a guide pin movably passes through the guide hole, and a lower end of the guide pin is fixedly connected to the connecting member.

9. The base station of claim 8, wherein a resilient member is disposed in compression between said guide member and said connector member.

10. The base station of claim 5, wherein the collection box comprises: the rear plate, two side plates which are connected with the rear plate and are arranged oppositely, and a pressing plate which is arranged between the two side plates in a sliding manner and is opposite to the rear plate; the lower end of the pressing plate is provided with a wedging inclined surface facing the pushing plate, and the end part of the pushing plate facing the wedging inclined surface is a wedging end.

11. The base station of claim 10, wherein the pressure plate is pushed by the push plate to slide upward when the push plate moves along a working stroke until the wedging end abuts the wedging ramp; when the push plate is in a return stroke, the lower end of the pressure plate is in contact with the bottom plate.

12. The base station of claim 10, wherein said swinging member is provided with a pivot portion, and said side plate is provided with a mating portion; one of the pivoting part and the adapting part is a long strip-shaped sliding groove extending along the vertical direction, and the other one is a guide component; the guide component is embedded into the strip-shaped sliding groove and can rotate and slide in the strip-shaped sliding groove; the actuating member includes an eccentric structure that is rotatably coupled to the upper end of the oscillating member.

13. The base station of claim 12, wherein said eccentric structure is an eccentric, said oscillating member having a collar at an upper end thereof, said eccentric being disposed in said collar; or the eccentric structure is a connecting rod, the extending direction of the connecting rod is perpendicular to the axial direction of the input shaft, and the upper end of the swinging piece is rotatably connected with the connecting rod.

14. The base station of claim 10, wherein said side plates are provided with a slider movable in said operating stroke direction or said return stroke direction; a first resetting piece is arranged between the sliding piece and the side plate, and the resetting force applied to the sliding piece by the first resetting piece makes the sliding piece have a tendency of moving towards the return stroke direction;

the swinging piece is arranged on the side plate in a sliding mode, and the swinging piece and the sliding piece are fixed in the working stroke direction or the return stroke direction; a second resetting piece is arranged between the swinging piece and the sliding piece, and the resetting force applied to the swinging piece by the second resetting piece makes the swinging piece have a tendency of moving away from the direction of the bottom plate;

the swinging piece is provided with a first profiling groove; the actuator member includes a first cam disposed in the first contoured recess.

15. The base station of claim 14, wherein the sliding member has a guide slot therein, and the swinging member is inserted through the guide slot and horizontally restrained by the guide slot.

16. The base station of claim 14, wherein said oscillating member comprises a rod, a first extension portion provided on said rod and extending toward said return stroke direction; the surface of the rod body facing the return stroke direction and the lower surface of the first extending part define the first profiling groove.

17. The base station of claim 16, wherein said first cam comprises two oppositely disposed straight contoured surfaces, a circular arc contoured surface smoothly transitioning from both of said straight contoured surfaces; the connecting point of the first cam and the input shaft is positioned at the center of one of the circular arc profiling surfaces.

18. The base station of claim 17, wherein the first contoured recess includes a circular arc shaped smooth transition surface connecting a surface of the rod facing in the return stroke direction and a lower surface of the first extension, the circular arc shaped smooth transition surface having a curvature that is adapted to a curvature of the circular arc shaped contoured surface.

19. The base station of claim 18, wherein the arcuate cam surface proximate the point of connection of the first cam to the input shaft forms a lowest point of potential energy for the first cam, and wherein the arcuate cam surface distal the point of connection of the first cam to the input shaft forms a highest point of potential energy for the first cam;

when the push plate is in a working stroke, the lowest potential energy point of the first cam rotates in the circular arc smooth transition surface, and the highest potential energy point of the first cam slides on the surface of the rod body facing to the return stroke direction;

when the push plate is in a return stroke, the lowest potential energy point of the first cam slides on the surface of the rod body facing to the return stroke direction, and the highest potential energy point of the first cam slides on the lower surface of the first extending part.

20. The base station of claim 18, wherein a surface of said pressure plate facing said return stroke direction is formed with a second contour groove; the input shaft is provided with a second cam, and the second cam is arranged in the second profiling groove; the potential energy highest point of the second cam and the potential energy highest point of the first cam are positioned on two sides of the input shaft.

21. The base station of claim 18 wherein said swinging member further comprises a second extension portion disposed at a lower end of said mast body and extending in a direction of said return stroke, said connecting member being pivotally disposed at an end of said second extension portion.

22. A cleaning system, comprising: the cleaning robot comprises a cleaning robot and a base station for the cleaning robot to stop; the base station includes:

a base plate;

the collecting frame is arranged on the bottom plate and used for collecting dirty cleaning media unloaded by the cleaning robot;

the driving assembly is arranged on the collecting frame;

the rake assembly is driven by the driving assembly, and the lower end of the rake assembly is provided with a working stroke moving towards the direction of the collecting frame and a return stroke moving away from the direction of the collecting frame; when in a working stroke, the lower end of the rake assembly is in contact with the bottom plate so as to press dirty cleaning media and drag the dirty cleaning media to move on the bottom plate towards the collecting frame; when in a return stroke, the lower end of the rake assembly disengages from the floor.

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