CN218588941U - Cleaning module, cleaning medium installation device and base station - Google Patents

Abstract

The utility model provides a cleaning machines people system, including cleaning machines people, cleaning modules connect in cleaning machines people, cleaning modules includes: the cleaning device comprises a main body which can be connected by a cleaning medium to wipe a working surface, wherein a connecting area for connecting the cleaning medium and a disassembling area for disassembling the cleaning medium are arranged on the main body, and the disassembling area has no mutual connection with the cleaning medium. The utility model discloses cleaning machines people's cleaning module, through the linking area with the effectual fixing of cleaning medium in the main part, when needs take off cleaning medium from the main part, from dismantling regional beginning, owing to dismantle not having the linkage effect mutually between regional and the cleaning medium, can relax convenient more lift off cleaning medium from the main part.

Description

Cleaning module, cleaning medium installation device and base station

The application is a divisional application of Chinese patent application with the application date of 26/10/2021, the priority date of 26/10/2020, the application number of 202122586935.0 and the name of "cleaning robot system".

Technical Field

The utility model relates to a accessory technical field for cleaning device, cleaning device especially relates to an mountable cleaning media and can assemble the cleaning module who is used for carrying out cleaning task on cleaning machines people, be used for the device of clean or new cleaning media of this cleaning module installation, contain this cleaning media installation device and supply cleaning machines people to berth for the automatic basic station that carries out the cleaning media change of cleaning machines people to and the cleaning machines people system including cleaning machines people and basic station.

Background

Cleaning robots (including but not limited to floor sweeping robots, floor mopping robots, window cleaners, etc.) typically employ a cleaning medium (e.g., paper towels, mops, etc.) for cleaning operations. As the cleaning operation time is prolonged, the number of stains attached to the cleaning medium increases, and the cleaning effect is deteriorated. For this reason, the dirty cleaning medium has to be removed and replaced with a clean cleaning medium.

Currently, cleaning robots in the market generally use magic/bristle bonding to attach the cleaning media to the cleaning tool (e.g., mop plate) or the machine body. When the cleaning medium needs to be replaced, the cleaning medium needs to be manually torn off and replaced by a new cleaning medium. This approach requires human intervention to manually replace the cleaning media, and the user easily gets dirty with poor experience during the collection process; when the cleaning medium is automatically replaced by the base station, the cleaning tool or the machine body has strong adhesion capability to the cleaning medium, and the cleaning medium is difficult to separate from the cleaning tool or the machine body.

SUMMERY OF THE UTILITY MODEL

In view of the above, embodiments of the present invention provide a cleaning module that can be mounted with a cleaning medium and assembled on a cleaning robot to perform a cleaning task, a device for mounting a clean or new cleaning medium for the cleaning module, and a base station that includes the cleaning medium mounting device and is used for the cleaning robot to stop for automatically replacing the cleaning medium for the cleaning robot, which can solve the above problems.

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

A cleaning robot system comprising a cleaning robot, the cleaning robot comprising: a body; the moving module is arranged at the bottom of the machine body and drives the cleaning robot to walk on a working surface; a cleaning module for cleaning the work surface, the cleaning module connected to the cleaning robot, the cleaning module comprising: the cleaning device comprises a main body and a cleaning medium, wherein the main body can be connected with the cleaning medium to wipe a working surface, a connecting area for connecting the cleaning medium and a disassembling area for disassembling the cleaning medium are arranged on the main body, and the disassembling area has no mutual connection with the cleaning medium.

In the cleaning robot system, the cleaning module of the cleaning robot effectively fixes the cleaning medium on the main body through the connecting area, and starts from the disassembling area when the cleaning medium is required to be disassembled from the main body.

Preferably, the connection region includes an adhesive surface to which the cleaning medium adheres.

Preferably, the detachment region includes a notch, and an outer edge of the main body is recessed toward an inside of the main body to form the notch.

Preferably, the main body has a body to which the cleaning medium is attached, and the attaching area and the detaching area are provided on the body.

Preferably, the cleaning robot operates with the adhesive surface facing the working surface.

Preferably, at least one pair of opposite ends of the body is provided with the attachment region and/or the detachment region.

Preferably, the body comprises at least one pair of opposed long ends, the attachment region and/or the detachment region being at least partially disposed on the opposed long ends.

Preferably, two opposite ends of the long end respectively comprise two heads, and the heads are provided with the connecting areas.

Preferably, the connecting region is spaced apart from the detaching region.

Preferably, the connecting region is disposed adjacent to the detaching region, and a distance between outer edges of the connecting region adjacent to the detaching region is within a preset range.

Preferably, the attachment region and the detachment region are provided at opposite ends of the body.

Preferably, the number of the detaching areas is two or more.

Preferably, the connection region disposed at one end of the main body is an integral body, two or more of the detachment regions project laterally of the main body to form a first projection, the connection region projects laterally of the main body to form a second projection, and the first projection and the second projection at least partially overlap.

Preferably, the number of the connecting areas is two or more, and each of the connecting areas is not connected with each other.

Preferably, a plurality of connecting regions are formed between adjacent ends of the main body, and at least two or more of the connecting regions are provided with the connecting regions.

Preferably, the main body includes a body and a flip member, the flip member being connected to the body and rotating with respect to the body, the connection region and the detachment region being provided on the flip member.

Preferably, the connecting region has an adhesive surface, the main body has a working surface, and the cleaning medium is connected to the adhesive surface and the working surface; the turnover piece is provided with a first state and a second state; when the turnover piece is in a first state, the bonding surface and the working surface form a first angle; when the turnover piece is in a second working state, the bonding surface and the working surface form a second angle; the first angle is different from the second angle.

Preferably, the first state is an open state, and the second state is a closed state; when the turnover piece is in an open state, the bonding surface and the working surface point to the same side of the main body; when the flip-over member is in a closed state, the bonding surface and the working surface point to two sides which are approximately back to back.

Preferably, the turning pieces are provided at opposite ends of the main body.

Preferably, when the cleaning device is switched from the open state to the closed state, the turnover piece is turned towards the inner side of the main body, and the bonding surface drives the cleaning medium to turn inwards to tension the cleaning medium.

Preferably, the cleaning robot system further includes: and the closing maintaining piece is used for applying closing maintaining force to the overturning piece to maintain the overturning piece in the closing state or move towards the closing state.

Preferably, the closure maintaining member comprises: a first attaching member provided on the main body, a second attaching member provided on the flipper and corresponding to the first attaching member; one of the first and second attachment elements is a magnetic element and the other is a magnetizable or magnetic element; the closure maintaining force is a magnetic attraction force generated between the first and second attachment elements.

Preferably, the cleaning module further comprises: and the opening executing piece is used for applying opening executing force to the overturning piece so as to enable the overturning piece to maintain the opening state or move towards the opening state.

Preferably, the opening performing part includes: the lever is rotationally arranged on the main body and provided with a force bearing end and a force applying end, and the rotational connection point of the lever and the main body is positioned between the force bearing end and the force applying end; the force bearing end receives the action of external force to drive the lever to rotate, and the force application end corresponds to the overturning piece; the opening execution force comprises a mechanical abutting force applied by the force application end to the turnover piece.

Preferably, the opening performing member further includes: the torsion spring is arranged between the main body and the overturning piece; the opening executing force further comprises a torsion force which is applied to the overturning piece by the torsion spring and enables the overturning piece to overturn towards the opening state.

Preferably, the turning piece is made of a flexible and elastic material; the turnover piece is maintained in a closed state by means of the elasticity of the turnover piece; when the cleaning medium is acted by external force which is deviated from the main body, the cleaning medium pulls the turnover piece to turn outwards through the bonding surface.

Preferably, the detachment region is disposed adjacent to the attachment region, and a distance between outer edges of the attachment region adjacent to the detachment region is within a preset range.

A cleaning robot system comprising a cleaning robot to which a cleaning module is connected, the cleaning module comprising: a main body having a working surface connectable by a cleaning medium; a turnover piece having an adhesive surface capable of adhering a cleaning medium; the turnover piece is rotatably arranged on the main body and has a first state and a second state; when the turnover piece is in a first state, the bonding surface and the working surface form a first angle; when the turnover piece is in a second working state, the bonding surface and the working surface form a second angle; the first angle is different from the second angle.

A cleaning robot system comprising: a cleaning robot, the cleaning robot comprising: a body; the moving module is arranged at the bottom of the machine body and drives the cleaning robot to walk on a working surface; a cleaning module for cleaning the work surface, the cleaning module connected to the cleaning robot, the cleaning module comprising: the cleaning device comprises a main body, a cleaning head and a cleaning head, wherein the main body can be connected with a cleaning medium to wipe a working surface, a connecting area for connecting the cleaning medium and a disassembling area for disassembling the cleaning medium are arranged on the main body, and the disassembling area and the cleaning medium have no mutual connection; a base station, the base station comprising: a housing; and the cleaning medium recovery device is arranged on the shell and used for dismounting and recovering the cleaning medium mounted on the cleaning module.

According to the base station, the cleaning medium can be automatically replaced without user intervention, the dirty cleaning medium on the cleaning module is removed and recycled, the new cleaning medium is installed, and the user experience is high.

Preferably, the cleaning medium recovery device includes: a separation module that acts on the cleaning medium covered on the detachment area to separate the cleaning medium from the main body.

Preferably, the cleaning medium recovery device further includes: a recovery box for recovering the cleaning medium separated by the separation module.

Preferably, the recovery box is disposed on a moving path of the separated cleaning medium so that the cleaning medium enters the recovery box.

Preferably, the separation module applies an external force far away from the main body to the cleaning medium covered on the detaching area to detach the cleaning medium, and the separated cleaning medium falls into the recovery box by its own weight.

Preferably, the separation module applies an external force to the cleaning medium covered on the detachment area, away from the main body, to detach the cleaning medium, the external force bringing the cleaning medium into the recovery box.

Preferably, the separation module includes a paper ejection hook corresponding to the detachment area, which hooks the cleaning medium covered on the detachment area and applies an external force to the cleaning medium away from the main body to separate the cleaning medium from the main body.

Preferably, the paper ejecting hook is at least partially located in the recycling bin.

Preferably, the recovery box is open on one side, and the paper ejection hooks are distributed on two sides of the opening.

Preferably, an opening is provided on one side of the recovery box, and the paper ejection hook is provided outside the opening with respect to the recovery box.

Preferably, the recovery box has an upper opening, and the paper ejection hook is disposed above the opening with respect to the recovery box.

Preferably, the cleaning module moves over the paper ejection hook, the cleaning module moves reversely to hook the paper ejection hook to the cleaning medium covered on the detaching area, the cleaning module continues to move, and the cleaning medium is detached.

Preferably, the recovery box is provided with a cover, and the paper ejection hook has a delivery state of being inserted into the housing and a hidden state of being accommodated in the cover.

Preferably, a rotating shaft is rotatably arranged on the recovery box, and the paper ejection hook is arranged on the rotating shaft; the rotating shaft drives the paper ejecting hook to switch between a storage state and a delivery state.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a perspective view of a cleaning module according to a first embodiment of the present invention;

FIG. 2 is a top view of the cleaning module of FIG. 1;

FIG. 3 is a bottom view of the cleaning module of FIG. 1;

FIG. 4 is a side view of the cleaning module of FIG. 1 with cleaning media attached to the working surface;

fig. 5 is a schematic perspective exploded view of a cleaning module according to a second embodiment of the present invention;

fig. 6 is a schematic perspective view of a cleaning module according to a second embodiment of the present invention in a closed state;

fig. 7 is a schematic perspective view of a cleaning module according to a second embodiment of the present invention in an open state;

figure 8 is a top view of a second embodiment of the cleaning module of the present invention in an open position;

FIG. 9 isbase:Sub>A schematic view of the structure of section A-A in FIG. 8;

fig. 10 is a schematic perspective view of a cleaning module according to a second embodiment of the present invention;

fig. 11 is a schematic perspective exploded view of a cleaning medium recovery device according to an embodiment of the present invention;

fig. 12 is a schematic perspective view of a paper ejection hook of a cleaning medium recycling device according to an embodiment of the present invention in a pay-out state;

fig. 13 is a schematic perspective view of a paper ejection hook of the cleaning medium recycling device according to an embodiment of the present invention in a hidden state;

fig. 14 is a schematic perspective view of an open state of the cleaning medium recovery device according to an embodiment of the present invention;

fig. 15 is a front view of a cleaning medium recovery device according to an embodiment of the present invention;

fig. 16 is a side view of a cleaning medium recovery apparatus according to an embodiment of the present invention;

fig. 17 is a front view of the cleaning medium recovery device according to the embodiment of the present invention recovering the cleaning medium;

fig. 18A to 18C are diagrams illustrating a process of recovering the cleaning medium by the cleaning medium recovering device according to an embodiment of the present invention;

fig. 19A to 19C are diagrams illustrating a process of recovering the cleaning medium by the cleaning medium recovering device according to another embodiment of the present invention;

fig. 20A to 20F are process diagrams of the cleaning medium mounting apparatus according to the embodiment of the present invention mounting the cleaning medium to the cleaning module;

fig. 21A to 21L are process diagrams illustrating a base station of an embodiment of the present invention replacing a cleaning medium for a cleaning robot;

figure 22 is a top view of one embodiment of the cleaning module of the present invention;

figure 23 is a top view of another embodiment of the cleaning module of the present invention;

figure 24 is a top view of yet another embodiment of a cleaning module of the present invention;

fig. 25 is a schematic view of the paper ejecting hook and the recovery box according to the present invention.

Description of the reference numerals:

100. a cleaning module; 101. a main body; 1011. a first side; 1012. a working surface; 102. a turning part; 1020. a connection region; 1021. bonding surface; 1022. a second face; 1023. a notch; 1024. a disassembly area; 1025. bonding the surfaces; 1026. a first projection; 1027. a second projection; 1028. a head portion; 103. a rotating shaft; 104. a torsion spring; 105. a lever; 106. a groove;

200. a cleaning medium recovery device; 201. a recovery box; 2011. a lower housing; 2012. an upper housing; 202. withdrawing the paper hook; 203. a rotating shaft; 204. an upper cover body; 205. a lower cover body;

300. a cleaning medium mounting device; 301. a base; 302. a floating plate; 303. a supply module; 304. a gripper jaw; 3041. a pivot section; 3042. a pressing section; 305. an elastic member; 306. a limiting part; 307. a protrusion; 308. a rod body; 309. a pushing mechanism; 3091. a first push wheel; 3092. a second pusher wheel; 310. a drive assembly; 3101. a cam; 3102. a swing rod;

400. a support device;

500. a base station; 501. a lifting mechanism; 502. a housing; 503. a floor tray; 504. a moving mechanism; 5041. a horizontal traction section; 505. an adsorption plate; 506. a first chute; 507. a second chute; 508. a third chute; 509. a first roller; 510. a first connecting member; 511. a second connecting member; 512. a second roller;

600. a cleaning robot;

f1, the normal direction of the bonding surface; f2, the normal direction of the working surface; l1, L2, long end; l3, L4, short end.

Detailed Description

The embodiment of the utility model provides an mountable cleaning medium and can assemble the cleaning module that is used for carrying out the cleaning task on cleaning machines people, be used for this cleaning module installation clean or new cleaning medium's device, contain this cleaning medium installation device and supply cleaning machines people to stop for the automatic basic station that carries out the cleaning medium and change of cleaning machines people to and including the cleaning machines people of above-mentioned cleaning machines people with basic station's cleaning machines people system.

The cleaning robot may take any suitable existing configuration and any suitable existing class, such as a sweeping robot, a mopping robot, a window wiping robot, etc. In one embodiment, the cleaning robot comprises a body, a moving module arranged at the bottom of the body and used for driving the cleaning robot to walk on a working surface, an energy supply unit (such as a battery pack) arranged on the body, and a control module arranged on the body and electrically connected with the energy supply unit. The cleaning module is arranged at the bottom of the machine body, and a cleaning medium arranged on the cleaning module is contacted with the working surface so as to execute a cleaning task. In a further embodiment, a water tank for containing liquid to wet the cleaning medium installed on the cleaning module is arranged on the machine body, so that wet-mopping is realized.

In an alternative embodiment, the moving module comprises a driving wheel arranged at the rear side of the bottom of the machine body and a universal wheel arranged at the front end of the bottom of the machine body. The driving wheel is used as a power wheel and is driven to rotate by a motor connected with the control module. The universal wheel can be connected with the control module and controlled by the control module to retract or put down. A lifting mechanism for driving the cleaning module to ascend or descend may be provided in the body, and the lifting mechanism may employ a known cam structure.

The top of the body may be provided with a detection element such as a laser scanning module connected to the control module for detecting whether there is an obstacle in front of the cleaning robot in the traveling direction. When detecting that an obstacle exists in front of the walking direction of the cleaning robot, the control module controls the lifting mechanism to lift the cleaning module, and the universal wheels are put down. At this time, the cleaning robot is in the obstacle detouring mode. When the cleaning robot crosses the obstacle, the control module controls the lifting mechanism to put down the cleaning module, and the universal wheels are retracted. At this time, the cleaning robot is in the working mode, and the cleaning operation can be performed.

To achieve the basic functions of the cleaning robot, the cleaning robot in the embodiment of the present invention may further include other necessary modules or components, such as a rolling brush, an edge brush, a suction port, a dust box, a battery, a motor, and the like. It should be noted that any suitable existing configuration may be used for other necessary modules or components included in the cleaning robot. In order to clearly and briefly explain the technical solutions provided by the present invention, the above parts will not be described again, and the drawings in the specification are also simplified correspondingly. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended.

As described above, the cleaning robot of the present invention can be used in cleaning scenes including but not limited to sweeping, mopping, and wiping windows. In a specific scene, the utility model discloses cleaning machines people can be for mopping the ground robot, and mopping the ground robot can drive cleaning module and working surface contact, and the working surface is ground for example, realizes cleaning ground.

It should be noted that, the above-mentioned scenario for mopping is only one possible cleaning operation scenario of the cleaning robot according to the embodiment of the present invention. In the scope that can envision, the skilled person can expand the cleaning machines people who the utility model discloses the embodiment and apply in arbitrary suitable clean scene, the utility model discloses the embodiment does not limit to this.

The description is given with a mopping robot as a main scenario. However, as can be seen from the above description, the scope of the embodiments of the present invention is not limited thereby.

In an alternative embodiment, the cleaning robot system includes a cleaning robot 600, and the cleaning module 100 is connected to the cleaning robot 600. As shown in fig. 1 to 10, in order to provide a cleaning module 100 according to an embodiment of the present invention, the cleaning module includes: the cleaning device comprises a main body 101 and a detaching area 1024, wherein the main body 101 can be connected with a cleaning medium to wipe a working surface, the connecting area 1020 is used for connecting the cleaning medium, and the detaching area 1024 is used for detaching the cleaning medium, and the detaching area 1024 has no mutual connection with the cleaning medium. In one embodiment, the cleaning module 100 is detachably attached to the cleaning robot, and the cleaning medium is attached to the surface of the main body 101 to perform a wiping work; in other embodiments, the cleaning module 100 may not be removably attached to the cleaning robot.

In the cleaning module 100 of the cleaning robot 600 in this embodiment, the cleaning medium is effectively fixed to the main body 101 through the connecting region 1020, and when the cleaning medium needs to be taken down from the main body 101, the cleaning medium can be taken down from the detaching region 1024 more easily and conveniently because the detaching region 1024 and the cleaning medium are not connected to each other.

In an alternative embodiment, the attachment region 1020 includes an adhesive surface 1025, and the cleaning medium is adhered to the adhesive surface 1025. The cleaning medium is directly adhered to the adhesion surface 1025, so that the installation is simple and convenient, and the structure of the main body is simpler. The manner in which the cleaning medium is directly adhered to the adhering surface 1025 may be, for example, such that the cleaning medium is directly adhered to the adhering surface 1025 via a felt. Of course, the cleaning medium may be attached to the attachment area 1020 by other means, such as indirectly attached to the attachment area 1020 by magnetic elements, velcro, etc.

In an alternative embodiment, the removal area 1024 includes a gap 1023, and the outer edge of the body is recessed inward of the body 101 to form the gap 1023. The notch 1023 facilitates removal of the cleaning medium, such as by fitting the paper ejection hook 202, and removal of the cleaning medium from the main body 101.

As shown in fig. 1 to 4, which are a cleaning module 100 according to a first embodiment of the present invention, a main body 101 has a body to which a cleaning medium is attached, and an attachment area 1020 and a detachment area 1024 are provided on the body. Without additional components, the connecting area 1020 and the detaching area 1024 are both arranged on the body, so that the main body is simpler in structure on the premise of being convenient for realizing connection and detachment of the cleaning medium. Further, the cleaning robot operates with the adhesive surface 1025 facing the work surface. So set up, when installing new cleaning medium for the body, the structure of installing new cleaning medium is direct to apply the external force that is close to another one in cleaning medium or the body, can realize the function of installing new cleaning medium, so, the structure of installing new cleaning medium can be simpler, when dismantling dirty cleaning medium for the body, the structure medium of dismantling cleaning medium applys one to cleaning medium or one in the body and keeps away from another external force, can realize dismantling the function of dirty cleaning medium, so, the structure of dismantling dirty cleaning medium also can be simpler. The bonding surface 1025 is parallel to the work surface or the bonding surface 1025 is angled with respect to the work surface. Specifically, as can be seen in fig. 4, the bonding surface 1025 forms an acute angle α with the working surface. When the cleaning robot mops the floor to work, the cleaning medium covered by the bonding surface 1025 is not directly contacted with the working surface, so that the cleaning medium can be dismounted and mounted simply, and when the cleaning module is in frictional contact with the working surface to clean the working surface, the bonding surface 1025 is prevented from being directly rubbed with the working surface, so that the cleaning medium is easy to shift or fall off.

In an alternative embodiment, at least opposite ends of the body 101 are provided with attachment areas 1020. The connection regions 1020 are at least disposed at two opposite ends of the main body 101, so that the cleaning medium can be effectively fixed on the main body 101 and prevented from being warped. Preferably, the disassembly areas 1024 are provided at opposite ends of the body 101. The detachment regions 1024 are provided at opposite ends of the body 101 to facilitate cooperation with a structure for detaching the cleaning medium, thereby facilitating detachment of the cleaning medium.

Further, the body includes at least one pair of opposing long ends L1, L2, and the connecting region 1020 and/or the detaching region 1024 are at least partially disposed on the opposing long ends L1, L2. Referring to fig. 3, the connecting regions 1020 are disposed on the opposite long ends L1 and L2. The connection regions 1020 are provided on the opposite long ends L1, L2, so that the span of the connection regions 1020 can be made longer, and the cleaning medium can be more firmly adhered. Further, referring to fig. 1, two ends of the opposite long end respectively include two heads 1028, and the heads 1028 are provided with a connecting area 1020. The connection region 1020 is disposed at the head 1028, and the cleaning medium can be adhered to the corner of the main body 101 during adhesion, so as to further prevent the cleaning effect from being affected by the edge curling of the cleaning medium during the cleaning process of the cleaning robot 600. Preferably, the disassembly region 1024 is disposed on the opposite long ends L1, L2. The disassembly area 1024 is also arranged on the opposite long ends L1 and L2, so that the span of the disassembly area 1024 is longer, the disassembly force applied to the cleaning medium can be dispersed more when the cleaning medium is disassembled, the disassembly of the cleaning medium is more convenient, the possibility of tearing the cleaning medium is reduced, meanwhile, the disassembly area 1024 can be closer to the connection area 1020, the labor is saved in the process of disassembling the cleaning medium, and the cleaning medium is also prevented from being torn.

Of course, in an alternative example, the body includes at least one pair of opposite short ends L3, L4, and the connecting region 1020 and/or the detaching region 1024 are at least partially disposed on the opposite short ends L3, L4.

In an alternative embodiment, the attachment region 1020 is spaced apart from the detachment region 1024. Referring to fig. 22, when the cleaning medium is detached from the main body 101, the detaching areas 1024 are spaced apart, so that the detaching force applied to the cleaning medium is more dispersed, thereby preventing the cleaning medium from being torn, and the connecting areas 1020 are spaced apart, thereby allowing the cleaning medium to be more easily adhered to the main body 101.

In an alternative embodiment, the connecting region 1020 is disposed adjacent to the detaching region 1024, and the distance L between the outer edges of the connecting region 1020 adjacent to the detaching region 1024 is within a predetermined range. Referring to fig. 22, the preset range of the distance L between the outer edge of the connecting area 1020 and the outer edge of the detaching area 1024 is related to the sizes of the main body 101, the connecting area 1020 and the detaching area 1024, and in this embodiment, the preset range may be 0-20mm, and preferably, the preset range may be 0-3mm. With such an arrangement, when the cleaning medium is detached from the main body 101, the force application point for detaching the cleaning medium is closer to the connection area 1020, so that the force application is facilitated, and the situation that the connection area 1020 cannot be completely separated from the cleaning medium due to the fact that the cleaning medium is torn is avoided. Alternatively, the outer edge of the attachment region 1020 and the outer edge of the detachment region 1024 are at least partially contiguous. Referring to fig. 23 and 24, the outer edge of the connecting area 1020 and the outer edge of the detaching area 1024 are connected to facilitate applying force on the cleaning medium during detaching.

Further, the number of the detaching areas 1024 is two or more. When the cleaning medium is detached from the main body 101, the detaching force applied to the cleaning medium is more dispersed, and the cleaning medium is prevented from being easily torn due to only one force application point.

Furthermore, as shown in fig. 1, 2, and 3, the connecting region 1020 disposed at one end of the main body 101 is a whole, two or more detaching regions 1024 are projected laterally to the main body to form a first projection 1026, the connecting region 1020 is projected laterally to the main body to form a second projection 1027, and the first projection 1026 and the second projection 1027 are at least partially overlapped. Referring to fig. 1, the second projection 1027 is completely unbroken, the second projection 1027 completely covers the first projection 1026, the first projection 1026 is dispersed on the second projection 1027, the connection region 1020 is a whole, no break point is formed in the middle, the cleaning medium can be more firmly adhered to the main body 101, when the cleaning module is used for wiping the ground, the cleaning medium is not easy to curl up, and a better cleaning effect can be provided, and the detachment region 1024 is dispersed on the whole connection region 1020, and when the cleaning medium is detached, a detachment force can be dispersed on the cleaning medium, so that the cleaning medium is prevented from being torn, and the cleaning medium cannot be completely separated. Preferably, the first projection 1026 is evenly distributed over the second projection 1027. It will be appreciated that more than two detachment zones 1024 are evenly distributed throughout the attachment zone 1020. The more than two detaching areas 1024 are uniformly distributed on the connecting area 1020, so that the force application points of the detaching force for detaching the cleaning medium can be more uniformly distributed on the cleaning medium, and the cleaning medium is not easy to tear so as to be convenient to detach.

Alternatively, two or more connection regions 1020 may be provided, and each connection region 1020 may not be connected to another connection region. Referring to fig. 22 to 24, when the cleaning media are mounted, since the connection regions 1020 are provided in plurality, there is sufficient adhesion to fix the cleaning media to the main body 101, and when the cleaning media are dismounted, since the connection regions 1020 are not connected to each other, the cleaning media are more easily dismounted.

In an alternative embodiment, a plurality of connection regions are formed between adjacent ends of the body, at least two or more of the connection regions being provided as connection regions 1020. Referring to fig. 3, connection regions S1, S2, S3, and S4 are formed between adjacent ends of the main body, and the connection regions S1, S2, S3, and S4 are all set as connection regions 1020. The connection areas S1, S2, S3, and S4 are set as the connection areas 1020, so that the cleaning medium can be better connected to the main body, and the cleaning medium is prevented from being warped. The shape and size of the connection region are not limited, and the connection region may be a regular pattern, for example, a circle is drawn by using the connection point of the adjacent end portions of the main body as the center of a circle and a certain length as a radius, and the projection of the circle on the main body is set as the connection region; the connection areas may also be in an irregular pattern.

As shown in fig. 5 to 10, a cleaning module 100 according to a second embodiment of the present invention includes: the main body 101 includes a body and a flip 102, the flip 102 is coupled to the body and rotates with respect to the body, and a coupling region 1020 and a detaching region 1024 are provided on the flip 102. The attachment area 1020 has an adhesive surface 1021, and the body 101 has a working surface 1012 for contacting the working surface to perform a cleaning task, and a cleaning medium is attached to the adhesive surface 1021 and the working surface 1012. It should be noted that the arrangement manner of the detachable area 1024 and the connecting portion 1020 in the first embodiment is also applicable to this embodiment, but in this embodiment, the connecting portion 1020 and the detachable area 1024 are arranged on the flip 102.

In an alternative embodiment, the main body 101 has a rectangular plate-shaped structure having a length direction and a width direction, and the cleaning robot moves the cleaning module 100 in the width direction. Thus, the cleaning module 100 has a larger sweeping area in a single movement and higher cleaning efficiency. As shown in fig. 9, the main body 101 has a working surface 1012 to which the cleaning medium can be attached, and the working surface 1012 corresponds to a lower surface of the main body 101 in a use state of the cleaning module 100. The main body 101 also has a first face 1011 facing away from the working face 1012, the first face 1011 corresponding to an upper surface of the main body 101 in the use state of the cleaning module 100. The "use state" is a state when the cleaning module 100 is mounted on the cleaning robot to perform a cleaning work.

The flippers 102 are plate-shaped or bar-shaped, and are provided at both ends (front and rear ends) of the body 101 in the width direction thereof. As shown in fig. 5, the flip member 102 is rotatably coupled to the main body 101 by a rotating shaft 103. Preferably, the flippers 102 are two in number and are disposed at the front and rear ends of the body 101 in a symmetrical fashion. The connecting area 1020 is disposed on the flip 102, and the connecting area 1020 is provided with an adhesive surface 1021, where the adhesive surface 1021 corresponds to an upper surface of the flip 102 in a use state of the cleaning module 100. The flip-over member 102 further has a second surface 1022 opposite to the adhesive surface 1021, and the second surface 1022 corresponds to an upper surface of the flip-over member 102 when the cleaning module 100 is in use.

Since the flip-flop 102 is rotatable with respect to the main body 101 (as will be appreciated hereinafter, the flip-flop 102 may be flipped inward or outward with respect to the main body 101), the orientation of the adhesive surface 1021 and the second surface 1022 may be varied when the flip-flop 102 is in different positions with respect to the main body 101 (as will be described below in the closed position and the open position). Specifically, as shown in fig. 9, in a specific embodiment, when the flip-flop 102 is in the closed state (which may generally correspond to the cleaning module 100 being in the use state), the adhesive surface 1021 faces upward, and the second surface 1022 faces downward. Conversely, when the flip member 102 is in the open state (which may generally correspond to a replacement state of the cleaning module 100 for replacing the cleaning medium), the adhesive surface 1021 faces downward, and the second surface 1022 faces upward. Therefore, it is necessary to emphasize the orientation of the adhesive surface 1021 and the second surface 1022 in the state where the cleaning module 100 is present or the state where the reversing member 102 is present.

The flipper 102 has a first state and a second state relative to the body 101. When the flipper 102 is in the first position, the adhesive surface 1021 is at a first angle relative to the work surface 1012. When the flipper 102 is in the second operating position, the bonding surface 1021 is at a second angle relative to the working surface 1012. The first angle is different from the second angle. That is, when the flipper 102 is in different operational states, it is in different positional relationship with the main body 101. The positional relationship is changed by the rotation of the flipper 102.

As described above, since the flipper 102 is rotatably coupled to the body 101, the flipper 102 has a closed position (as shown in fig. 6) and an open position (as shown in fig. 7) with respect to the body 101. In this embodiment, the first state is an open state and the second state is a closed state. When in the open position, the adhesive surface 1021 and the work surface 1012 are directed to the same side of the body 101. In the closed position, the bonding surface 1021 and the working surface 1012 point generally away from each other.

According to geometric knowledge, the included angle between two surfaces is a surface angle. The angle between the bonding face 1021 and the working face 1012 is in the range of 0,180 degrees, as defined by the face angle (dihedral angle). Based on the correspondence between the first state and the second state and the operating state of the flipper 102, and the positional relationship between the open state and the closed state, the first angle is larger than the second angle. In some scenarios, the first angle may be 0 degrees, the second angle may be an obtuse angle, or may even be a straight angle.

Since the flipper 102 is rotated relative to the body 101, the position of the body 101 is relatively unchanged. Thus, the orientation of the working surface 1012 and the first surface 1011 of the body 101 is constant while the orientation of the adhesive surface 1021 and the second surface 1022 of the flip 102 is varied when the flip 102 is in different states. Thereby, the mounting and releasing of the cleaning medium is achieved.

Specifically, when the flip 102 is in the open state, the second surface 1022 of the flip 102 is separated from the first surface 1011 (specifically, the upper surface), and the adhesive surface 1021 rotates to be on the same side as the working surface 1012 of the main body 101, so that the cleaning medium can be detached by an external force. When the flip 102 is in the closed state, the second side 1022 of the flip 102 is attached to the first side 1011 of the main body 101, and the adhesive surface 1021 rotates to be positioned at both sides of the main body 102 with the working surface 1012 of the main body 101, thereby tensioning the cleaning medium.

In this embodiment, when the flip-flop 102 is in the open state, the bonding surface 1021 and the working surface 1012 point to the same side of the main body 101, specifically, an included angle between a normal direction F1 of the bonding surface 1021 and a normal direction F2 of the working surface 1012 is an acute angle; as shown in fig. 9, the adhesive surface 1021 and the working surface 1012 are both downward. The "normal direction" refers to a direction perpendicular to the face and facing outward.

In an alternative embodiment, the flip 102 is in an open state as illustrated in fig. 9, the normal direction F2 of the working surface 1012 is vertically downward, and the normal direction F1 of the bonding surface 1021 is inclined downward; specifically, the vertical surface of the working surface 1012 faces downward, and the inclined surface of the bonding surface 1021 faces downward. In a further embodiment, the upper surface of the flip 102 is at an angle of approximately 150 ° to the upper surface of the main body 101, the angle between the normal to the bonding surface 1021 and the normal to the working surface 1012 is 30 °, and the flip 102 is rotated 150 ° outwardly from the closed position to the open position.

The above embodiment is described in which the adhesive surface 1021 of the flip 102 is inclined downward, but in practice, the state of the flip 102 is not limited to the above embodiment. In another alternative embodiment, the normal direction F1 of the bonding surface 1021 may be vertically downward. In this case, the bonding surface 1021 is parallel to the working surface 1012, or even flush with it, and the normal directions F1 and F2 of the two are parallel.

Similarly, when the flip-flop 102 is in the closed state, the bonding surface 1021 and the working surface 1012 point to opposite sides of the main body 101, specifically, an included angle between a normal direction F1 of the bonding surface 1021 and a normal direction F2 of the working surface 1012 is an obtuse angle; as shown in fig. 6, the adhesive surface 1021 is shown facing upward and the working surface 1012 is shown facing downward. In a further preferred embodiment the adhesive surface 1021 is directed vertically upwards and the working surface 1012 is directed vertically downwards, the angle between the two directions of discovery F1, F2 being 180 °.

In the present embodiment, the flip 102 is flipped outward when switching from the closed state to the open state. When the state is switched from the open state to the closed state, the flip member 102 is flipped inward. The surface of the flip 102 opposite to the second surface 1022 is provided with an adhesive structure for adhering the cleaning medium to form an adhesive surface 1021, and the adhesive structure includes magic glue, bur glue, and the like. When the turnover part 102 is switched from the open state to the closed state, the adhesive surface 1021 drives the cleaning medium to turn inwards to tension the cleaning medium.

Specifically, as shown in fig. 20D and 20E, when the clamping claw 304 of the cleaning medium mounting device 300 presses the cleaning medium against the adhesive surface 1021 of the turnover member 102, the cleaning medium is adhered and fixed. The fingers 304 then push the flipper 102 to flip inward, during which the adhesive surface 1021 pulls the cleaning media along with it, and tension is applied.

Through the structural design, the cleaning medium in the tensioning state can be better contacted with the working surface in the subsequent cleaning process, and the phenomenon that the cleaning effect is influenced by curling or stacking in the contact process of the working surface due to the loosening of the cleaning medium is avoided.

It can be seen that when the flipper 102 is in the open position, the adhesive surface 1021 for adhering the cleaning medium is located on the same side of the main body 101 as the working surface 1012 of the main body 102 to which the cleaning medium is attached, so that the cleaning medium is in a relatively loose state as a whole after being mounted on the working surface 1012 of the main body 102 and adhered by the adhesive surface 1021. Subsequently, during the switching to the closed state, the flip member 102 rotates toward the inside of the main body 101, and by the adhesive fixing action of the adhesive surface 1021 to the cleaning medium, the adhered portion of the cleaning medium is brought together to move inward, thereby tensioning the cleaning medium.

Also, when the flipper 102 is switched from the closed state to the open state, the cleaning medium is restored from the tensioned state to the relaxed state, so that the dirty cleaning medium can be easily removed.

As shown in fig. 5 to 9, in an alternative embodiment, the flip member 102 is made of a hard material, such as plastic, metal, etc., and is rigid as a whole, and has no flexibility or poor flexibility. To accomplish this type of hard flip 102 opening or closing switch, the cleaning module 100 also includes a closure retainer and an opening actuator. The closing maintaining member is configured to apply a closing maintaining force to the flip member 102 to maintain the flip member in the closed state or move toward the closed state, and the opening actuating member is configured to apply an opening actuating force to the flip member 102 opposite to the closing maintaining force to maintain the flip member 102 in the open state or move toward the open state. That is, the closing maintaining member serves to maintain the flip member 102 in a closed state to tension the cleaning medium to prevent the cleaning medium from slipping off during the cleaning process. The opening actuator is used to open the flipper 102 to release the cleaning medium, discharge the dirty cleaning medium, and replace it with clean cleaning medium.

In one possible embodiment, the closure maintaining member comprises: a first attachment element provided on the main body 101 (in particular on the first face 1011), a second attachment element provided on the flipper 102 (in particular on the second face 1022) and corresponding to the first attachment element. One of the first and second attachment elements is a magnetic element and the other is a magnetizable or magnetic element. The closure maintaining force is a magnetic attraction force generated between the first attachment element and the second attachment element.

In this embodiment, the magnetic element may be a magnetic element capable of generating a magnetic field, for example, a magnet (such as a permanent magnet or a hard magnet) with its own magnetism, or an electromagnetic element (such as an electromagnet) capable of generating magnetism after being electrified. The magnetizable element may be made of a magnetizable material, such as iron, cobalt, nickel, etc., which is capable of being attracted by a magnetic force. When the first and second attachment elements are both magnetic elements, the magnetic poles of the two magnetic elements facing each other are different.

The opening actuator comprises a lever 105 rotatably arranged on the body and having a force-bearing end and a force-applying end, the rotational connection point of the lever 105 to the body 101 being located between the force-bearing end and the force-applying end. The force receiving end receives an external force to drive the lever 105 to rotate, the force applying end corresponds to the second surface 1022, and the opening actuating force is a mechanical propping force applied by the force applying end to the second surface 1022.

As shown in fig. 5 to 9, the levers 105 are divided into two groups, which are respectively disposed at both ends (left and right ends) of the main body 101 along the length direction thereof, and each group includes two levers 105 for the flip 102 corresponding to the front and rear ends, respectively. Thus, each of the flippers 102 is opened by lifting its left and right ends by the left and right levers 105, respectively.

In order to avoid interference of the lever 105 on closing of the flip 102, the upper surface of the main body 101 is recessed inward to form a groove 106 near the left and right ends, two levers located on the same side are rotatably disposed in the same groove 106, and the two levers on the same side are symmetrically disposed. When the force-applying end of the lever 105 extends out of the groove 106 and contacts the second face 1022 of the flip 102, an outward force is applied to the flip 102 to switch the flip from the original closed state to the open state. Accordingly, when the force application end of the lever 105 is retracted into the groove 106, the flipper 102 is restored and stabilized in the closed state by the magnetic attraction between the first and second attachment members.

Further, the opening performing member further includes a torsion spring 104 provided between the main body 101 and the turnover member 102. As shown in fig. 5, specifically, the torsion spring 104 is sleeved outside the rotating shaft 103, and two ends thereof respectively abut against the main body 101 and the turning member 102. Further, the torsion spring 104 applies a torsion force to the flipper 102 such that it always flips outward. The opening actuating force further includes a torsion force applied by the torsion spring 104 to the flipper 102 to flip it toward the open position. The number of the torsion springs 104 is preferably two or more, wherein at least one torsion spring 104 is sleeved at a position of the rotating shaft 103 close to the two ends respectively, so as to balance the resetting effect of the turnover part 102 along the length direction.

In practice, the lever 105 cooperates with the torsion spring 104 to effect the opening of the flipper 102. Specifically, the magnetic attraction between the first and second attachment elements is related to the distance between the first and second faces 1011, 1022. During the process of the lever 105 ejecting the flip piece 102 to flip outwards, the distance between the first surface 1011 and the second surface 1022 gradually increases, and the magnetic attraction force between the first attachment element and the second attachment element gradually decreases. Until the flip member 102 is flipped outward to a predetermined position, the torsion applied to the flip member 102 by the torsion spring 104 is greater than the magnetic attraction between the two attachment elements, and the torsion overcomes the magnetic attraction, and the flip member 102 continues to flip outward to the open state.

When the flip 102 is in the closed state, the first surface 1011 and the second surface 1022 are attached to each other, and at this time, the distance between the first attaching element and the second attaching element is the smallest, the magnetic attraction force is the largest, and the magnetic attraction force is greater than the torsion force applied by the torsion spring 104 to the flip 102. Therefore, in the closed state, the flip member 102 is stably in the closed state without the assistance of external force.

Thus, in the present embodiment, the lever 105 is used to overcome the magnetic attraction between the first and second attachment elements at an initial stage. That is, the lever 105 applies a pushing-open force to the flipper 102 greater than the maximum magnetic attraction force, thereby opening the rotation of the flipper 102. When the magnetic attraction is reduced to be smaller than the torsion of the torsion spring 104 during the outward rotation of the turning member 102, the turning member 102 can continue to rotate outward under the action of the torsion spring 104, and finally switch to the open state.

Of course, the closing maintaining member and the opening performing member are not limited to the above-described embodiments. In another possible embodiment, the closure maintaining member may also use the magnetic attraction force of the magnetic element to achieve the closure of the flip member 102. The difference is that in this embodiment, the generation and disappearance of the magnetic attraction force is controllable.

Specifically, the closing maintaining member includes an electromagnetic element disposed on the first surface 1011 of the main body 101, and a magnetizable element or a magnet disposed on the second surface 1022 of the flip member 102 and corresponding to the electromagnetic element, and the closing maintaining force is still a magnetic attraction force. The turning member 102 is also rotatably connected to the main body 101 through a rotating shaft 103, the opening actuating member is a torsion spring sleeved outside the rotating shaft 103, two ends of the torsion spring respectively abut against the main body 101 and the turning member 102, and the opening actuating force is a torsion force. The torsion spring in this embodiment functions in the same manner as the torsion spring 104 in the previous embodiment, and is used for applying an outwardly-turned torsion force to the flipper 102. When the flip member 102 needs to be maintained in the closed state or switched from the current open state to the closed state, the electromagnetic element is energized to generate a magnetic field, so that the flip member 102 is flipped inward under the action of the magnetic attraction force until the magnetizable element or the magnet is attracted by the electromagnetic element, thereby closing the flip member 102. When the turnover part 102 needs to be maintained in the open state or switched from the current closed state to the open state, the electromagnetic element is powered off, the magnetic field disappears, and the turnover part 102 is turned outwards under the action of the torsion spring to realize opening.

In the above-mentioned embodiment in which the flipper 102 is made of a hard material, since the flipper 102 does not have a good flexibility, the flipper 102 needs to be switched between the closed state and the open state by the closing maintaining member and the opening actuator.

In an alternative embodiment, as shown in fig. 10, the flipper 102 is made of a flexible and resilient material, such as rubber. In this way, the flip 102 can be maintained in the closed state by its own resilience. When the cleaning media is subjected to an external force directed away from the main body 102, the cleaning media pulls the flipper 102 through the adhesive surface 1021 and flips outward.

As shown in fig. 18A to 18C in particular, when the cleaning module 100 carries the dirty cleaning medium toward the recovery box 201. When the cleaning module 100 is entirely put into the recycling box 201, it is retracted out of the recycling box 201. At this time, the paper ejection hooks 202 provided on both sides of the opening of the recovery box 201 catch the dirty cleaning medium adhered to the adhesive surface 1021 of the reversing tool 102. As the cleaning module 100 continues to move backward, the dirty cleaning media are hung on the paper ejection hook 202, and the flexible flip member 102 is driven to flip outward (specifically, to bend outward) to an open state. Thus, the dirty cleaning medium is torn off from the adhesive surface 1021 of the flip 102. Subsequently, the flipper 102 returns to the closed position under its own resiliency.

The utility model discloses basic station includes the casing, and cleaning medium installation device 300 establishes on the casing. The dirty cleaning media mounted on the cleaning module 100 are removed before the clean cleaning media are mounted. Therefore, the housing of the base station is further provided with a cleaning medium recovery device 200 for detaching and recovering the dirty cleaning medium mounted on the cleaning module 100.

The utility model discloses a cleaning machines people system of an embodiment includes cleaning machines people 600, and cleaning machines people 600 detachable is connected with cleaning module 100, and cleaning module 100 includes: the cleaning device comprises a main body 101 which can be connected by a cleaning medium to wipe a working surface, wherein a connecting area 1020 for connecting the cleaning medium and a disassembling area 1024 for disassembling the cleaning medium are arranged on the main body 101, and the disassembling area 1024 has no mutual connection with the cleaning medium; the cleaning robot 600 system further includes: a base station, the base station comprising: a housing; and a cleaning medium recovery device 200 provided on the housing for discharging and recovering the cleaning medium mounted to the cleaning module 100. It should be noted that the base station in this embodiment is adaptable to the cleaning module 100 in any of the above embodiments, and separates the cleaning medium on the cleaning module 100 from the main body 101.

As shown in fig. 11 to 19C, in an alternative embodiment, the cleaning medium recovery apparatus 200 includes: and a separation module which acts on the cleaning medium covered on the detachment region 1024 to separate the cleaning medium from the main body 101. The mechanism of the separation module for detaching the cleaning medium may be provided in various forms, such as a hook or a clamping tool, without limitation, and how to separate the cleaning medium from the main body 101 will be described in detail below by taking the separation module including the paper ejection hook 202 as an example.

The cleaning medium recovery device 200 further includes: and a recovery box 201 for recovering the cleaning medium separated by the separation module. The separated cleaning media are directly recovered into the recovery box 201, so that the hands of people are prevented from being polluted by manually processing the dirty cleaning media. In order to achieve that the dirty cleaning media are directly recovered to the recovery box 201, the recovery box 201 is disposed on a moving path of the separated cleaning media so that the cleaning media fall into the recovery box 201.

The separation module applies an external force far away from the main body 101 to the cleaning medium covered on the detachment region 1024 to detach the cleaning medium, and the separated cleaning medium falls into the recovery box 201 by its own weight. Optionally, the recovery box 201 may be disposed below the separated cleaning medium, so that the separated cleaning medium directly falls into the recovery box 201 due to its own weight, and the recovery of the cleaning medium may be achieved without an additional structure.

Alternatively, the separation module applies an external force to the cleaning medium covered on the detachment region 1024 away from the main body 101 to detach the cleaning medium, the external force drawing the cleaning medium into the recovery box 201. The cleaning medium is pulled into the recovery box 201 by the external force of the separation module for detaching the cleaning medium, and the recovery of the cleaning medium can be realized without an additional structure.

Further, the separation module includes a paper ejection hook 202, the paper ejection hook 202 corresponds to the detachment area 1024, hooks the cleaning medium covered on the detachment area 1024, and applies an external force to the cleaning medium away from the main body 101 to separate the cleaning medium from the main body 101. The paper ejection hook 202 may be provided on the housing or may be provided on the recovery box 201. In this embodiment, the paper ejection hook 202 is at least partially located within the recovery box 201. The recovery box 201 is open to one side, and the paper ejection hooks 202 are distributed on both sides of the opening. Specifically, the recovery box 201 is provided with two shafts (hereinafter, referred to as a rotation shaft 203) respectively provided on both sides of an opening of the recovery box 201, and the paper ejection hook 202 is provided on the rotation shaft 203 to form an upper paper ejection hook and a lower paper ejection hook. The number of the paper ejecting hooks 202 arranged on each rotating shaft 203 is multiple, and the paper ejecting hooks 202 are uniformly distributed to improve the dirty cleaning medium discharging efficiency.

In one embodiment, an opening is provided on one side of the recovery box 201, and the paper ejection hook 202 is disposed outside the opening with respect to the recovery box 201. Further, referring to fig. 25, the upper side of the recovery box 201 is opened, and the paper ejection hook 202 is disposed above the opening opposite to the recovery box 201. The specific manner of disposing the paper ejection hook 202 outside the opening with respect to the recovery box 201 is not limited, for example, the recovery box 201 and the paper ejection hook 202 are both connected to a base disposed inside the base station, and when the cleaning medium is separated, the recovery box 201 and the paper ejection hook 202 do not displace with respect to the base; the paper ejection hook 202 may be directly connected to the outside of the recovery box 201, and the recovery box 201 may not be displaced from the paper ejection hook 202 when the cleaning medium is separated.

As shown in fig. 16, the back surface, i.e., the surface facing the opening, of the paper ejection hook 202 is a smooth transition surface, and the front surface, i.e., the surface facing away from the opening, is provided with serrations. Therefore, the smooth back of the paper ejection hook 202 enters by the cleaning module 100, blocking and interference caused by the cleaning module 100 entering the recovery box 201 are avoided, the front provided with the saw teeth can catch dirty cleaning media, and a better unloading effect is achieved.

As shown in fig. 8 and 9, in one embodiment, in order to prevent the reversing member 102 from interfering with and blocking the paper ejection hook 202 when the paper ejection hook 202 ejects the dirty cleaning medium from the reversing member 102, so as to ensure that the paper ejection hook 202 can eject the dirty cleaning medium smoothly, a notch 1023 corresponding to the paper ejection hook 202 is provided on the outer side of the reversing member 102, and the notch 1023 can be passed through by the paper ejection hook 202 to eject the dirty cleaning medium.

In one embodiment, the cleaning module 100 moves past the paper ejection hook 202, the cleaning module 100 moves in reverse to cause the paper ejection hook 202 to catch the cleaning media covered on the detachment zone 1024, the cleaning module 100 continues to move, and the cleaning media is detached. Referring to fig. 18A to 18C and fig. 19A to 19C, schematic diagrams of a cleaning medium recycling device 200 for recycling the cleaning medium on the cleaning module in the first and second embodiments are shown.

As shown in fig. 18A, when the supporting device 400 carries the cleaning module 100 and moves toward the opening of the cleaning medium recycling device 200, the turnover member 102 of the cleaning module 100 is in an open state, and the dirty cleaning medium originally adhered to the adhering surface 1021 of the turnover member 102 is in a loose state. Wherein the supporting device 400 exerts a force on the force-bearing end of the lever 105, thereby opening the flipper 102. As shown in fig. 18B and 18C, when the supporting device 400 carries the opened cleaning module 100 to pass through the two paper ejection hooks 202 and enter the recovery box 201, the supporting device 400 moves back again. Thus, the paper ejection hook 202 catches the dirty cleaning medium that has been released but still adhered to the holder 102. Subsequently, the cleaning module 100 continues to move back to exit the recovery box 201, and the dirty cleaning media are caught by the paper exit hook 202 and left in the recovery box 201, thereby achieving the discharge and collection of the dirty cleaning media. As shown in fig. 11 to 14, the recovery box 201 includes a lower case 2011 and an upper case 2012 rotatably coupled to the lower case 2011. In this way, the recovery tank 201 can be opened to facilitate the removal of the dirty cleaning media collected therein.

As shown in fig. 19A to 19C, a process diagram for recovering the cleaning medium on the cleaning module 100 in the first embodiment of the present invention for the cleaning medium recovering device 200 is shown. The structure of the cleaning medium recycling device 200 is substantially the same as that described above, and will not be described herein.

The paper ejection hook 202 corresponds to the detaching area 1024, hooks the cleaning medium covered on the detaching area 1024, applies an external force to the cleaning medium away from the main body 101, separates the cleaning medium from the main body 101, and recovers the separated cleaning medium into the recovery box 201. When the cleaning medium connected to the cleaning module 100 is dismounted, the paper ejection hook 202 is aligned with the dismounting area 1024 and passes through the dismounting area 1024 and hooks the cleaning medium covered on the dismounting area 1024, the cleaning module 100 moves away from the paper ejection hook 202 at this time, the paper ejection hook 202 limits the movement of the cleaning medium covered on the dismounting area 1024, the cleaning module 100 continues to move away from the paper ejection hook 202, the paper ejection hook 202 pulls the cleaning medium, and the cleaning medium can be easily torn off from the main body 101 by the paper ejection hook 202 because the dismounting area 1024 and the cleaning medium are not connected with each other.

Further, in order to avoid potential safety hazards caused by the fact that the saw teeth arranged on the paper ejection hook 202 are not exposed at the same time, the paper ejection hook 202 is in an outgoing state and a hidden state. Specifically, the recovery box 201 is provided with a cover, which includes an upper cover 204 and a lower cover 205, respectively disposed on the upper casing 2012 and the lower casing 2011. As shown in fig. 12, when in the dispensing state, the paper ejection hook 202 extends into the housing, so that the loosened dirty cleaning medium on the cleaning module 100 can be hooked and removed. As shown in fig. 13, when in the hidden state, the paper ejection hook 202 is housed in the cover. Specifically, the upper paper ejection hook is housed in the upper cover 204, and the lower paper ejection hook is housed in the lower cover 205. The rotating shaft 203 drives the paper ejection hook 202 to switch between a storage state and a delivery state, and the rotating shaft 203 can be driven to rotate by a motor.

After the removal of the dirty cleaning medium is completed, the clean cleaning medium is mounted on the cleaning module 100 again. As shown in fig. 20A to 20F, a cleaning medium mounting device 300 according to an embodiment of the present invention includes: a base 301, a floating plate 302 connected with the base 301 and movable relative to the base 301, and a supply module 303. Wherein, the end of the floating plate 302 is rotatably connected with a clamping claw 304, and the supply module 303 comprises: a reel (which may be fixed to the housing of the base station), cleaning media wound on the reel, and clean cleaning media supplied by supply module 303 corresponding to floating plate 302. When the cleaning module 100 pushes the floating plate 302 to move towards the direction close to the base 301 until the clamping claws 304 abut against the base 301, the clamping claws 304 rotate inwards, and then the turnover part 102 is driven to switch from the open state to the closed state.

In this embodiment, the floating plate 302 can move horizontally relative to the base 301. An elastic member 305 is disposed between the base 301 and the floating plate 302, and the elastic member 305 may be a plurality of springs, and applies an elastic force to the floating plate 302 to depart from the base 301. In order to limit the outward movement of the floating plate 302, i.e. the movement in the direction away from the base 301, a limiting portion 306 is arranged on the base 301, and the limiting portion 306 limits the movement of the floating plate 302 away from the base 301.

The stoppers 306 are provided at the upper and lower ends of the base 301 and extend toward the floating plate 302. The rotation of the clamping jaw 304 relative to the floating plate 302 has an extreme position, which is defined by a stop provided on the back of the floating plate 302. When the floating plate 302 moves away from the base 301 until the clamping claw 304 contacts the limiting portion 306, the clamping claw 304 starts to rotate towards the stopping portion. Until the clamping jaw 304 abuts against the stopping portion, the clamping jaw 304 reaches the limit position, the rotation can not be continued, and the floating plate 302 is limited accordingly.

Further, the surface of the base 301 facing the floating plate 302 is provided with a projection 307 corresponding to the chucking claw 304, and the end of the projection 307 is smooth. As shown in fig. 20E, the clamping claw 304 is bent and substantially shaped like a letter "7", and includes a pivoting section 3041 connected to the floating plate 302 in a rotating manner, and a pressing section 3042 connected to the pivoting section 3041. The pivoting section 3041 and the pressing section 3042 are preferably integrally formed, and the back of the joint of the pivoting section 3041 and the pressing section 3042 is also smooth. When the cleaning module 100 pushes the floating plate 302 to move toward the base 301 until the clamping claws 304 abut against the protrusions 307, the back of the clamping claws 304 roll on the protrusions 307, and the clamping claws 304 turn inward, thereby driving the pressing sections 3042 to rotate inward and pushing the flipper 102 to move toward the closed state.

Since the clean cleaning medium discharged from the supply module 303 is previously wound on the reel, the discharged clean cleaning medium may be bent and uneven when it hangs down to a position corresponding to the floating plate 302 by gravity. In order to facilitate the normal installation of the cleaning medium in the cleaning module 100, the cleaning medium needs to be maintained in a relatively flat state. Therefore, the cleaning medium mounting device 300 further includes a flattening member for flattening the cleaning medium discharged from the supply module 303.

The leveling member can restore the cleaning medium to be level by means of air flow, a pressure lever and the like. For example, in one embodiment, the flattening element is a rod 308 that is rotatably disposed on the housing of the base station and driven by a motor. The rod 308 rotates to pluck the cleaning media and flatten it. Alternatively, in other embodiments, the smoothing member may be a fan or a fan drum that blows an air flow downward to smooth the cleaning medium by the air flow.

In order to convey the clean cleaning medium released by the supply module 303 to a position corresponding to the floating plate 302, a pushing mechanism 309 is further provided between the supply module 303 and the floating plate 302 to convey the cleaning module 100 released by the supply module 303 toward the floating plate 302. As shown in fig. 20A to 20F, the pushing mechanism 309 includes two oppositely disposed pushing wheels: the first and second pushing wheels 3091 and 3092, and the first and second pushing wheels 3091 and 3092 rotate in opposite directions. Thus, when the first pushing wheel 3091 and the second pushing wheel 3092 rotate, the cleaning medium is pressed between the two pushing wheels 3091 and 3092, and is dragged downwards under the action of friction force, so that the conveying of the cleaning medium is realized.

Further, the pushing mechanism 309 further includes a driving assembly 310 coupled to the first pushing wheel 3091 for driving the first pushing wheel 3091 to move relatively closer to or away from the second pushing wheel 3092. The first pushing wheel 3091 is driven to move relative to the second pushing wheel 3092 by the driving component 310, so that the distance between the two pushing wheels 3091 and 3092 is adjustable, and then pushing, pressing and loosening of the cleaning medium are realized to meet the requirements of different steps of mounting the cleaning medium.

In some embodiments, the drive assembly 310 can be a telescoping member, such as a pneumatic cylinder, a hydraulic cylinder, a telescopic joint, etc., with the first push wheel 3091 provided at an end of the telescoping member. In other embodiments, the drive assembly 310 may employ a cam 3101 in conjunction with a linkage structure. Specifically, as shown in fig. 20A to 20F, the driving assembly 310 includes: a cam 3101 and a swing link 3102 rotatably provided on the base station case, a slider 3103 slidably provided on the base station case, a pressing spring 3104 provided between a first end of the slider 3103 and the base station case, and a first pushing wheel 3091 provided at a second end of the slider 3103. The cam 3101 contacts with the lower end of the swing link 3102, the upper end of the swing link 3102 abuts against the sliding member 3103, the rotation connection point between the swing link 3102 and the base station housing is located between the upper and lower ends, and the compression spring 3104 exerts an elastic force on the sliding member 3103 to compress the first push wheel 3091 and the second push wheel 3092.

As shown in fig. 20A to 20E, when the cam 3101 contacts the lower end of the swinging link 3102 at the lowest point of potential energy, the swinging link 3102 is in a substantially vertical state, and the first pushing wheel 3091 and the second pushing wheel 3092 are pressed by the elastic force of the pressing spring 3104. As shown in fig. 20F, when the cam 3101 contacts the lower end of the swinging rod 3102 at the highest potential energy point, the swinging rod 3102 is driven to rotate, the upper end thereof moves in a direction away from the second pushing wheel 3092, and the sliding member 3103 is driven to move in a direction away from the second pushing wheel 3092, so that a gap is formed between the first pushing wheel 3091 and the second pushing wheel 3092, and the pressing of the cleaning medium is released.

A process of mounting the cleaning medium to the cleaning module 100 by the cleaning medium mounting device 300 will be described below with reference to fig. 20A to 20F.

As shown in fig. 20A, the first push wheel 3091 presses the second push wheel 3092, the two push wheels 3091, 3092 rotate in opposite directions, the cleaning medium is dragged downward by friction force, and the cleaning medium sags downward by gravity.

As shown in fig. 20B, the flattening member rotates to flatten the tilted cleaning medium.

As shown in fig. 20C, cleaning module 100 moves forward pressing against floating plate 302.

As shown in fig. 20D, the cleaning module 100 continues to move forward, and the cleaning medium is broken due to the two pushing wheels 3091, 3092 compressing the cleaning medium.

As shown in fig. 20E, the cleaning module 100 continues to move forward, and the clamping fingers 304 flip over to press the cleaning medium against the adhesive surface 1021 of the flip 102.

As shown in fig. 20F, the cleaning module 100 moves backward while the flattening member is lifted, and the first push wheel 3091 is separated from the second push wheel 3092.

As shown in fig. 21A to 21L, a process diagram for exchanging the cleaning medium for the cleaning robot 600 is shown in the base station 500 including the cleaning medium recovery device 200 and the cleaning medium installation device 300. As can be seen from the above, in order to realize the replacement of the cleaning medium, the dirty cleaning medium originally carried by the cleaning module 100 is removed by the cleaning medium recycling device 200, and then the clean cleaning medium is mounted on the cleaning module 100 by the cleaning medium mounting device 300. Therefore, in order to achieve the completion of the removal and installation of the cleaning medium on the base station, a mechanism for engaging the cleaning medium recycling device 200 with the cleaning medium installation device 300 should be further disposed on the base station, which is as follows:

as shown in fig. 21A to 21L, the housing 502 of the base station 500 is provided with an entrance (not shown) through which the cleaning robot 600 enters and exits. A bottom tray 503 for carrying the cleaning module 100 is disposed in the housing 502, and the bottom tray 503 is disposed on the lifting mechanism 501 and is driven by the lifting mechanism 501 to move up and down. In this embodiment, the lifting mechanism 501 may include belt structures such as a synchronous belt and a transmission belt vertically disposed in the housing 502, a step wheel is disposed at a position close to the upper end and the bottom of the housing 502, the synchronous belt and the transmission belt are wound outside the two step wheels, and the bottom tray 503 is fixed on a vertical section of any one side of the synchronous belt and the transmission belt.

As shown in fig. 21A, the housing 502 is provided with a moving mechanism 504 near the upper end, and the moving mechanism 504 may be a belt structure including a timing belt, a transmission belt, and the like, which is wound around a plurality of pulleys and at least forms a horizontal traction segment 5041. As shown in fig. 21E, the horizontal pulling section 5041 of the moving mechanism 504 is fixedly connected to an adsorption plate 505 by a connection assembly, and the adsorption plate 505 is rotatably connected to the connection assembly. Specifically, the inner wall of the housing 502 near the upper end is provided with a first horizontal sliding groove 506 and a second horizontal sliding groove 507. The size of the first sliding chute 506 is smaller than that of the second sliding chute 507, and the two sliding chutes are arranged on the same horizontal position. The inner wall of the housing 502 is further provided with a third sliding slot 508, and the third sliding slot 508 is in a mountain shape and is in smooth transition communication with the second sliding slot 507. The third chute 508 corresponds to the position of the lifting mechanism 501.

The connecting assembly includes a first roller 509 disposed in the first sliding groove 506 and movable in the first sliding groove 506 in a horizontal direction, a first connecting member 510 rotatably connected to the first roller 509, and a second connecting member 511. The first connecting member 510 is fixedly connected to the horizontal pulling section 5041 of the moving mechanism 504, one end of the second connecting member 511 is connected to the suction plate 505, the other end is rotatably provided with a second roller 512, and the second roller 512 can slide in the second sliding slot 507 and the third sliding slot 508. One way of rotationally connecting the first connecting member 510 and the second connecting member 511 to the first roller 509 may be that the second connecting member 511 is in the shape of a sheet or a plate, and a rotating shaft is disposed on a side of the second connecting member 511 facing the first sliding groove 506, and the first roller 509 is rotationally disposed on the rotating shaft. The end of the shaft may extend to the side of the first roller 509 opposite the first slot 506. The first connecting member 510 is also in the shape of a plate or a plate, and is fixedly connected to the end of the rotating shaft.

Alternatively, the second connecting member 511 has a circular hole matching with the first roller 509, the first roller 509 is partially inserted into the circular hole and can rotate therein, and the other portion is located outside the circular hole, and the portion exposed outside the circular hole is inserted into the first sliding groove 506. The first roller 509 may have a rotating shaft at a center thereof, which extends back to the first sliding groove 506, and the first connecting member 510 may have a shaft hole through which the rotating shaft is inserted.

The adsorption plate 505 has a horizontal position and a vertical position. Specifically, when the lifting mechanism 501 transfers the cleaning module 100 upward to the vicinity of the adsorption plate 505, the cleaning module 100 is attracted to the lower end of the adsorption plate 505 by the magnetic force. At this time, the second roller 512 is positioned in the third chute 508, and the entire suction plate 505 is in a horizontal position. When the moving mechanism 504 moves, the suction plate 505 connected to the horizontal pulling section 5041 of the moving mechanism 504 through the connecting component is turned over.

Specifically, when the horizontal pulling section 5041 moves to the left, the second roller 512, which is originally in the vertical state in the third sliding groove 508, enters the left half section of the horizontal second sliding groove 507. Therefore, under the limiting effect of the second roller 512 and the second sliding groove 507, the absorption plate 505 rotates clockwise and upward, as shown in the process illustrated in fig. 21D to 21E. Accordingly, when the horizontal pulling section 5041 moves to the left, the second roller 512, which is originally in the vertical state in the third sliding chute 508, enters the right half section of the horizontal second sliding chute 507, and the suction plate 505 rotates counterclockwise and upward, as shown in the process illustrated in fig. 21G to 21H.

In the present embodiment, the recovery box 206 of the cleaning medium recovery device 200 is located at one end (left side as illustrated in fig. 21A to 21L) of the horizontal pulling section 5041, and the cleaning medium mounting device 300 is provided outside the other end of the horizontal pulling section 5041.

The following describes a complete process of the base station 500 to replace the cleaning medium for the cleaning module 100 according to the embodiment of the present invention with reference to fig. 21A to 21L.

As shown in fig. 21A, the cleaning robot 600 is ready to enter the base station 500 to exchange the cleaning medium. At this time, the bottom tray 503 is positioned at the bottom of the housing 502, the second roller 512 is positioned in the third chute 508, and the suction plate 505 is in a horizontal position.

As shown in fig. 21B, the cleaning robot 600 enters the base station 500 through the entrance and exit, and unloads the cleaning module 100 on the floor tray 503 to be retracted by a distance.

As shown in fig. 21C, the lifting mechanism 501 drives the bottom tray 503 to move upward, and conveys the cleaning module 100 carried by the bottom tray to the suction plate 505.

As shown in fig. 21D, the cleaning module 100 is attracted by the attraction plate 505 by the magnetic force. The elevator mechanism 501 descends and the pallet 503 returns to the bottom of the base station 500.

As shown in fig. 21E, the moving mechanism 504 rotates clockwise and the horizontal pulling section 5041 moves to the left. The second roller 512 enters the left half section of the second chute 507 from the third chute 508, and the suction plate 505 rotates 90 degrees to the left and is switched to the vertical position state. Subsequently, the moving mechanism 504 continues to operate, and the suction plate 505 holds the cleaning module 100 and continues to move toward the recovery box 206.

As shown in fig. 21F, the suction plate 505 and the cleaning module 100 enter the recovery box 206 through the opening.

As shown in fig. 21G, the moving mechanism 504 rotates counterclockwise in the opposite direction, and drives the suction plate 505 and the cleaning module 100 to move back. When the cleaning module 100 passes the paper ejection hook 422, the dirty cleaning media thereon are caught and scraped off, and then fall into the recovery box 206.

As shown in fig. 21H to 21I, the moving mechanism 504 continues to rotate in the reverse direction, and the suction plate 505 and the cleaning module 100 continue to move back (to the right). The process of installing clean cleaning media for the cleaning module 100 by the cleaning media installation apparatus 300 can refer to the above description, and is not repeated herein.

As shown in fig. 21J, the moving mechanism 504 reversely drives the suction plate 505 and the cleaning module 100 to move leftward until the second roller 512 enters the third chute 508 again from the second chute 507 and stops, and the suction plate 505 and the cleaning module 100 are restored to the horizontal position.

As shown in fig. 21K, the lifting mechanism 501 lifts the chassis tray 503 to remove the cleaning module 100 from the suction plate 505. Then, the bottom tray 503 is driven to descend to the bottom carrying the cleaning module 100.

As shown in fig. 21L, the cleaning robot 600 enters the base station 500 to install the cleaning module 100, and then exits the base station 500 to start operating.

In this embodiment, the attraction plate 505 and the cleaning module 100 may be detachably magnetized, and the attraction plate 505 is provided with an electromagnet, and when the cleaning module 100 needs to be attracted to the attraction plate 505, the electromagnet is energized to generate a magnetic field. When the cleaning module 100 needs to be removed from the suction plate 505 (step shown in fig. 21K), the electromagnet is powered off, the magnetic field disappears, and the cleaning module 100 falls down on the bottom plate tray 503 under the action of gravity.

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 (15)

1. A cleaning module, comprising:

a main body having a working face that can be coated with a cleaning medium;

a turnover piece having an adhesive surface capable of adhering a cleaning medium; the turnover piece is rotatably arranged on the main body and has a first state and a second state; when the turnover piece is in a first state, the bonding surface and the working surface form a first angle; when the turnover piece is in a second working state, the bonding surface and the working surface form a second angle; the first angle is different from the second angle.

2. The cleaning module of claim 1, wherein the first state is an open state and the second state is a closed state; when the turnover piece is in an opening state, the bonding surface and the working surface point to the same side of the main body; when the turnover piece is in a closed state, the bonding surface and the working surface point to two sides which are approximately back to back.

3. The cleaning module of claim 1, wherein said flipper is disposed at opposite ends of said body.

4. The cleaning module of claim 1, wherein the flipper flips toward the inside of the body when switching from the open state to the closed state, the adhesive surface entraining the cleaning media to be flipped inward to tension the cleaning media.

5. The cleaning module of claim 1, further comprising: a closure maintaining member for applying a closure maintaining force to the flip member to maintain the flip member in the closed state or to move toward the closed state.

6. The cleaning module of claim 1, further comprising: and the opening executing piece is used for applying opening executing force to the overturning piece so as to enable the overturning piece to maintain the opening state or move towards the opening state.

7. The cleaning module of claim 1, wherein the flipper is made of a flexible, resilient material; the turnover piece is maintained in a closed state by means of the elasticity of the turnover piece; when the cleaning medium is acted by an external force which is deviated from the main body, the cleaning medium pulls the overturning piece to overturn outwards through the bonding surface.

8. A cleaning medium mounting device for mounting a cleaning medium for the cleaning module according to any one of claims 1 to 7; it is characterized by comprising the following steps:

a base;

a floating plate connected to the base and movable relative to the base; the end part of the floating plate is rotatably connected with the clamping claw;

a provisioning module comprising: a reel, a cleaning medium wound on the reel; the cleaning medium provided by the supply module corresponds to the floating plate; when the cleaning module pushes the floating plate to move to the position, close to the base, of the clamping claw to abut against the base, the clamping claw rotates inwards, and then the overturning part is driven to be switched to a closed state from an open state.

9. The cleaning media mounting apparatus of claim 8, further comprising: a leveling member for leveling the cleaning medium released from the supply module.

10. The cleaning media mounting apparatus of claim 8, further comprising: and a pushing mechanism arranged between the supply module and the floating plate and used for conveying the cleaning module released by the supply module to the direction of the floating plate.

11. A base station, comprising:

a housing;

a cleaning medium recovery device provided on the housing for discharging and recovering the dirty cleaning medium mounted on the cleaning module according to any one of claims 1 to 10.

12. The base station of claim 11, wherein the cleaning medium recovery means comprises: the paper withdrawing hook is at least partially positioned in the recovery box; one side of the recovery box is provided with an opening, and the paper-ejecting hooks are distributed on two sides of the opening.

13. The base station of claim 12, wherein a notch corresponding to the paper-ejecting hook is formed at an outer side of the flip, and the notch is penetrated by the paper-ejecting hook to discharge dirty cleaning media.

14. The base station as claimed in claim 12, wherein a cover is provided on the recovery box, and the paper ejection hook has a dispensing state protruding into the housing and a concealed state received in the cover.

15. The base station of claim 14, wherein a rotation shaft is rotatably provided on the recovery box, and the paper ejection hook is provided on the rotation shaft; the rotating shaft drives the paper ejecting hook to switch between a storage state and a delivery state.

Images