WO2022096004A1

WO2022096004A1 - Base and robot base station

Info

Publication number: WO2022096004A1
Application number: PCT/CN2021/129371
Authority: WO
Inventors: 杨勇; 宫海涛; 廖佰军; 罗林斌
Original assignee: 深圳市杉川机器人有限公司
Priority date: 2020-11-09
Filing date: 2021-11-08
Publication date: 2022-05-12

Abstract

A base (300) and a robot base station. The base (300) comprises: a base body (310); a tray (320) disposed on the base body (310) and used to support a cleaning robot, wherein the tray (320) can switch between a fixing working position and a separation working position, and has an entrance for the cleaning robot to enter; and a first locking member (330) used to temporarily fix a cleaning member (900). When the tray (320) is in the fixing working position, the cleaning member (900) fixed on the first locking member (330) is connected to the cleaning robot. When the tray (320) is in the separation working position, the cleaning member (900) fixed on the first locking member (330) is separated from the cleaning robot.

Description

底座及机器人基站Base and Robot Base Station

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请基于申请号为：202011239350.5，申请日为2020年11月09日的中国专利申请“一种底座及机器人基站”和申请号为：202022571677.4，申请日为2020年11月09日的中国专利申请“一种底座及机器人基站”，以及申请号为202011240621.9，申请日为2020年11月09日的中国专利申请“一种机器人基站”和申请号为202022576861.8，申请日为2020年11月09日的中国专利申请“一种机器人基站”，并要求上述中国专利申请的优先权，上述中国专利申请的全部内容在此引入本申请作为参考。This application is based on the application number: 202011239350.5, the Chinese patent application "A base and a robot base station" with the application date of November 09, 2020 and the Chinese patent application with the application number of 202022571677.4 and the application date of November 09, 2020 "A base and a robot base station", and the Chinese patent application "A robot base station" with an application number of 202011240621.9 and an application date of November 09, 2020 and an application number of 202022576861.8 with an application date of November 09, 2020 The Chinese patent application "A Robotic Base Station" claims the priority of the above Chinese patent application, and the entire contents of the above Chinese patent application are incorporated herein by reference.

技术领域technical field

本申请涉及机器人基站技术领域，具体而言，涉及一种底座及机器人基站。The present application relates to the technical field of robot base stations, and in particular, to a base and a robot base station.

背景技术Background technique

近年来，随着社会经济的发展以及家庭生活水平的提高，家具清洁逐步进入智能化、机器化的时代，应运而生的清洁机器人能够将人们从家居清洁工作中解放出来，有效减轻人们在家居清洁方面的工作负担，缓解人们在进行家居清洁过程中的劳累程度。In recent years, with the development of social economy and the improvement of family living standards, furniture cleaning has gradually entered the era of intelligence and mechanization. The workload of cleaning is reduced, and the fatigue level of people in the process of household cleaning is relieved.

清洁机器人通常设有清洁件(例如滚刷或者抹布等)，发明人发现相关技术中清洁件通常嵌设于清洁机器人的下方，由于清洁机器人的结构紧凑，不会预留太多位置以供用户操作并将清洁件从清洁机器人取下，因此，用户难以将清洁件和清洁机器人分离和更换。当需要更换清洁件时，用户需要用指甲或者其它道具从清洁件和清洁机器人之间的缝隙将清洁件从清洁机器人上抠下来，存在一定的操作难度，且容易使用户的指甲受到损伤，大大影响了用户的使用体验。Cleaning robots are usually provided with cleaning parts (such as roller brushes or rags, etc.), and the inventors found that in the related art, cleaning parts are usually embedded under the cleaning robot. Due to the compact structure of the cleaning robot, there is not much space reserved for users. The cleaning piece is operated and removed from the cleaning robot, so it is difficult for the user to separate and replace the cleaning piece and the cleaning robot. When the cleaning piece needs to be replaced, the user needs to use a fingernail or other props to pull the cleaning piece off the cleaning robot from the gap between the cleaning piece and the cleaning robot, which is difficult to operate and easily damages the user's nails. affect the user experience.

发明内容SUMMARY OF THE INVENTION

本申请实施例的目的在于提供一种底座及机器人基站，以解决相关技术中存在的难以将清洁件和清洁机器人分离的技术问题。The purpose of the embodiments of the present application is to provide a base and a robot base station to solve the technical problem in the related art that it is difficult to separate the cleaning element and the cleaning robot.

为实现上述目的，本申请采用的技术方案是：提供一种底座，用于设有可拆卸的清洁件的清洁机器人，所述底座包括：In order to achieve the above purpose, the technical solution adopted in this application is to provide a base for a cleaning robot provided with a detachable cleaning piece, the base comprising:

座体；body;

托盘，设在所述座体上且用于承载所述清洁机器人，所述托盘至少具有固定工位和分离工位，所述托盘可在所述固定工位和所述分离工位之间切换位置，所述托盘具有供所述清洁机器人进入的入口；以及a tray, arranged on the base and used for carrying the cleaning robot, the tray at least has a fixed station and a separation station, and the tray can be switched between the fixed station and the separation station position, the tray has an entrance for the cleaning robot to enter; and

第一锁定件，设在所述座体上且用于暂时固定所述清洁件；a first locking piece, arranged on the seat body and used for temporarily fixing the cleaning piece;

其中，所述托盘于所述固定工位时，承载于所述托盘上的所述清洁机器人与暂时固定于所述第一锁定件上的所述清洁件连接；所述托盘于所述分离工位时，承载于所述托盘上的所述清洁机器人与暂时固定于所述第一锁定件上的所述清洁件分离。Wherein, when the tray is in the fixing station, the cleaning robot carried on the tray is connected to the cleaning member temporarily fixed on the first locking member; the tray is in the separation station. When in position, the cleaning robot carried on the tray is separated from the cleaning member temporarily fixed on the first locking member.

在一些实施例中，所述座体具有容置槽，所述托盘、所述第一锁定件设于所述容置槽内。In some embodiments, the base body has an accommodating groove, and the tray and the first locking member are disposed in the accommodating groove.

在一些实施例中，所述第一锁定件为电磁铁，所述第一锁定件通过磁力吸附所述清洁件。In some embodiments, the first locking member is an electromagnet, and the first locking member attracts the cleaning member by magnetic force.

在一些实施例中，所述座体上设有第一集尘管路以及连通于所述第一集尘管路的第一集尘口，所述托盘开设有用于露出所述第一集尘口的集尘开口。In some embodiments, the seat body is provided with a first dust collection pipeline and a first dust collection port connected to the first dust collection pipeline, and the tray is provided with an opening for exposing the first dust collection The dust collection opening of the mouth.

在一些实施例中，所述托盘在所述容置槽内还具有集尘工位，所述托盘在所述座体上可在所述分离工位和所述集尘工位之间切换位置；In some embodiments, the tray further has a dust collecting station in the accommodating groove, and the tray can switch positions between the separation station and the dust collecting station on the seat body ;

所述托盘于所述固定工位和/或者所述分离工位时，所述托盘的底面遮挡所述第一集尘口；所述托盘于所述集尘工位时，所述第一集尘口与所述集尘开口正对设置。When the tray is in the fixing station and/or the separation station, the bottom surface of the tray blocks the first dust collection port; when the tray is in the dust collection station, the first dust collection port is closed. The dust port is arranged opposite to the dust collection opening.

在一些实施例中，所述第一集尘口设有第一密封件；所述托盘于所述固定工位时，所述第一密封件设于所述第一集尘口和所述托盘底面之间；所述托盘于所述集尘工位时，所述第一集尘口通过所述第一密封件与所述集尘开口密封连通。In some embodiments, the first dust collection port is provided with a first sealing member; when the tray is in the fixing position, the first sealing member is provided on the first dust collection port and the tray between the bottom surfaces; when the tray is in the dust collection station, the first dust collection opening is in sealing communication with the dust collection opening through the first sealing member.

在一些实施例中，所述容置槽的相对两侧的槽壁上设有滑槽，所述托盘对应所述滑槽设有能转动的滚轮，所述滚轮嵌设于所述滑槽中，通过所述滚轮与所述滑槽配合，使得所述托盘可在不同工位之间切换位置。In some embodiments, sliding grooves are provided on the groove walls on opposite sides of the accommodating groove, the tray is provided with rotatable rollers corresponding to the sliding grooves, and the rollers are embedded in the sliding grooves , through the cooperation of the roller and the chute, the tray can be switched between different positions.

在一些实施例中，所述底座还包括可拆卸连接于所述座体上的清洗机构，所述清洗机构用于对所述清洁件进行清洗。In some embodiments, the base further includes a cleaning mechanism detachably connected to the base body, and the cleaning mechanism is used for cleaning the cleaning member.

在一些实施例中，所述清洗机构包括清洗组件，所述清洗组件包括上清洗板、沿所述上清洗板的长度方向滑动连接于所述上清洗板下方的下清洗板以及驱动所述上清洗板和所述下清洗板相对滑动的清洗驱动件，所述上清洗板沿其自身的长度方向间隔设有多个第一梳齿，所述下清洗板对应多个所述第一梳齿间隔设有多个第二梳齿。In some embodiments, the cleaning mechanism includes a cleaning assembly including an upper cleaning plate, a lower cleaning plate slidably connected below the upper cleaning plate along the length direction of the upper cleaning plate, and driving the upper cleaning plate A cleaning driver in which the cleaning plate and the lower cleaning plate slide relative to each other, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along its own length direction, and the lower cleaning plate corresponds to a plurality of the first comb teeth A plurality of second comb teeth are provided at intervals.

在一些实施例中，所述清洗驱动件为电机，所述清洗组件还包括固定连接于所述电机的输出轴的操作件以及固定连接于所述下清洗板的连接件，所述操作件的自由端设有偏心轴，所述偏心轴偏离所述电机的输出轴的轴心设置，所述连接件上开设有供所述偏心轴***的插槽。In some embodiments, the cleaning driving member is a motor, and the cleaning assembly further includes an operating member fixedly connected to the output shaft of the motor and a connecting member fixedly connected to the lower cleaning plate. The free end is provided with an eccentric shaft, the eccentric shaft is arranged away from the axis of the output shaft of the motor, and a slot for the eccentric shaft to be inserted is provided on the connecting piece.

本申请还提供一种机器人基站，用于设有可拆卸的清洁件的清洁机器人，机器人基站包括：The present application also provides a robot base station for a cleaning robot provided with a detachable cleaning piece, the robot base station comprising:

储存装置，用于储存所述清洁件；a storage device for storing the cleaning element;

底座，所述底座为上述的底座；a base, the base is the above-mentioned base;

移取装置，用于移动所述托盘、将所述第一锁定件上的所述清洁件移动至所述储存装置内以及将所述储存装置内的所述清洁件移动至所述第一锁定件上；以及removal device for moving the tray, moving the cleaning element on the first locking element into the storage device and moving the cleaning element in the storage device to the first locking element on the item; and

控制***，所述第一锁定件和所述移取装置均电性连接于所述控制***。A control system, the first locking member and the removal device are all electrically connected to the control system.

在一些实施例中，所述移取装置包括用于抓取所述托盘或者所述清洁件的夹爪、与所述夹爪连接且用于驱动所述夹爪沿竖直方向做升降运动的第一位移机构以及与所述第一位移机构连接且用于驱动所述第一位移机构沿水平方向做前后运动的第二位移机构，所述竖直方向与所述水平方向垂直。In some embodiments, the removal device includes a gripper for grabbing the tray or the cleaning element, a gripper connected with the gripper and used for driving the gripper to move up and down in a vertical direction A first displacement mechanism and a second displacement mechanism connected with the first displacement mechanism and used for driving the first displacement mechanism to move back and forth in a horizontal direction, the vertical direction being perpendicular to the horizontal direction.

在一些实施例中，所述第一位移机构包括固定板、固定连接于所述固定板上且沿所述竖直方向延伸设置的导轴、滑动连接于所述导轴且固定连接于所述夹爪上的直线轴承、转动连接于所述固定板上且沿所述水平方向延伸设置的丝杆、固定连接于所述夹爪上且与所述丝杆螺纹连接的螺母座、用于驱动所述丝杆转动的升降驱动件以及与所述丝杆和所述升降驱动件连接的传动组件，所述升降驱动件通过所述传动组件驱动所述丝杆转动。In some embodiments, the first displacement mechanism includes a fixed plate, a guide shaft fixedly connected to the fixed plate and extending along the vertical direction, slidably connected to the guide shaft and fixedly connected to the guide shaft A linear bearing on the clamping jaw, a screw rod rotatably connected to the fixing plate and extending along the horizontal direction, a nut seat fixedly connected to the clamping jaw and threadedly connected to the screw rod, used for driving A lift driving member for rotating the screw rod and a transmission assembly connected with the screw rod and the lift driving member, the lift driving member drives the screw rod to rotate through the transmission assembly.

在一些实施例中，所述第二位移机构包括能转动的水平主动轮、沿水平方向设于所述转动轮的一侧且能转动的水平从动轮、包绕于所述水平主动轮和所述水平从动轮上的水平同步带、固定连接于固定板上的第一压板、固定连接于所述第一压板的远离所述固定板的一侧的第二压板、用于驱动所述水平主动轮转动的水平驱动件、沿水平方向延伸设置的导轨以及固定连接于所述固定板上且滑动连接于所述导轨的滑块，所述第一压板和所述第二压板之间夹设有所述水平同步带。In some embodiments, the second displacement mechanism includes a rotatable horizontal driving wheel, a rotatable horizontal driven wheel disposed on one side of the rotating wheel in a horizontal direction, and a horizontal driving wheel wrapped around the horizontal driving wheel and all the rotatable horizontal driving wheels. The horizontal synchronous belt on the horizontal driven wheel, the first pressing plate fixedly connected to the fixed plate, and the second pressing plate fixedly connected to the side of the first pressing plate away from the fixed plate are used to drive the horizontal driving A horizontal driving member for wheel rotation, a guide rail extending along the horizontal direction, and a sliding block fixedly connected to the fixed plate and slidably connected to the guide rail, and the first pressing plate and the second pressing plate are sandwiched with the horizontal timing belt.

在一些实施例中，所述托盘在所述座体上还具有集尘工位，所述托盘在所述座体上可在所述分离工位和所述集尘工位之间切换位置；所述托盘于所述固定工位和/或者所述分离工位时，所述托盘的底面遮挡所述第一集尘口；所述托盘于所述集尘工位时，所述第一集尘口与所述集尘开口正对设置。In some embodiments, the tray further has a dust collecting station on the base, and the tray can switch positions between the separation station and the dust collecting station on the base; When the tray is in the fixing station and/or the separation station, the bottom surface of the tray blocks the first dust collection port; when the tray is in the dust collection station, the first dust collection port is closed. The dust port is arranged opposite to the dust collection opening.

在一些实施例中，所述机器人基站还包括与所述第一集尘管路连通的集尘容器以及与所述集尘容器连通且用于提供负压的负压发生装置。In some embodiments, the robot base station further includes a dust collection container communicated with the first dust collection pipeline and a negative pressure generating device communicated with the dust collection container and used for providing negative pressure.

在一些实施例中，所述机器人基站还包括可拆卸连接于所述座体上的清洗机构，所述清洗机构包括上壳、连接于所述上壳的下壳以及设于所述上壳和所述下壳之间且用于清洗所述清洁件的清洗组件。In some embodiments, the robot base station further includes a cleaning mechanism detachably connected to the base, the cleaning mechanism includes an upper shell, a lower shell connected to the upper shell, and a cleaning mechanism provided on the upper shell and the upper shell. a cleaning component between the lower shells and used for cleaning the cleaning piece.

在一些实施例中，所述上壳、所述清洗组件和所述下壳共同围合形成清洗腔，所述机器人基站还包括与所述清洗腔连通的水箱以及设于所述清洗腔和所述水箱之间且用于输送水的泵机。In some embodiments, the upper casing, the cleaning assembly and the lower casing are jointly enclosed to form a cleaning chamber, and the robot base station further includes a water tank communicated with the cleaning chamber, and a water tank disposed in the cleaning chamber and the cleaning chamber. A pump for transporting water between the water tanks.

在一些实施例中，所述清洗组件包括上清洗板、沿所述上清洗板的长度方向滑动连接于所述上清洗板下方的下清洗板以及驱动所述上清洗板和所述下清洗板相对滑动的清洗驱动件，所述上清洗板沿其自身的长度方向间隔设有多个第一梳齿，所述下清洗板对应多个所述第一梳齿间隔设有多个第二梳齿。In some embodiments, the cleaning assembly includes an upper cleaning plate, a lower cleaning plate slidably connected below the upper cleaning plate along the length direction of the upper cleaning plate, and driving the upper cleaning plate and the lower cleaning plate Relatively sliding cleaning driver, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along its own length direction, and the lower cleaning plate is provided with a plurality of second combs at intervals corresponding to the plurality of first comb teeth tooth.

本申请的底座的工作原理为：初始状态下，托盘位于固定工位，清洁机器人从托盘的入口进入托盘内，使得清洁机器人承载于托盘上，清洁件暂时固定于第一锁定件上，此时，清洁机器人与清洁件连接；随后，托盘移动至分离工位，使得清洁机器人与清洁件分离。与相关技术相比，本申请的底座可以实现清洁机器人与清洁件之间的分离，用户不需要用指甲或者其它道具从清洁件和清洁机器人之间的缝隙将清洁件从清洁机器人上抠下来，操作简单，提高用户的使用体验。The working principle of the base of the present application is as follows: in the initial state, the tray is located at the fixed station, the cleaning robot enters the tray from the entrance of the tray, so that the cleaning robot is carried on the tray, and the cleaning member is temporarily fixed on the first locking member. , the cleaning robot is connected with the cleaning piece; then, the tray moves to the separation station, so that the cleaning robot is separated from the cleaning piece. Compared with the related art, the base of the present application can realize the separation between the cleaning robot and the cleaning piece, and the user does not need to use nails or other props to pull the cleaning piece off the cleaning robot from the gap between the cleaning piece and the cleaning robot, The operation is simple and the user experience is improved.

本申请的机器人基站包括如上所述的底座，初始状态下，托盘位于固定工位，清洁机器人从托盘的入口进入托盘内，使得清洁机器人承载于托盘上，第一锁定件暂时固定清洁件，此时，清洁机器人与清洁件连接；随后，移取装置使托盘移动至分离工位，使得清洁机器人与清洁件分离；第一锁定件释放清洁件，移取装置将第一锁定件上的清洁件移动至储存装置内，然后移取装置将储存装置的另一个清洁件移动至第一锁定件上，第一锁定件暂时固定另一个清洁件；移取装置使托盘移动至固定工位，第一锁定件释放另一个清洁件，此时，清洁机器人与另一个清洁件连接，由此，完成清洁件的替换。与相关技术相比，本申请的机器人基站可以实现清洁件的替换，彻底解放用户的双手，大大降低了用户的工作量，提高了用户的使用体验。The robot base station of the present application includes the above-mentioned base. In the initial state, the tray is located at the fixed station, the cleaning robot enters the tray from the entrance of the tray, so that the cleaning robot is carried on the tray, and the first locking member temporarily fixes the cleaning member. When the cleaning robot is connected to the cleaning member; then, the removal device moves the tray to the separation station, so that the cleaning robot is separated from the cleaning member; the first locking member releases the cleaning member, and the removal device removes the cleaning member on the first locking member Move into the storage device, and then the removal device moves another cleaning piece of the storage device to the first locking piece, and the first locking piece temporarily fixes the other cleaning piece; the removal device moves the tray to the fixing station, the first locking piece The locking piece releases the other cleaning piece, and at this time, the cleaning robot is connected with the other cleaning piece, thereby completing the replacement of the cleaning piece. Compared with the related art, the robot base station of the present application can realize the replacement of cleaning parts, completely liberate the hands of the user, greatly reduce the workload of the user, and improve the user experience.

附图说明Description of drawings

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some of the drawings in the present application. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

图1为本申请实施例提供的机器人基站的立体结构示意图；FIG. 1 is a schematic three-dimensional structural diagram of a robot base station provided by an embodiment of the present application;

图2为本申请实施例提供的机器人基站省略外壳后的立体结构示意图；FIG. 2 is a schematic three-dimensional structural diagram of a robot base station provided by an embodiment of the present application after the casing is omitted;

图3为本申请实施例提供的移取装置的立体结构示意图；FIG. 3 is a schematic three-dimensional structural diagram of a removal device provided by an embodiment of the present application;

图4为本申请实施例提供的储存装置的立体结构示意图；4 is a schematic three-dimensional structural diagram of a storage device provided by an embodiment of the present application;

图5为本申请实施例提供的底座的立体结构示意图一及托盘位于固定工位的示意图；5 is a schematic three-dimensional structural diagram of a base provided by an embodiment of the present application and a schematic diagram of a tray in a fixed station;

图6为本申请实施例提供的底座的立体结构示意图二及托盘位于分离工位的示意图；6 is a schematic diagram of a second three-dimensional structure of a base provided by an embodiment of the application and a schematic diagram of a tray located at a separation station;

图7为本申请实施例提供的底座的立体结构示意图三及托盘位于集尘工位的示意图；7 is a schematic three-dimensional structural schematic diagram of a base provided by an embodiment of the present application and a schematic diagram of a tray located at a dust collecting station;

图8为本申请实施例提供的底座的分解结构示意图；8 is a schematic diagram of an exploded structure of a base provided by an embodiment of the present application;

图9为本申请实施例提供的托盘位于固定工位的剖视结构示意图；FIG. 9 is a schematic cross-sectional structural diagram of a tray provided in an embodiment of the present application at a fixed station;

图10为本申请实施例提供的托盘位于分离工位的剖视结构示意图；10 is a schematic cross-sectional structure diagram of the tray provided in the embodiment of the application at the separation station;

图11为本申请实施例提供的托盘位于集尘工位的剖视结构示意图；11 is a schematic cross-sectional structural diagram of a tray located at a dust collection station provided by an embodiment of the application;

图12为本申请实施例提供的清洗机构的分解结构示意图；12 is a schematic diagram of an exploded structure of a cleaning mechanism provided by an embodiment of the application;

图13为本申请实施例提供的清洗组件的分解结构示意图。FIG. 13 is a schematic diagram of an exploded structure of a cleaning assembly provided by an embodiment of the present application.

其中，图中各附图标记：Among them, each reference sign in the figure:

100-储存装置；110-储存仓；111-托槽；120-吊架；121-第二锁定件；122-挂钩；200-移取装置；210-夹爪；220-第一位移机构；221-固定板；222-导轴；223-直线轴承；224-丝杆；225-螺母座；226-升降驱动件；227-传动组件；2271-竖直主动轮；2272-竖直从动轮；2273-竖直同步带；230-第二位移机构；231-水平主动轮；232-水平从动轮；233-水平同步带；234-第一压板；235-第二压板；236-水平驱动件；237-导轨；238-滑块；300-底座；310-座体；311-容置槽；312-第一集尘管路；3121-第一集尘口；3122-第一密封件；313-第二集尘管路；3131-第二集尘口；314-滑槽；3141-第一竖槽；3142-第二竖槽；3143-横槽；320-托盘；321-引导轮；322-集尘开口；323-滚轮；330-第一锁定件；400-清洗机构；410-清洗组件；411-上清洗板；4111-第一梳齿；4112-滑轨；412-下清洗板；4121-第二梳齿；4122-导槽；413-清洗驱动件；414-操作件；4141-偏心轴；415-连接件；4151-插槽；420-上壳；430-下壳；440-引出件；441-排尘口；450-第二密封件；460-第三密封件；500-集尘容器；600-负压发生装置；700-水箱；710-第一水箱；720-第二水箱；900-清洁件；Y-竖直方向；X-水平方向。100-storage device; 110-storage bin; 111-bracket; 120-hanger; 121-second locking piece; 122-hook; -Fixed plate; 222-guide shaft; 223-linear bearing; 224-screw; 225-nut seat; 226-lifting drive; 227-transmission assembly; 2271-vertical driving wheel; 2272-vertical driven wheel; 2273 - Vertical timing belt; 230 - Second displacement mechanism; 231 - Horizontal driving wheel; 232 - Horizontal driven wheel; 233 - Horizontal timing belt; 234 - First pressure plate; 235 - Second pressure plate; -guide rail; 238-slider; 300-base; 310-seat body; 311-accommodating groove; 312-first dust collection pipeline; 3121-first dust collection port; 3122-first seal; 313-first Two dust collection pipelines; 3131-second dust collection port; 314-chute; 3141-first vertical groove; 3142-second vertical groove; 3143-horizontal groove; 320-pallet; 321-guide wheel;322-collector Dust opening; 323-roller; 330-first locking piece; 400-cleaning mechanism; 410-cleaning assembly; 411-upper cleaning plate; 4111-first comb tooth; 4112-slide rail; 412-lower cleaning plate; 4121- 4122-guide groove; 413-cleaning drive part; 414-operating part; 4141-eccentric shaft; 415-connecting part; 4151-slot; 420-upper shell; 430-lower shell; 440-lead-out part 441-dust outlet; 450-second seal; 460-third seal; 500-dust container; 600-negative pressure generating device; 700-water tank; 710-first water tank; 720-second water tank; 900-cleaner; Y-vertical; X-horizontal.

具体实施方式Detailed ways

为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。It is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the application and simplifying the description, rather than indicating or implying the indicated A device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present application, "plurality" means two or more, unless otherwise expressly and specifically defined.

请参阅图5，本申请实施例提供一种底座300，用于设有可拆卸的清洁件900的清洁机器人(图未示)，清洁件900可以为用于扫地的滚刷或者用于拖地的拖把头，底座300包括座体310和托盘320，具体来说，如图8所示，座体310具有容置槽311，托盘320设于容置槽311内且用于承载清洁机器人，使得底座300的结构紧凑，有利于减小底座300的体积，使得底座300小型化。Referring to FIG. 5 , an embodiment of the present application provides a base 300 for a cleaning robot (not shown) provided with a detachable cleaning member 900 . The cleaning member 900 may be a roller brush for sweeping or mopping For the mop head, the base 300 includes a base 310 and a tray 320. Specifically, as shown in FIG. 8, the base 310 has an accommodating groove 311, and the tray 320 is set in the accommodating groove 311 and used to carry the cleaning robot, so that The compact structure of the base 300 is beneficial to reduce the volume of the base 300 and make the base 300 miniaturized.

具体地，结合图5、图6和图8，托盘320在容置槽311内具有固定工位和分离工位，托盘320可在固定工位和分离工位之间切换位置，托盘320具有供清洁机器人进入的入口，底座300还包括设于容置槽311内且用于暂时固定清洁件900的第一锁定件330；其中，托盘320于固定工位时，承载于托盘320上的清洁机器人与暂时固定于第一锁定件330上的清洁件900连接；托盘320于分离工位时，承载于托盘320上的清洁机器人与暂时固定于第一锁定件330上的清洁件900分离。可以理解的是，根据实际情况的选择和具体需求，托盘320在容置槽311内也可以具有其他工位，在此不作唯一限定。Specifically, with reference to FIGS. 5 , 6 and 8 , the tray 320 has a fixed station and a separation station in the accommodating groove 311 , the tray 320 can switch positions between the fixed station and the separation station, and the tray 320 has a The entrance for the cleaning robot to enter, the base 300 further includes a first locking member 330 disposed in the accommodating groove 311 and used to temporarily fix the cleaning member 900; wherein, when the tray 320 is in the fixed station, the cleaning robot carried on the tray 320 It is connected with the cleaning member 900 temporarily fixed on the first locking member 330 ; when the tray 320 is in the separation station, the cleaning robot carried on the tray 320 is separated from the cleaning member 900 temporarily fixed on the first locking member 330 . It can be understood that, the tray 320 may also have other workstations in the accommodating groove 311 according to the actual selection and specific requirements, which is not limited herein.

本申请实施例的底座300的工作原理为：初始状态下，托盘320位于固定工位，清洁机器人从托盘320的入口进入托盘320内，使得清洁机器人承载于托盘320上，清洁件900暂时固定于第一锁定件330上，此时，清洁机器人与清洁件900连接；随后，托盘320移动至分离工位，使得清洁机器人与清洁件900分离。与相关技术相比，本申请实施例的底座300可以实现清洁机器人与清洁件900之间的分离，用户不需要用指甲或者其它道具从清洁件900和清洁机器人之间的缝隙将清洁件900从清洁机器人上抠下来，操作简单，提高用户的使用体验。The working principle of the base 300 of the embodiment of the present application is as follows: in the initial state, the tray 320 is located at the fixed station, and the cleaning robot enters the tray 320 from the entrance of the tray 320, so that the cleaning robot is carried on the tray 320, and the cleaning member 900 is temporarily fixed on the tray 320. On the first locking member 330 , at this time, the cleaning robot is connected with the cleaning member 900 ; then, the tray 320 is moved to the separation station, so that the cleaning robot is separated from the cleaning member 900 . Compared with the related art, the base 300 of the embodiment of the present application can realize the separation between the cleaning robot and the cleaning member 900, and the user does not need to use nails or other props to separate the cleaning member 900 from the cleaning member 900 from the gap between the cleaning member 900 and the cleaning robot. The cleaning robot is easy to operate and improve the user experience.

进一步地，作为本申请的一个具体实施方式，如图8所示，托盘320的内侧设有能转动的引导轮321，当清洁机器人爬行至托盘320内时，引导轮321能起到引导清洁机器人的作用。Further, as a specific embodiment of the present application, as shown in FIG. 8 , the inner side of the tray 320 is provided with a rotatable guide wheel 321 . When the cleaning robot crawls into the tray 320 , the guide wheel 321 can guide the cleaning robot. effect.

进一步地，作为本申请的一个具体实施方式，如图5所示，第一锁定件330为电磁铁，第一锁定件330通过磁力吸附清洁件900，具体来说，清洁件900上可以对应电磁铁的位置设置铁片或者其他能被电磁铁吸附的结构，当电磁铁通电时，电磁铁产生磁力并吸附清洁件900上的铁片，使得清洁件900暂时固定在电磁铁上，此时，若托盘320带动清洁机器人由固定工位移动至分离工位时，由于清洁件900暂时固定在清洁件900上，清洁机器人与清洁件900会分离。在该实施例中，底座300还可以包括电性连接于电磁铁的控制组件，控制组件可以控制电磁铁的通电与否。可以理解的是，根据实际情况的选择和具体需求，第一锁定件330也可以为其他元件结构，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 5 , the first locking member 330 is an electromagnet, and the first locking member 330 attracts the cleaning member 900 by magnetic force. Specifically, the cleaning member 900 may correspond to the electromagnetic An iron piece or other structure that can be adsorbed by the electromagnet is set at the position of the iron. When the electromagnet is energized, the electromagnet generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily fixed on the electromagnet. If the tray 320 drives the cleaning robot to move from the fixed station to the separation station, since the cleaning member 900 is temporarily fixed on the cleaning member 900 , the cleaning robot and the cleaning member 900 will be separated. In this embodiment, the base 300 may further include a control component electrically connected to the electromagnet, and the control component can control whether the electromagnet is energized or not. It can be understood that, the first locking member 330 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.

进一步地，作为本申请的一个具体实施方式，如图8所示，座体310上设有第一集尘管路312以及连通于第一集尘管路312的第一集尘口3121，托盘320开设有用于露出第一集尘口3121的集尘开口322。在该实施例中，清洁机器人还设有尘盒(图未示)，尘盒设有与集尘开口322正对设置的出尘口(图未示)，此结构下，可以在第一集尘管路312的远离第一集尘口3121的一端设置负压源(图未示)和垃圾桶(图未示)，当负压源产生负压而产生吸力时，尘盒内的灰尘或其他垃圾可以依次经过出尘口、集尘开口322、第一集尘口3121和第一集尘管路312后到达垃圾桶，用户不需要将尘盒从清洁机器人上拆卸下来清理，简化了尘盒的清理方式，大大提高了用户的使用体验。Further, as a specific embodiment of the present application, as shown in FIG. 8 , the seat body 310 is provided with a first dust collection pipeline 312 and a first dust collection port 3121 connected to the first dust collection pipeline 312 . 320 is provided with a dust collecting opening 322 for exposing the first dust collecting port 3121 . In this embodiment, the cleaning robot is further provided with a dust box (not shown in the figure), and the dust box is provided with a dust outlet (not shown in the figure) which is directly opposite to the dust collection opening 322. A negative pressure source (not shown) and a trash can (not shown) are set at the end of the dust pipeline 312 away from the first dust collection port 3121. When the negative pressure source generates negative pressure to generate suction, the dust in the dust box or Other garbage can reach the trash can through the dust outlet, the dust collection opening 322, the first dust collection port 3121 and the first dust collection pipeline 312 in sequence, and the user does not need to remove the dust box from the cleaning robot for cleaning, which simplifies the dust collection. The cleaning method of the box greatly improves the user experience.

进一步地，作为本申请的一个具体实施方式，如图6和图7所示，托盘320在容置槽311内还具有集尘工位，托盘320在座体310上可在分离工位和集尘工位之间切换位置；如图9和图10所示，托盘320于固定工位和/或者分离工位时，托盘320的底面遮挡第一集尘口3121；如图11所示，托盘320于集尘工位时，第一集尘口3121与集尘开口322正对设置。此结构下，使得托盘320仅在集尘工位时露出第一集尘口3121，可以避免空气中灰尘积压在第一集尘口3121处造成第一集尘口3121脏污难清理。Further, as a specific embodiment of the present application, as shown in FIG. 6 and FIG. 7 , the tray 320 also has a dust collecting station in the accommodating groove 311 , and the tray 320 can be separated on the seat body 310 at the separation station and the dust collecting station. Switch positions between stations; as shown in FIG. 9 and FIG. 10 , when the tray 320 is in the fixed station and/or the separation station, the bottom surface of the tray 320 blocks the first dust collection port 3121; as shown in FIG. 11 , the tray 320 In the dust collection station, the first dust collection port 3121 is disposed opposite to the dust collection opening 322 . With this structure, the tray 320 only exposes the first dust collecting port 3121 at the dust collecting station, which can prevent the dust in the air from accumulating at the first dust collecting port 3121 and causing the first dust collecting port 3121 to be dirty and difficult to clean.

进一步地，作为本申请的一个具体实施方式，如图8至图11所示，第一集尘口3121设有第一密封件3122；托盘320于固定工位时，第一密封件3122设于第一集尘口3121和托盘320底面之间；托盘320于集尘工位时，第一集尘口3121通过第一密封件3122与集尘开口322密封连通。此结构下，可以提高集尘路径的气密性，提高集尘效率，且可以防止灰尘积压在第一集尘口3121处造成第一集尘口3121脏污难清理。Further, as a specific embodiment of the present application, as shown in FIG. 8 to FIG. 11 , the first dust collecting port 3121 is provided with a first sealing member 3122; when the tray 320 is in the fixed position, the first sealing member 3122 is provided at the Between the first dust collection port 3121 and the bottom surface of the tray 320; when the tray 320 is in the dust collection station, the first dust collection port 3121 is in sealing communication with the dust collection port 322 through the first seal 3122. With this structure, the air tightness of the dust collection path can be improved, the dust collection efficiency can be improved, and the dust accumulation at the first dust collection port 3121 can be prevented, causing the first dust collection port 3121 to be dirty and difficult to clean.

进一步地，作为本申请的一个具体实施方式，如图8所示，容置槽311的相对两侧的槽壁上设有滑槽314，托盘320对应滑槽314设有能转动的滚轮323，滚轮323嵌设于滑槽314中，通过滚轮323与滑槽314配合，使得托盘320可在不同工位之间切换位置。Further, as a specific embodiment of the present application, as shown in FIG. 8 , the groove walls on the opposite sides of the accommodating groove 311 are provided with chute 314, and the tray 320 is provided with a rotatable roller 323 corresponding to the chute 314, The roller 323 is embedded in the chute 314, and the roller 323 cooperates with the chute 314, so that the tray 320 can switch positions between different stations.

具体地，如图8所示，滑槽314包括第一竖槽3141以及与第一竖槽3141连通的横槽3143，第一竖槽3141沿垂直于容置槽311的底面的方向延伸设置，横槽3143沿平行于容置槽311的底面的方向延伸设置，此结构下，当滚轮323位于第一竖槽3141的靠近容置槽311的底面的一端时，托盘320位于固定工位；当托盘320位于固定工位时，滚轮323先后沿第一竖槽3141和横槽3143移动并最终停留在横槽3143的远离第一竖槽3141的一端，即托盘320先沿第一竖槽3141移动至横槽3143的靠近第一竖槽3141的一端，然后再沿横槽3143移动至横槽3143的远离第一竖槽3141的一端，此时托盘320位于分离工位，即通过使托盘320分别沿两个不同的方向移动一定距离来使得承载于托盘320的清洁机器人和暂时固定于第一锁定件330的清洁件900分离。Specifically, as shown in FIG. 8 , the chute 314 includes a first vertical slot 3141 and a horizontal slot 3143 communicating with the first vertical slot 3141 . The first vertical slot 3141 extends along a direction perpendicular to the bottom surface of the accommodating slot 311 , The horizontal groove 3143 extends along the direction parallel to the bottom surface of the accommodating groove 311. Under this structure, when the roller 323 is located at one end of the first vertical groove 3141 close to the bottom surface of the accommodating groove 311, the tray 320 is located at the fixed position; When the tray 320 is in the fixed position, the rollers 323 move along the first vertical slot 3141 and the horizontal slot 3143 successively and finally stay at the end of the horizontal slot 3143 away from the first vertical slot 3141 , that is, the tray 320 first moves along the first vertical slot 3141 to the end of the horizontal slot 3143 close to the first vertical slot 3141, and then move along the horizontal slot 3143 to the end of the horizontal slot 3143 away from the first vertical slot 3141. The cleaning robot carried on the tray 320 and the cleaning member 900 temporarily fixed to the first locking member 330 are separated by moving a certain distance in two different directions.

具体地，如图8所示，滑槽314还包括第二竖槽3142，横槽3143用于连通第一竖槽3141和第二竖槽3142，第二竖槽3142沿垂直于容置槽311的底面的方向延伸设置，此结构下，当托盘320位于分离工位时，滚轮323位于横槽3143的远离第一竖槽3141的一端，推动托盘320并使得滚轮323经过横槽3143到达第二竖槽3142的靠近容置槽311的底面的一端，即托盘320先沿横槽3143移动至第二竖槽3142的远离容置槽311的底面的一端(即第二竖槽3142的靠近横槽3143的一端)，然后再沿第二竖槽3142移动至第二竖槽3142的靠近容置槽311的底面的一端(即第二竖槽3142的远离横槽3143的一端)，此时托盘320位于集尘工位，第一集尘口3121与集尘开口322正对设置，且第一集尘口3121通过第一密封件3122与集尘开口322密封连通。Specifically, as shown in FIG. 8 , the chute 314 further includes a second vertical slot 3142 , the horizontal slot 3143 is used to connect the first vertical slot 3141 and the second vertical slot 3142 , and the second vertical slot 3142 is perpendicular to the accommodating slot 311 Under this structure, when the tray 320 is in the separation station, the roller 323 is located at the end of the horizontal groove 3143 away from the first vertical groove 3141, pushing the tray 320 and making the roller 323 pass through the horizontal groove 3143 to reach the second The end of the vertical slot 3142 that is close to the bottom surface of the accommodating slot 311 , that is, the tray 320 first moves along the horizontal slot 3143 to the end of the second vertical slot 3142 that is far from the bottom surface of the accommodating slot 311 (that is, the second vertical slot 3142 is close to the horizontal slot). 3143), and then move along the second vertical slot 3142 to the end of the second vertical slot 3142 close to the bottom surface of the accommodating slot 311 (that is, the end of the second vertical slot 3142 away from the horizontal slot 3143). At this time, the tray 320 At the dust collecting station, the first dust collecting port 3121 is disposed opposite to the dust collecting opening 322 , and the first dust collecting port 3121 is in sealing communication with the dust collecting opening 322 through the first sealing member 3122 .

进一步地，作为本申请的一个具体实施方式，如图8所示，底座300还包括可拆卸连接于座体310上的清洗机构400，清洗机构400用于对清洁件900进行清洗，用户不需要手动对清洁件900进行清洗，降低用户的工作量，提高用户的使用体验。Further, as a specific embodiment of the present application, as shown in FIG. 8 , the base 300 further includes a cleaning mechanism 400 detachably connected to the base body 310 . The cleaning mechanism 400 is used to clean the cleaning member 900 , and the user does not need to Cleaning the cleaning piece 900 manually reduces the workload of the user and improves the user experience.

进一步地，作为本申请的一个具体实施方式，如图12和图13所示，清洗机构400包括清洗组件410，清洗组件410包括上清洗板411、沿上清洗板411的长度方向滑动连接于上清洗板411下方的下清洗板412以及驱动上清洗板411和下清洗板412相对滑动的清洗驱动件413，上清洗板411沿其自身的长度方向间隔设有多个第一梳齿4111，下清洗板412对应多个第一梳齿4111间隔设有多个第二梳齿4121。在该实施例中，下清洗板412上设有导槽4122，上清洗板411设有嵌设于导槽4122内的滑轨4112，从而使得上清洗板411和下清洗板412滑动连接；清洗驱动件413与控制组件电性连接，控制组件可以控制清洗驱动件413的工作状态。Further, as a specific embodiment of the present application, as shown in FIGS. 12 and 13 , the cleaning mechanism 400 includes a cleaning assembly 410 , and the cleaning assembly 410 includes an upper cleaning plate 411 , which is slidably connected to the upper cleaning plate 411 along the length direction of the upper cleaning plate 411 . The lower cleaning plate 412 under the cleaning plate 411 and the cleaning driving member 413 for driving the upper cleaning plate 411 and the lower cleaning plate 412 to slide relative to each other, the upper cleaning plate 411 is provided with a plurality of first comb teeth 4111 at intervals along its own length direction, The cleaning plate 412 is provided with a plurality of second comb teeth 4121 at intervals corresponding to the plurality of first comb teeth 4111 . In this embodiment, the lower cleaning plate 412 is provided with a guide groove 4122, and the upper cleaning plate 411 is provided with a slide rail 4112 embedded in the guide groove 4122, so that the upper cleaning plate 411 and the lower cleaning plate 412 are slidably connected; The driver 413 is electrically connected to the control assembly, and the control assembly can control the working state of the cleaning driver 413 .

清洗组件410的清洗原理为：当清洁件900位于固定工位时，清洁件900的刷毛或拖布设于清洗组件410上，刷毛或拖布穿过相邻两个第一梳齿4111之间的间隙且位于对应的相邻两个第二梳齿4121之间的间隙，清洗驱动件413驱动上清洗板411和下清洗板412相对滑动，使得第二梳齿4121对刷毛或拖布进行刷洗，可以除去脏物，从而完成清洁。The cleaning principle of the cleaning component 410 is as follows: when the cleaning component 900 is located at the fixed station, the bristles or mop of the cleaning component 900 are arranged on the cleaning component 410, and the bristles or the mop pass through the gap between two adjacent first comb teeth 4111 And located in the gap between the corresponding adjacent two second comb teeth 4121, the cleaning driver 413 drives the upper cleaning plate 411 and the lower cleaning plate 412 to slide relative to each other, so that the second comb teeth 4121 brush the bristles or the mop and can be removed. dirt to complete the cleaning.

进一步地，作为本申请的一个具体实施方式，如图13所示，清洗驱动件413为电机，清洗组件410还包括固定连接于电机的输出轴的操作件414以及固定连接于下清洗板412的连接件415，操作件414的自由端设有偏心轴4141，偏心轴4141偏离电机的输出轴的轴心设置，连接件415上开设有供偏心轴4141***的插槽4151。此结构下，当电机的输出轴带动操作件414一同转动时，由于操作件414的偏心轴4141偏离电机的输出轴的轴心设置，可以使得配合于偏心轴4141的连接件415和下清洗板412可以相对于上清洗板411左右滑动。在该实施例中，插槽4151可以为腰型槽，当然，根据实际情况的选择和具体需求，插槽4151的形状可以作适当修改，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 13 , the cleaning driving member 413 is a motor, and the cleaning assembly 410 further includes an operating member 414 fixedly connected to the output shaft of the motor and an operating member 414 fixedly connected to the lower cleaning plate 412 The free end of the connecting piece 415 and the operating piece 414 is provided with an eccentric shaft 4141 which is offset from the axis of the output shaft of the motor. Under this structure, when the output shaft of the motor drives the operating member 414 to rotate together, since the eccentric shaft 4141 of the operating member 414 deviates from the axis of the output shaft of the motor, the connecting member 415 and the lower cleaning plate can be matched with the eccentric shaft 4141 412 can slide left and right relative to the upper cleaning plate 411 . In this embodiment, the slot 4151 can be a waist-shaped slot. Of course, the shape of the slot 4151 can be appropriately modified according to actual selection and specific requirements, which is not limited here.

进一步地，作为本申请的一个具体实施方式，如图12所示，清洗机构400还包括上壳420以及可拆卸连接于上壳420的下壳430，上壳420和下壳430具体可以采用螺丝连接的方式实现可拆卸连接，清洗组件410夹设于上壳420和下壳430之间，上壳420、清洗组件410和下壳430共同围合形成清洗腔，此结构下，清洗组件410所洗落的脏物落入清洗腔，用户可以将上壳420和下壳430拆卸后清理脏物。Further, as a specific embodiment of the present application, as shown in FIG. 12 , the cleaning mechanism 400 further includes an upper casing 420 and a lower casing 430 detachably connected to the upper casing 420 , and the upper casing 420 and the lower casing 430 can be specifically screwed The connection method realizes detachable connection. The cleaning assembly 410 is sandwiched between the upper shell 420 and the lower shell 430. The upper shell 420, the cleaning assembly 410 and the lower shell 430 are jointly enclosed to form a cleaning cavity. The washed dirt falls into the cleaning cavity, and the user can remove the upper shell 420 and the lower shell 430 to clean the dirt.

进一步地，作为本申请的一个具体实施方式，如图12所示，清洗机构400还包括夹设于上壳420和下壳430之间的引出件440，引出件440开设有与清洗腔连通的排尘口441，结合图8，座体310上设有第二集尘管路313以及连通于第二集尘管路313的第二集尘口3131，第二集尘口3131与排尘口441正对连通设置，从而可以收集清洗腔内的脏物。在该实施例中，第二集尘管路313与第一集尘管路312并联连通，因此，第二集尘管路313与第一集尘管路312可以共用一个负压源，以便于吸收和收集灰尘和脏物。Further, as a specific embodiment of the present application, as shown in FIG. 12 , the cleaning mechanism 400 further includes a lead-out piece 440 sandwiched between the upper shell 420 and the lower shell 430 , and the lead-out piece 440 is provided with a connection that communicates with the cleaning cavity. The dust discharge port 441, referring to FIG. 8, the seat body 310 is provided with a second dust collection pipe 313 and a second dust collection port 3131 connected to the second dust collection pipe 313, the second dust collection port 3131 and the dust discharge port 441 is directly opposite to the communication setting, so that the dirt in the cleaning chamber can be collected. In this embodiment, the second dust collecting pipeline 313 is connected in parallel with the first dust collecting pipeline 312, therefore, the second dust collecting pipeline 313 and the first dust collecting pipeline 312 can share a negative pressure source, so as to facilitate the Absorbs and collects dust and dirt.

进一步地，作为本申请的一个具体实施方式，如图12所示，清洗机构400还包括设于排尘口441的第二密封件450，第二密封件450过盈配合于第二集尘口3131和排尘口441之间，使得第二集尘口3131和排尘口441之间密封连通。Further, as a specific embodiment of the present application, as shown in FIG. 12 , the cleaning mechanism 400 further includes a second sealing member 450 disposed at the dust discharge port 441 , and the second sealing member 450 is an interference fit with the second dust collection port 3131 and the dust discharge port 441, so that the second dust collection port 3131 and the dust discharge port 441 are in sealed communication.

进一步地，作为本申请的一个具体实施方式，如图12所示，第一锁定件330固定于清洗机构400上，当清洗机构400装配于座体310上时，第一锁定件330位于容置槽311内。具体来说，本申请实施例的底座300设有四个第一锁定件330，其中两个第一锁定件330固定于清洗机构400的上壳420，另外两个第一锁定件330固定于清洗机构400的下壳430。Further, as a specific embodiment of the present application, as shown in FIG. 12 , the first locking member 330 is fixed on the cleaning mechanism 400 . When the cleaning mechanism 400 is assembled on the base body 310 , the first locking member 330 is located in the accommodating in the groove 311. Specifically, the base 300 of the embodiment of the present application is provided with four first locking members 330 , wherein two first locking members 330 are fixed to the upper shell 420 of the cleaning mechanism 400 , and the other two first locking members 330 are fixed to the cleaning mechanism 400 . Lower housing 430 of mechanism 400 .

进一步地，作为本申请的一个具体实施方式，下壳430开设有与清洗腔连通的进水口(图未示)和排水口(图未示)，此结构下，可以通过进水口朝清洗腔通入水来对清洗件进行清洗，通过排水口排出污水。在该实施例中，如图12所示，清洗机构400还包括设于上壳420上的第三密封件460，当清洁件900暂时固定在第一锁定件330上时，第三密封件460过盈配合于上壳420和清洁件900之间，可以防止清洗腔内的水漏出。Further, as a specific embodiment of the present application, the lower shell 430 is provided with a water inlet (not shown in the figure) and a water outlet (not shown in the figure) which communicate with the cleaning cavity. Enter water to clean the cleaning parts, and discharge the sewage through the drain port. In this embodiment, as shown in FIG. 12 , the cleaning mechanism 400 further includes a third sealing member 460 disposed on the upper shell 420 . When the cleaning member 900 is temporarily fixed on the first locking member 330 , the third sealing member 460 The interference fit between the upper shell 420 and the cleaning member 900 can prevent the leakage of water in the cleaning cavity.

需要说明的是，本申请实施例的底座300中，当需要使托盘320在座体310的容置槽311内切换不同工位时，可以通过机械手搬抬托盘320，使得托盘320的滚轮323沿滑槽314移动至对应的工位，当然，根据实际情况的选择和具体需求，也可以通过人工搬抬托盘320来使得托盘320的滚轮323沿滑槽314移动至对应的工位，在此不作唯一限定。It should be noted that, in the base 300 of the embodiment of the present application, when the tray 320 needs to be switched between different stations in the accommodating groove 311 of the base body 310 , the tray 320 can be lifted by a manipulator, so that the rollers 323 of the tray 320 slide along the The slot 314 is moved to the corresponding station. Of course, according to the actual selection and specific requirements, the roller 323 of the tray 320 can also be moved to the corresponding station along the chute 314 by manually lifting the tray 320. limited.

本申请实施例还提供一种机器人基站，包括如上所述的底座300，与相关技术相比，本申请实施例的底座300可以实现清洁机器人与清洁件900之间的分离，用户不需要用指甲或者其它道具从清洁件900和清洁机器人之间的缝隙将清洁件900从清洁机器人上抠下来，操作简单，提高用户的使用体验。The embodiment of the present application further provides a robot base station, including the base 300 as described above. Compared with the related art, the base 300 of the embodiment of the present application can realize the separation between the cleaning robot and the cleaning member 900, and the user does not need to use a fingernail Or other props can pull the cleaning member 900 off the cleaning robot from the gap between the cleaning member 900 and the cleaning robot, which is easy to operate and improves the user experience.

进一步地，作为本申请的一个具体实施方式，机器人基站还包括用于搬抬托盘320的机械手，机械手电性连接于控制组件，控制组件可以控制机械手进行搬抬操作，此结构下，通过机械手搬抬托盘320，使得托盘320的滚轮323沿滑槽314移动至对应的工位，有利于实现机器人基站的自动化程度，实现清洗机器人的扫拖过程免维护，降低用户工作量，提高用户的使用体验。Further, as a specific embodiment of the present application, the robot base station further includes a manipulator for lifting the tray 320, the manipulator is electrically connected to the control assembly, and the control assembly can control the manipulator to carry out the lifting operation. Lifting the tray 320 makes the rollers 323 of the tray 320 move to the corresponding station along the chute 314, which is beneficial to realize the automation degree of the robot base station, realize the maintenance-free sweeping and dragging process of the cleaning robot, reduce the user's workload, and improve the user's experience. .

请参阅图1和图2，本申请实施例提供一种机器人基站，用于设有可拆卸的清洁件900的清洁机器人，清洁件900可以为用于扫地的滚刷或者用于拖地的拖把头。机器人基站包括用于储存清洁件900的储存装置100，通过将拆卸下来的清洁件900放置于储存装置100内，可以防止清洁件900丢失的情况发生。1 and 2, an embodiment of the present application provides a robot base station for a cleaning robot provided with a detachable cleaning member 900. The cleaning member 900 may be a roller brush for sweeping or a mop for mopping the floor head. The robot base station includes a storage device 100 for storing the cleaning element 900. By placing the disassembled cleaning element 900 in the storage device 100, the situation that the cleaning element 900 is lost can be prevented.

具体地，结合图2、图5、图6和图8，机器人基站还包括底座300，底座300包括座体310、设于座体310上且用于承载清洁机器人的托盘320以及设于座体310上且用于暂时固定清洁件900的第一锁定件330，托盘320在座体310上至少具有固定工位和分离工位，托盘320可在固定工位和分离工位之间切换位置，托盘320具有供清洁机器人进入的入口；其中，托盘320于固定工位时，承载于托盘320上的清洁机器人与暂时固定于第一锁定件330上的清洁件900连接；托盘320于分离工位时，承载于托盘320上的清洁机器人与暂时固定于第一锁定件330上的清洁件900分离。此结构下，通过使托盘320在固定工位和分离工位之间切换位置，可以使得清洁机器人和清洁件900分离或者连接在一起，以便于更换清洁件900。Specifically, with reference to FIGS. 2 , 5 , 6 and 8 , the robot base station further includes a base 300 , and the base 300 includes a base 310 , a tray 320 provided on the base 310 and used to carry the cleaning robot, and a tray 320 provided on the base. The first locking member 330 on 310 and used to temporarily fix the cleaning member 900, the tray 320 has at least a fixed station and a separation station on the base body 310, the tray 320 can switch positions between the fixed station and the separation station, the tray 320 has an entrance for the cleaning robot to enter; wherein, when the tray 320 is at the fixed station, the cleaning robot carried on the tray 320 is connected to the cleaning member 900 temporarily fixed on the first locking member 330; when the tray 320 is at the separation station , the cleaning robot borne on the tray 320 is separated from the cleaning member 900 temporarily fixed on the first locking member 330 . Under this structure, by switching the position of the tray 320 between the fixed station and the separation station, the cleaning robot and the cleaning member 900 can be separated or connected together, so as to facilitate the replacement of the cleaning member 900 .

具体地，结合图2和图3，机器人基站还包括移取装置200和控制***，移取装置200用于移动托盘320、将第一锁定件330上的清洁件900移动至储存装置100内以及将储存装置100内的清洁件900移动至第一锁定件330上，第一锁定件330和移取装置200均电性连接于控制***。此结构下，通过控制***控制移取装置200和第一锁定件330工作，可以提高机器人基站的自动化程度。Specifically, with reference to FIGS. 2 and 3 , the robot base station further includes a removal device 200 and a control system. The removal device 200 is used for moving the tray 320 , moving the cleaning member 900 on the first locking member 330 into the storage device 100 , and The cleaning member 900 in the storage device 100 is moved to the first locking member 330, and both the first locking member 330 and the removing device 200 are electrically connected to the control system. Under this structure, the control system controls the operation of the removing device 200 and the first locking member 330, so that the automation degree of the robot base station can be improved.

本申请实施例的机器人基站的使用原理为：初始状态下，托盘320位于固定工位，清洁机器人从托盘320的入口进入托盘320内，使得清洁机器人承载于托盘320上，第一锁定件330暂时固定清洁件900，此时，清洁机器人与清洁件900连接；随后，移取装置200使托盘320移动至分离工位，使得清洁机器人与清洁件900分离；接着，第一锁定件330释放清洁件900，移取装置200将第一锁定件330上的清洁件900移动至储存装置100内；然后，移取装置200将储存装置100的另一个清洁件900移动至第一锁定件330上，第一锁定件330暂时固定另一个清洁件900；然后，移取装置200使托盘320移动至固定工位，第一锁定件330释放另一个清洁件900，此时，清洁机器人与另一个清洁件900连接，由此，完成清洁件900的替换。与相关技术相比，本申请实施例的机器人基站可以实现清洁件900的替换，彻底解放用户的双手，大大降低了用户的工作量，提高了用户的使用体验。The operating principle of the robot base station in the embodiment of the present application is as follows: in the initial state, the tray 320 is located at a fixed station, and the cleaning robot enters the tray 320 from the entrance of the tray 320, so that the cleaning robot is carried on the tray 320, and the first locking member 330 temporarily The cleaning member 900 is fixed, at this time, the cleaning robot is connected to the cleaning member 900; then, the removal device 200 moves the tray 320 to the separation station, so that the cleaning robot is separated from the cleaning member 900; then, the first locking member 330 releases the cleaning member 900, the removal device 200 moves the cleaning member 900 on the first locking member 330 into the storage device 100; then, the removal device 200 moves the other cleaning member 900 of the storage device 100 to the first locking member 330, the first A locking member 330 temporarily fixes another cleaning member 900; then, the removal device 200 moves the tray 320 to the fixing position, the first locking member 330 releases the other cleaning member 900, at this time, the cleaning robot and the other cleaning member 900 The connection, thereby, completes the replacement of the cleaning member 900 . Compared with the related art, the robot base station of the embodiment of the present application can realize the replacement of the cleaning element 900, completely liberate the user's hands, greatly reduce the user's workload, and improve the user's use experience.

本申请实施例的机器人基站中，储存装置100设于底座300的上方，移取装置200设于储存装置100的上方，此结构下，使得移取装置200、储存装置100和底座300之间的结构紧凑，有利于减小机器人基站的体积。可以理解的是，根据实际情况的选择和具体需求，移取装置200、储存装置100和底座300的布局可以作适当修改，在此不作唯一限定。In the robot base station of the embodiment of the present application, the storage device 100 is arranged above the base 300 , and the removal device 200 is arranged above the storage device 100 . The compact structure is beneficial to reduce the volume of the robot base station. It can be understood that the layout of the removal device 200 , the storage device 100 and the base 300 can be appropriately modified according to the actual selection and specific requirements, which are not limited herein.

进一步地，作为本申请的一个具体实施方式，如图2和图3所示，移取装置200包括用于抓取托盘320或者清洁件900的夹爪210、与夹爪210连接且用于驱动夹爪210沿竖直方向Y做升降运动的第一位移机构220以及与第一位移机构220连接且用于驱动第一位移机构220沿水平方向X做前后运动的第二位移机构230，竖直方向Y与水平方向X垂直。此结构下，使得夹爪210能沿竖直方向Y做升降运动和沿水平方向X做前后运动，可以更好地调节夹爪210的位置，以便于抓取托盘320或者清洁件900。Further, as a specific embodiment of the present application, as shown in FIG. 2 and FIG. 3 , the removal device 200 includes a gripper 210 for grabbing the tray 320 or the cleaning member 900 , connected with the gripper 210 and used for driving A first displacement mechanism 220 for the jaws 210 to move up and down along the vertical direction Y and a second displacement mechanism 230 for driving the first displacement mechanism 220 to move back and forth along the horizontal direction X, which are connected to the first displacement mechanism 220. The direction Y is perpendicular to the horizontal direction X. With this structure, the clamping jaws 210 can move up and down along the vertical direction Y and back and forth along the horizontal direction X, and the position of the clamping jaws 210 can be better adjusted to facilitate grasping the tray 320 or the cleaning member 900 .

需要说明的是，本申请实施例的机器人基站中，通过在托盘320上设置供夹爪210钩扣的把手，使得夹爪210能够带动托盘320同步运动，通过在清洁件900上设置供夹爪210钩扣的槽体，使得夹爪210能够带动清洁件900同步运动，当然，根据实际情况的选择和具体需求，也可以采用其它方式使得夹爪210能够抓取托盘320或者清洁件900，在此不作唯一限定。It should be noted that, in the robot base station of the embodiment of the present application, a handle for the clamping jaw 210 to be hooked is provided on the tray 320 , so that the clamping jaw 210 can drive the tray 320 to move synchronously. 210 is hooked to the groove body, so that the clamping jaws 210 can drive the cleaning element 900 to move synchronously. Of course, according to the actual selection and specific needs, other methods can also be used to enable the clamping jaws 210 to grab the tray 320 or the cleaning element 900. This is not a unique limitation.

进一步地，作为本申请的一个具体实施方式，如图3所示，第一位移机构220包括固定板221、固定连接于固定板221上且沿竖直方向Y延伸设置的导轴222、滑动连接于导轴222且固定连接于夹爪210上的直线轴承223、转动连接于固定板221上且沿水平方向X延伸设置的丝杆224、固定连接于夹爪210上且与丝杆224螺纹连接的螺母座225、用于驱动丝杆224转动的升降驱动件226以及与丝杆224和升降驱动件226连接的传动组件227，升降驱动件226通过传动组件227驱动丝杆224转动。此结构下，升降驱动件226可以为电机，升降驱动件226通过驱动丝杆224转动，使得螺纹连接于螺母座225带动夹爪210做升降运动，导轴222和直线轴承223的设置可以提高夹爪210做升降运动的稳定性。在该实施例中，升降驱动件226电性连接于控制***。可以理解的是，根据实际情况的选择和具体需求，第一位移机构220的具体结构可以作适当修改，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 3 , the first displacement mechanism 220 includes a fixing plate 221 , a guide shaft 222 fixedly connected to the fixing plate 221 and extending along the vertical direction Y, and a sliding connection. The linear bearing 223 on the guide shaft 222 and fixedly connected to the clamping jaw 210, the lead screw 224 rotatably connected to the fixing plate 221 and extending along the horizontal direction X, fixedly connected to the clamping jaw 210 and threadedly connected with the lead screw 224 There is a nut seat 225, a lift driving member 226 for driving the screw 224 to rotate, and a transmission assembly 227 connected with the screw 224 and the lifting driving member 226. The lifting driving member 226 drives the screw 224 to rotate through the transmission assembly 227. In this structure, the lifting driving member 226 can be a motor, and the lifting driving member 226 is rotated by the driving screw 224, so that the threaded connection to the nut seat 225 drives the clamping jaw 210 to perform lifting movement, and the guide shaft 222 and the linear bearing 223 can be arranged to improve the clamping force. The claw 210 does the stability of the lifting motion. In this embodiment, the lift driver 226 is electrically connected to the control system. It can be understood that, the specific structure of the first displacement mechanism 220 can be appropriately modified according to the actual selection and specific requirements, which is not limited here.

进一步地，作为本申请的一个具体实施方式，如图3所示，传动组件227包括能转动的竖直主动轮2271、多个能转动的竖直从动轮2272以及包绕于竖直主动轮2271和多个竖直从动轮2272上的竖直同步带2273，升降驱动件226的输出轴与竖直主动轮2271固定连接，使得升降驱动件226的输出轴与竖直主动轮2271能够同步转动，丝杆224的一端与对应的竖直从动轮2272固定连接，使得丝杆224与对应的竖直从动轮2272能够同步转动，从而使得升降驱动件226能够驱动丝杆224转动。可以理解的是，根据实际情况的选择和具体需求，传动组件227的具体结构可以作适当修改，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 3 , the transmission assembly 227 includes a rotatable vertical driving wheel 2271 , a plurality of rotatable vertical driven wheels 2272 , and a vertical driving wheel 2271 wrapped around the vertical driving wheel 2271 . and the vertical synchronous belts 2273 on the plurality of vertical driven wheels 2272, the output shaft of the lift driving member 226 is fixedly connected with the vertical driving wheel 2271, so that the output shaft of the lifting driving member 226 and the vertical driving wheel 2271 can rotate synchronously, One end of the screw rod 224 is fixedly connected with the corresponding vertical driven wheel 2272 , so that the screw rod 224 and the corresponding vertical driven wheel 2272 can rotate synchronously, so that the lift driving member 226 can drive the screw rod 224 to rotate. It can be understood that the specific structure of the transmission assembly 227 can be appropriately modified according to the actual selection and specific requirements, which is not limited herein.

本申请实施例的机器人基站中，固定板221的相对两侧分别设有夹爪210，即两个夹爪210分别设于固定板221的相对两侧，相应地，固定板221的相对两侧分别设有对应的导轴222、直线轴承223、丝杆224和螺母座225，两个丝杆224分别与对应的竖直从动轮2272固定连接，如此设置，可以使得移取装置200能够稳定抓取托盘320或者清洁件900。In the robot base station of the embodiment of the present application, the clamping claws 210 are respectively provided on opposite sides of the fixing plate 221 , that is, the two clamping claws 210 are respectively arranged on the opposite sides of the fixing plate 221 , correspondingly, the opposite sides of the fixing plate 221 Corresponding guide shafts 222, linear bearings 223, screw rods 224, and nut seats 225 are respectively provided, and the two screw rods 224 are respectively fixedly connected with the corresponding vertical driven wheels 2272, so that the removal device 200 can be stably grasped Take the tray 320 or the cleaning member 900.

进一步地，作为本申请的一个具体实施方式，如图3所示，第二位移机构230包括能转动的水平主动轮231、沿水平方向X设于转动轮的一侧且能转动的水平从动轮232、包绕于水平主动轮231和水平从动轮232上的水平同步带233、固定连接于固定板221上的第一压板234、固定连接于第一压板234的远离固定板221的一侧的第二压板235、用于驱动水平主动轮231转动的水平驱动件236、沿水平方向X延伸设置的导轨237以及固定连接于固定板221上且滑动连接于导轨237的滑块238，第一压板234和第二压板235之间夹设有水平同步带233。此结构下，水平驱动件236可以为电机，水平驱动件236通过驱动水平主动轮231转动，使得包绕于水平主动轮231和水平从动轮232上的水平同步带233同步转动，从而使得固定连接于水平同步带233的固定板221沿水平方向X做前后运动，即使得第一位移机构220及其上的夹爪210沿水平方向X做前后运动，导轨237和滑块238的设置可以提高夹爪210做升降运动的稳定性。在该实施例中，水平驱动件236电性连接于控制***。可以理解的是，根据实际情况的选择和具体需求，第二位移机构230的具体结构可以作适当修改，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 3 , the second displacement mechanism 230 includes a rotatable horizontal driving wheel 231, and a rotatable horizontal driven wheel arranged on one side of the rotating wheel along the horizontal direction X and rotatable. 232. The horizontal synchronous belt 233 wrapped around the horizontal driving pulley 231 and the horizontal driven pulley 232, the first pressing plate 234 fixedly connected to the fixed plate 221, the The second pressing plate 235, the horizontal driving member 236 for driving the horizontal driving wheel 231 to rotate, the guide rail 237 extending along the horizontal direction X, and the sliding block 238 fixedly connected to the fixing plate 221 and slidably connected to the guide rail 237, the first pressing plate A horizontal timing belt 233 is sandwiched between 234 and the second pressing plate 235 . Under this structure, the horizontal driving member 236 can be a motor, and the horizontal driving member 236 drives the horizontal driving wheel 231 to rotate, so that the horizontal synchronous belt 233 wrapped around the horizontal driving wheel 231 and the horizontal driven wheel 232 rotates synchronously, thereby making the fixed connection The fixed plate 221 of the horizontal synchronous belt 233 moves back and forth along the horizontal direction X, that is, the first displacement mechanism 220 and the clamping jaws 210 on it move back and forth along the horizontal direction X. The claw 210 does the stability of the lifting motion. In this embodiment, the horizontal driving member 236 is electrically connected to the control system. It can be understood that, the specific structure of the second displacement mechanism 230 can be appropriately modified according to the actual selection and specific requirements, which is not limited here.

进一步地，作为本申请的一个具体实施方式，如图5所示，第一锁定件330为电磁铁，第一锁定件330通过磁力吸附清洁件900，具体来说，清洁件900上可以对应第一锁定件330的位置设置铁片或者其他能被电磁铁吸附的结构，当第一锁定件330通电时，第一锁定件330产生磁力并吸附清洁件900上的铁片，使得清洁件900暂时固定在第一锁定件330上，此时，若托盘320带动清洁机器人由固定工位移动至分离工位时，由于清洁件900暂时固定在清洁件900上，清洁机器人与清洁件900会分离。可以理解的是，根据实际情况的选择和具体需求，第一锁定件330也可以为其他元件结构，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 5 , the first locking member 330 is an electromagnet, and the first locking member 330 attracts the cleaning member 900 by magnetic force. An iron piece or other structure capable of being adsorbed by an electromagnet is arranged at the position of a locking piece 330. When the first locking piece 330 is energized, the first locking piece 330 generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily It is fixed on the first locking member 330. At this time, if the tray 320 drives the cleaning robot to move from the fixed station to the separation station, since the cleaning member 900 is temporarily fixed on the cleaning member 900, the cleaning robot and the cleaning member 900 will be separated. It can be understood that, the first locking member 330 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.

进一步地，作为本申请的一个具体实施方式，如图4所示，储存装置100包括储存仓110，储存仓110设有用于放置清洁件900的托槽111，托槽111能够放置多个清洁件900，本实施例的储存装置100中，托槽111能够放置两个清洁件900。Further, as a specific embodiment of the present application, as shown in FIG. 4 , the storage device 100 includes a storage bin 110 , and the storage bin 110 is provided with a bracket 111 for placing the cleaning element 900 , and the bracket 111 can accommodate a plurality of cleaning elements 900, in the storage device 100 of this embodiment, the bracket 111 can accommodate two cleaning members 900.

储存装置100包括吊架120，吊架120能够吊设多个清洁件900，吊架120设有第二锁定件121和挂钩122，清洁件900吊设于第二锁定件121和挂钩122上，本实施例的储存装置100中，吊架120能够吊设两个清洁件900。The storage device 100 includes a hanger 120, the hanger 120 can hang a plurality of cleaning parts 900, the hanger 120 is provided with a second locking part 121 and a hook 122, and the cleaning part 900 is hung on the second locking part 121 and the hook 122, In the storage device 100 of this embodiment, the hanger 120 can hang two cleaning members 900 .

进一步地，作为本申请的一个具体实施方式，第二锁定件121为电磁铁，第二锁定件121通过磁力吸附清洁件900，具体来说，清洁件900上可以对应第二锁定件121的位置设置铁片或者其他能被电磁铁吸附的结构，当第二锁定件121通电时，第二锁定件121产生磁力并吸附清洁件900上的铁片，使得清洁件900暂时固定在第二锁定件121上。可以理解的是，根据实际情况的选择和具体需求，第二锁定件121也可以为其他元件结构，在此不作唯一限定。Further, as a specific embodiment of the present application, the second locking member 121 is an electromagnet, and the second locking member 121 attracts the cleaning member 900 by magnetic force. Specifically, the cleaning member 900 may correspond to the position of the second locking member 121 An iron piece or other structure that can be attracted by the electromagnet is provided. When the second locking piece 121 is energized, the second locking piece 121 generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily fixed on the second locking piece 121 on. It can be understood that, the second locking member 121 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.

进一步地，作为本申请的一个具体实施方式，如图8所示，座体310上设有第一集尘管路312以及连通于第一集尘管路312的第一集尘口3121，托盘320开设有用于露出第一集尘口3121的集尘开口322。在该实施例中，清洁机器人还设有尘盒，尘盒设有与集尘开口322正对设置的出尘口，此结构下，可以在第一集尘管路312的远离第一集尘口3121的一端设置负压发生装置600(风机)和集尘容器500，集尘容器500与第一集尘管路312连通，负压发生装置600与集尘容器500连通且用于提供负压，当负压发生装置600产生负压而产生吸力时，尘盒内的灰尘或其他垃圾可以依次经过出尘口、集尘开口322、第一集尘口3121和第一集尘管路312后到达集尘容器500，用户不需要将尘盒从清洁机器人上拆卸下来清理，简化了尘盒的清理方式，大大提高了用户的使用体验。Further, as a specific embodiment of the present application, as shown in FIG. 8 , the seat body 310 is provided with a first dust collection pipeline 312 and a first dust collection port 3121 connected to the first dust collection pipeline 312 . 320 is provided with a dust collecting opening 322 for exposing the first dust collecting port 3121 . In this embodiment, the cleaning robot is further provided with a dust box, and the dust box is provided with a dust outlet directly opposite to the dust collection opening 322. Under this structure, the first dust collection pipeline 312 can be far away from the first dust collection pipe. One end of the port 3121 is provided with a negative pressure generating device 600 (fan) and a dust collecting container 500, the dust collecting container 500 is communicated with the first dust collecting pipeline 312, and the negative pressure generating device 600 is communicated with the dust collecting container 500 and is used to provide negative pressure , when the negative pressure generating device 600 generates negative pressure to generate suction, the dust or other garbage in the dust box can pass through the dust outlet, the dust collection opening 322, the first dust collection port 3121 and the first dust collection pipeline 312 in sequence. After reaching the dust collecting container 500, the user does not need to remove the dust box from the cleaning robot for cleaning, which simplifies the cleaning method of the dust box and greatly improves the user experience.

进一步地，作为本申请的一个具体实施方式，如图6和图7所示，托盘320在座体310上还具有集尘工位，托盘320在座体310上可在分离工位和集尘工位之间切换位置；如图9和图10所示，托盘320于固定工位和/或者分离工位时，托盘320的底面遮挡第一集尘口3121；如图11所示，托盘320于集尘工位时，第一集尘口3121与集尘开口322正对设置。此结构下，使得托盘320仅在集尘工位时露出第一集尘口3121，可以避免空气中灰尘积压在第一集尘口3121处造成第一集尘口3121脏污难清理。Further, as a specific embodiment of the present application, as shown in FIG. 6 and FIG. 7 , the tray 320 also has a dust collection station on the seat body 310 , and the tray 320 can be in a separation station and a dust collection station on the seat body 310 As shown in FIG. 9 and FIG. 10 , when the tray 320 is in the fixed station and/or the separation station, the bottom surface of the tray 320 blocks the first dust collection port 3121; as shown in FIG. 11 , the tray 320 is placed in the collection station During the dust collection station, the first dust collection port 3121 is directly opposite to the dust collection opening 322 . With this structure, the tray 320 only exposes the first dust collecting port 3121 at the dust collecting station, which can prevent the dust in the air from accumulating at the first dust collecting port 3121 and causing the first dust collecting port 3121 to be dirty and difficult to clean.

进一步地，作为本申请的一个具体实施方式，如图8所示，座体310上开设有容置槽311，托盘320设于容置槽311内，托盘320在容置槽311内具有固定工位、分离工位和集尘工位。此结构下，使得底座300的结构紧凑，有利于减小底座300的体积，使得机器人基站小型化。Further, as a specific embodiment of the present application, as shown in FIG. 8 , an accommodating groove 311 is formed on the base body 310 , the tray 320 is arranged in the accommodating groove 311 , and the tray 320 has a fixing tool in the accommodating groove 311 . position, separation station and dust collection station. With this structure, the structure of the base 300 is compact, which is beneficial to reduce the volume of the base 300 and make the robot base station miniaturized.

进一步地，作为本申请的一个具体实施方式，如图8、图12和图13所示，机器人基站还包括可拆卸连接于座体310上的清洗机构400，清洗机构400包括上壳420、连接于上壳420的下壳430以及设于上壳420和下壳430之间且用于清洗清洁件900的清洗组件410。此结构下，用户不需要手动对清洁件900进行清洗，降低用户的工作量，提高用户的使用体验。在该实施例中，上壳420与下壳430可拆卸连接，二者具体可以但不限于通过螺丝连接的方式实现可拆卸连接，以便于将上壳420与下壳430分离并进行清理维护。Further, as a specific embodiment of the present application, as shown in FIG. 8 , FIG. 12 and FIG. 13 , the robot base station further includes a cleaning mechanism 400 detachably connected to the base 310 , and the cleaning mechanism 400 includes an upper shell 420 , a connection The lower case 430 in the upper case 420 and the cleaning component 410 disposed between the upper case 420 and the lower case 430 and used for cleaning the cleaning element 900 . Under this structure, the user does not need to clean the cleaning member 900 manually, which reduces the workload of the user and improves the user experience. In this embodiment, the upper casing 420 and the lower casing 430 are detachably connected, and the two can be detachably connected by but not limited to screw connection, so as to facilitate the separation of the upper casing 420 and the lower casing 430 for cleaning and maintenance.

进一步地，作为本申请的一个具体实施方式，如图8、图12和图13所示，上壳420、清洗组件410和下壳430共同围合形成清洗腔，如图2所示，机器人基站还包括与清洗腔连通的水箱700以及设于清洗腔和水箱700之间且用于输送水的泵机(图未示)。在该实施例中，下壳430开设有进水口和排水口，水箱700可以包括第一水箱710和第二水箱720，第一水箱710和第二水箱720均为复合水箱，泵机可以将第一水箱710或者第二水箱720内的水通过进水口输送至清洗腔内来对清洗件进行清洗，清洗腔内的污水可以通过排水口排出。Further, as a specific implementation manner of the present application, as shown in FIG. 8 , FIG. 12 and FIG. 13 , the upper shell 420 , the cleaning assembly 410 and the lower shell 430 are jointly enclosed to form a cleaning cavity, as shown in FIG. 2 , the robot base station It also includes a water tank 700 in communication with the cleaning chamber and a pump (not shown) arranged between the cleaning chamber and the water tank 700 for conveying water. In this embodiment, the lower shell 430 is provided with a water inlet and a water outlet. The water tank 700 may include a first water tank 710 and a second water tank 720. The first water tank 710 and the second water tank 720 are both composite water tanks. The water in the first water tank 710 or the second water tank 720 is transported into the cleaning cavity through the water inlet to clean the cleaning parts, and the sewage in the cleaning cavity can be discharged through the water outlet.

进一步地，作为本申请的一个具体实施方式，如图13所示，清洗组件410包括上清洗板411、沿上清洗板411的长度方向滑动连接于上清洗板411下方的下清洗板412以及驱动上清洗板411和下清洗板412相对滑动的清洗驱动件413，上清洗板411沿其自身的长度方向间隔设有多个第一梳齿4111，下清洗板412对应多个第一梳齿4111间隔设有多个第二梳齿4121。在该实施例中，下清洗板412上设有导槽4122，上清洗板411设有嵌设于导槽4122内的滑轨4112，从而使得上清洗板411和下清洗板412滑动连接；清洗驱动件413与控制***电性连接，控制***可以控制清洗驱动件413的工作状态。Further, as a specific embodiment of the present application, as shown in FIG. 13 , the cleaning assembly 410 includes an upper cleaning plate 411 , a lower cleaning plate 412 slidably connected below the upper cleaning plate 411 along the length direction of the upper cleaning plate 411 , and a drive The upper cleaning plate 411 and the lower cleaning plate 412 are relatively sliding cleaning drive members 413. The upper cleaning plate 411 is provided with a plurality of first comb teeth 4111 at intervals along its own length direction, and the lower cleaning plate 412 corresponds to a plurality of first comb teeth 4111. A plurality of second comb teeth 4121 are provided at intervals. In this embodiment, the lower cleaning plate 412 is provided with a guide groove 4122, and the upper cleaning plate 411 is provided with a slide rail 4112 embedded in the guide groove 4122, so that the upper cleaning plate 411 and the lower cleaning plate 412 are slidably connected; The driving member 413 is electrically connected with the control system, and the control system can control the working state of the cleaning driving member 413 .

进一步地，作为本申请的一个具体实施方式，如图13所示，清洗驱动件413为电机，清洗组件410还包括固定连接于电机的输出轴的操作件414以及固定连接于下清洗板412的连接件415，操作件414的自由端设有偏心轴4141，偏心轴4141偏离电机的输出轴的轴心设置，连接件415上开设有供偏心轴4141***的插槽4151。此结构下，当电机的输出轴带动操作件414一同转动时，由于操作件414的偏心轴4141偏离电机的输出轴的轴心设置，可以使得配合于偏心轴4141的连接件415和下清洗板412可以相对于上清洗板411左右滑动。在该实施例中，插槽4151可以为腰型槽，当然，根据实际情况的选择和具体需求，插槽4151的形状可以作适当修改，在此不作唯一限定。Further, as a specific embodiment of the present application, as shown in FIG. 13 , the cleaning driving member 413 is a motor, and the cleaning assembly 410 further includes an operating member 414 fixedly connected to the output shaft of the motor and an operating member 414 fixedly connected to the lower cleaning plate 412 The free end of the connecting piece 415 and the operating piece 414 is provided with an eccentric shaft 4141 which is offset from the axis of the output shaft of the motor. Under this structure, when the output shaft of the motor drives the operating member 414 to rotate together, since the eccentric shaft 4141 of the operating member 414 deviates from the axis of the output shaft of the motor, the connecting member 415 and the lower cleaning plate can be matched with the eccentric shaft 4141 412 can slide left and right relative to the upper cleaning plate 411 . In this embodiment, the slot 4151 can be a waist-shaped slot. Of course, the shape of the slot 4151 can be appropriately modified according to the actual situation and specific requirements, which is not limited here.

进一步地，作为本申请的一个具体实施方式，如图12所示，清洗机构400还包括设于上壳420上的第三密封件460，当清洁件900暂时固定在第一锁定件330上时，第三密封件460过盈配合于上壳420和清洁件900之间，可以防止清洗腔内的水漏出。Further, as a specific embodiment of the present application, as shown in FIG. 12 , the cleaning mechanism 400 further includes a third sealing member 460 provided on the upper shell 420 , when the cleaning member 900 is temporarily fixed on the first locking member 330 , the third sealing member 460 is interference fit between the upper shell 420 and the cleaning member 900, which can prevent the water in the cleaning cavity from leaking out.

以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection of the present application. within the range.

Claims

一种底座，用于设有可拆卸的清洁件的清洁机器人，其中，所述底座包括：A base for a cleaning robot provided with a detachable cleaning piece, wherein the base comprises:

座体；body;

托盘，设在所述座体上且用于承载所述清洁机器人，所述托盘至少具有固定工位和分离工位，所述托盘可在所述固定工位和所述分离工位之间切换位置，所述托盘具有供所述清洁机器人进入的入口；以及a tray, arranged on the base and used for carrying the cleaning robot, the tray at least has a fixed station and a separation station, and the tray can be switched between the fixed station and the separation station position, the tray has an entrance for the cleaning robot to enter; and

第一锁定件，设在所述座体上且用于暂时固定所述清洁件；a first locking piece, arranged on the seat body and used for temporarily fixing the cleaning piece;

其中，所述托盘于所述固定工位时，承载于所述托盘上的所述清洁机器人与暂时固定于所述第一锁定件上的所述清洁件连接；所述托盘于所述分离工位时，承载于所述托盘上的所述清洁机器人与暂时固定于所述第一锁定件上的所述清洁件分离。Wherein, when the tray is in the fixing station, the cleaning robot carried on the tray is connected to the cleaning member temporarily fixed on the first locking member; the tray is in the separation station. When in position, the cleaning robot carried on the tray is separated from the cleaning member temporarily fixed on the first locking member.
如权利要求1所述的底座，其中，所述座体具有容置槽，所述托盘、所述第一锁定件设于所述容置槽内。The base according to claim 1, wherein the base body has an accommodating groove, and the tray and the first locking member are arranged in the accommodating groove.
如权利要求2所述的底座，其中，所述第一锁定件为电磁铁，所述第一锁定件通过磁力吸附所述清洁件。The base of claim 2, wherein the first locking member is an electromagnet, and the first locking member attracts the cleaning member by magnetic force.
如权利要求2所述的底座，其中，所述座体上设有第一集尘管路以及连通于所述第一集尘管路的第一集尘口，所述托盘开设有用于露出所述第一集尘口的集尘开口。The base according to claim 2, wherein the base body is provided with a first dust collection pipeline and a first dust collection port connected to the first dust collection pipeline, and the tray is provided with an opening for exposing the Describe the dust collection opening of the first dust collection port.
如权利要求4所述的底座，其中，所述托盘在所述容置槽内还具有集尘工位，所述托盘在所述座体上可在所述分离工位和所述集尘工位之间切换位置；The base according to claim 4, wherein the tray further has a dust collecting station in the accommodating groove, and the tray can be placed in the separation station and the dust collecting station on the seat body. switch position between bits;

所述托盘于所述固定工位和/或者所述分离工位时，所述托盘的底面遮挡所述第一集尘口；所述托盘于所述集尘工位时，所述第一集尘口与所述集尘开口正对设置。When the tray is in the fixing station and/or the separation station, the bottom surface of the tray blocks the first dust collection port; when the tray is in the dust collection station, the first dust collection port is closed. The dust port is arranged opposite to the dust collection opening.
如权利要求5所述的底座，其中，所述第一集尘口设有第一密封件；所述托盘于所述固定工位时，所述第一密封件设于所述第一集尘口和所述托盘底面之间；所述托盘于所述集尘工位时，所述第一集尘口通过所述第一密封件与所述集尘开口密封连通。The base according to claim 5, wherein the first dust collecting port is provided with a first sealing member; when the tray is at the fixing station, the first sealing member is provided on the first dust collecting member between the opening and the bottom surface of the tray; when the tray is in the dust collecting station, the first dust collecting opening is in sealing communication with the dust collecting opening through the first sealing member.
如权利要求2至6任一项所述的底座，其中，所述容置槽的相对两侧的槽壁上设有滑槽，所述托盘对应所述滑槽设有能转动的滚轮，所述滚轮嵌设于所述滑槽中，通过所述滚轮与所述滑槽配合，使得所述托盘可在不同工位之间切换位置。The base according to any one of claims 2 to 6, wherein the groove walls on opposite sides of the accommodating groove are provided with sliding grooves, and the tray is provided with rotatable rollers corresponding to the sliding grooves, so The roller is embedded in the chute, and the roller is matched with the chute, so that the tray can switch positions between different stations.
如权利要求2至6任一项所述的底座，其中，所述底座还包括可拆卸连接于所述座体上的清洗机构，所述清洗机构用于对所述清洁件进行清洗。The base according to any one of claims 2 to 6, wherein the base further comprises a cleaning mechanism detachably connected to the base body, and the cleaning mechanism is used for cleaning the cleaning member.
如权利要求8所述的底座，其中，所述清洗机构包括清洗组件，所述清洗组件包括上清洗板、沿所述上清洗板的长度方向滑动连接于所述上清洗板下方的下清洗板以及驱动所述上清洗板和所述下清洗板相对滑动的清洗驱动件，所述上清洗板沿其自身的长度方向间隔设有多个第一梳齿，所述下清洗板对应多个所述第一梳齿间隔设有多个第二梳齿。The base according to claim 8, wherein the cleaning mechanism comprises a cleaning assembly comprising an upper cleaning plate and a lower cleaning plate slidably connected below the upper cleaning plate along the length direction of the upper cleaning plate and a cleaning driver for driving the upper cleaning plate and the lower cleaning plate to slide relative to each other, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along its own length direction, and the lower cleaning plate corresponds to a plurality of The first comb teeth are provided with a plurality of second comb teeth at intervals.
如权利要求9所述的底座，其中，所述清洗驱动件为电机，所述清洗组件还包括固定连接于所述电机的输出轴的操作件以及固定连接于所述下清洗板的连接件，所述操作件的自由端设有偏心轴，所述偏心轴偏离所述电机的输出轴的轴心设置，所述连接件上开设有供所述偏心轴***的插槽。The base according to claim 9, wherein the cleaning driving member is a motor, and the cleaning assembly further comprises an operating member fixedly connected to the output shaft of the motor and a connecting member fixedly connected to the lower cleaning plate, The free end of the operating member is provided with an eccentric shaft, and the eccentric shaft is deviated from the axis of the output shaft of the motor, and a slot for the eccentric shaft to be inserted is formed on the connecting member.
一种机器人基站，用于设有可拆卸的清洁件的清洁机器人，其中，所述机器人基站包括：A robot base station for a cleaning robot provided with a detachable cleaning piece, wherein the robot base station includes:

储存装置，用于储存所述清洁件；a storage device for storing the cleaning element;

底座，所述底座为权利要求1至10任意一项所述的底座；A base, the base is the base according to any one of claims 1 to 10;

移取装置，用于移动所述托盘、将所述第一锁定件上的所述清洁件移动至所述储存装置内以及将所述储存装置内的所述清洁件移动至所述第一锁定件上；以及removal device for moving the tray, moving the cleaning element on the first locking element into the storage device and moving the cleaning element in the storage device to the first locking element on the item; and

控制***，所述第一锁定件和所述移取装置均电性连接于所述控制***。A control system, the first locking member and the removal device are all electrically connected to the control system.
如权利要求11所述的机器人基站，其中，所述移取装置包括用于抓取所述托盘或者所述清洁件的夹爪、与所述夹爪连接且用于驱动所述夹爪沿竖直方向做升降运动的第一位移机构以及与所述第一位移机构连接且用于驱动所述第一位移机构沿水平方向做前后运动的第二位移机构，所述竖直方向与所述水平方向垂直。The robot base station according to claim 11, wherein the removal device comprises a gripper for grabbing the tray or the cleaning element, connected with the gripper and used for driving the gripper along the vertical direction A first displacement mechanism that performs lifting movement in a straight direction and a second displacement mechanism that is connected to the first displacement mechanism and is used to drive the first displacement mechanism to move forward and backward in a horizontal direction. Orientation is vertical.
如权利要求12所述的机器人基站，其中，所述第一位移机构包括固定板、固定连接于所述固定板上且沿所述竖直方向延伸设置的导轴、滑动连接于所述导轴且固定连接于所述夹爪上的直线轴承、转动连接于所述固定板上且沿所述水平方向延伸设置的丝杆、固定连接于所述夹爪上且与所述丝杆螺纹连接的螺母座、用于驱动所述丝杆转动的升降驱动件以及与所述丝杆和所述升降驱动件连接的传动组件，所述升降驱动件通过所述传动组件驱动所述丝杆转动。The robot base station according to claim 12, wherein the first displacement mechanism comprises a fixed plate, a guide shaft fixedly connected to the fixed plate and extending along the vertical direction, slidably connected to the guide shaft And the linear bearing that is fixedly connected to the clamping jaws, the screw rod that is rotatably connected to the fixing plate and extends along the horizontal direction, the linear bearing that is fixedly connected to the clamping jaws and is threadedly connected to the screw rod. A nut seat, a lift drive member for driving the screw rod to rotate, and a transmission assembly connected with the screw rod and the lift drive member, the lift drive member drives the screw rod to rotate through the transmission assembly.
如权利要求13所述的机器人基站，其中，所述第二位移机构包括能转动的水平主动轮、沿水平方向设于所述转动轮的一侧且能转动的水平从动轮、包绕于所述水平主动轮和所述水平从动轮上的水平同步带、固定连接于固定板上的第一压板、固定连接于所述第一压板的远离所述固定板的一侧的第二压板、用于驱动所述水平主动轮转动的水平驱动件、沿水平方向延伸设置的导轨以及固定连接于所述固定板上且滑动连接于所述导轨的滑块，所述第一压板和所述第二压板之间夹设有所述水平同步带。The robot base station according to claim 13, wherein the second displacement mechanism comprises a rotatable horizontal driving wheel, a rotatable horizontal driven wheel arranged on one side of the rotating wheel in a horizontal direction, and a rotatable horizontal driven wheel surrounding the The horizontal synchronous belt on the horizontal driving wheel and the horizontal driven wheel, the first pressing plate fixedly connected to the fixed plate, the second pressing plate fixedly connected to the side of the first pressing plate away from the fixed plate, and the The first pressing plate and the second The horizontal synchronous belt is sandwiched between the pressing plates.
如权利要求11所述的机器人基站，其中，所述座体上设有第一集尘管路以及连通于所述第一集尘管路的第一集尘口，所述托盘开设有用于露出所述第一集尘口的集尘开口。The robot base station according to claim 11, wherein the base is provided with a first dust collection pipeline and a first dust collection port connected to the first dust collection pipeline, and the tray is provided with an opening for exposing The dust collection opening of the first dust collection port.
如权利要求15所述的机器人基站，其中，所述托盘在所述座体上还具有集尘工位，所述托盘在所述座体上可在所述分离工位和所述集尘工位之间切换位置；The robot base station according to claim 15, wherein the tray further has a dust collecting station on the base, and the tray can be installed at the separation station and the dust collecting station on the base. switch position between bits;

所述托盘于所述固定工位和/或者所述分离工位时，所述托盘的底面遮挡所述第一集尘口；所述托盘于所述集尘工位时，所述第一集尘口与所述集尘开口正对设置。When the tray is in the fixing station and/or the separation station, the bottom surface of the tray blocks the first dust collecting port; when the tray is in the dust collecting station, the first dust collecting port is closed. The dust port is arranged opposite to the dust collection opening.
如权利要求15所述的机器人基站，其中，所述机器人基站还包括与所述第一集尘管路连通的集尘容器以及与所述集尘容器连通且用于提供负压的负压发生装置。The robot base station of claim 15, wherein the robot base station further comprises a dust collection container communicated with the first dust collection pipeline, and a negative pressure generator communicated with the dust collection container and used for providing negative pressure device.
如权利要求11所述的机器人基站，其中，所述机器人基站还包括可拆卸连接于所述座体上的清洗机构，所述清洗机构包括上壳、连接于所述上壳的下壳以及设于所述上壳和所述下壳之间且用于清洗所述清洁件的清洗组件。The robot base station according to claim 11, wherein the robot base station further comprises a cleaning mechanism detachably connected to the base, the cleaning mechanism comprising an upper casing, a lower casing connected to the upper casing, and a device A cleaning assembly between the upper shell and the lower shell and used for cleaning the cleaning element.
如权利要求18所述的机器人基站，其中，所述上壳、所述清洗组件和所述下壳共同围合形成清洗腔，所述机器人基站还包括与所述清洗腔连通的水箱以及设于所述清洗腔和所述水箱之间且用于输送水的泵机。The robot base station according to claim 18, wherein the upper casing, the cleaning assembly and the lower casing are jointly enclosed to form a cleaning chamber, and the robot base station further comprises a water tank communicating with the cleaning chamber and a water tank disposed in the cleaning chamber. A pump for conveying water between the cleaning chamber and the water tank.
如权利要求18所述的机器人基站，其中，所述清洗组件包括上清洗板、沿所述上清洗板的长度方向滑动连接于所述上清洗板下方的下清洗板以及驱动所述上清洗板和所述下清洗板相对滑动的清洗驱动件，所述上清洗板沿其自身的长度方向间隔设有多个第一梳齿，所述下清洗板对应多个所述第一梳齿间隔设有多个第二梳齿。The robot base station of claim 18, wherein the cleaning assembly comprises an upper cleaning plate, a lower cleaning plate slidably connected below the upper cleaning plate along the length direction of the upper cleaning plate, and driving the upper cleaning plate A cleaning driver that slides relative to the lower cleaning plate, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along its own length direction, and the lower cleaning plate corresponds to the plurality of first comb teeth at intervals. There are multiple second comb teeth.