CN113171034B

CN113171034B - Cleaning base station, cleaning system and cleaning method of cleaning system

Info

Publication number: CN113171034B
Application number: CN202110417107.6A
Authority: CN
Inventors: 凌姝潼; 欧阳凡
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2023-06-06
Anticipated expiration: 2041-04-19
Also published as: CN113171034A

Abstract

The invention discloses a cleaning base station, a cleaning system and a cleaning method of the cleaning system, wherein the cleaning base station is used with a cleaning robot, and comprises the following components: a base station body; and the two clamping arms are arranged on the base station body at intervals along the horizontal direction or the vertical direction, and are suitable for clamping and taking down the mop of the cleaning robot. Compared with the prior art, the mop of the cleaning robot is convenient to take down.

Description

Cleaning base station, cleaning system and cleaning method of cleaning system

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a cleaning base station, a cleaning system and a cleaning method of the cleaning system.

Background

With the development of social economy, home cleaning gradually enters an intelligent and mechanized age, and the heavy workload of people in home cleaning is further relieved and the tiredness degree of people in home cleaning is relieved due to the cleaning robot.

The cleaning robot is a machine for cleaning dust, dirt, etc. on the floor, and not only can clean the floor by the middle and side sweeping thereon, but also can mop the floor by the mop thereon.

The cleaning robot generally includes a machine body and a mop of the cleaning robot, and in order to facilitate the installation and removal of the mop of the cleaning robot, the mop of the cleaning robot is generally connected to the machine body in a snap-fit manner, and after the cleaning robot finishes mopping, the mop of the cleaning robot is manually removed and dried, so that the removal of the mop of the cleaning robot is troublesome, and thus, an improvement is needed.

Disclosure of Invention

The main object of the invention is to provide a cleaning base station which aims at facilitating the removal of the mop of a cleaning robot.

In order to achieve the above object, the present invention provides a cleaning base station, which is used with a cleaning robot, the cleaning base station includes:

a base station body;

and the two clamping arms are arranged on the base station body at intervals along the horizontal direction or the vertical direction, and are suitable for clamping and taking down the mop of the cleaning robot.

In an embodiment of the invention, the cleaning base station further comprises a driving device acting on at least one of the two gripping arms to enable the two gripping arms to grip and remove the mop of the cleaning robot.

In one embodiment of the present invention, the driving device acts on the two clamping arms to enable the two clamping arms to move in directions approaching each other.

In an embodiment of the invention, the driving device includes two rotating mechanisms mounted on the base station body, and the two rotating mechanisms respectively act on the corresponding clamping arms, so that one ends of the two clamping arms away from the corresponding rotating mechanisms can rotate in directions approaching to each other.

In an embodiment of the present invention, both the rotating mechanisms are slidably connected to the base station body, and both the rotating mechanisms can be driven to translate in the same direction, so that the two rotating mechanisms have a first position for clamping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot;

the cleaning base station further comprises a bearing support, the bearing support is arranged at a second position and is rotationally connected with the base station body, and the bearing support can be driven to rotate relative to the base station body and has a bearing state for bearing a mop of the cleaning robot and an idle state attached to the base station body.

In an embodiment of the present invention, the base station body is provided with two rails arranged in parallel along a vertical direction, the end portions of the two rails located below form the first position, the end portions of the two rails located above form the second position, and the two rails are respectively connected with the corresponding rotating mechanisms through sliding blocks;

The cleaning base station further comprises two first motors, two winding wheels and two driving belts, wherein the two first motors are arranged above the second position, the two winding wheels are fixedly connected with output shafts of the corresponding first motors, one ends of the driving belts are connected with the corresponding winding wheels, and the other ends of the driving belts are connected with corresponding sliding blocks respectively.

In an embodiment of the present invention, the driving device includes two linear driving mechanisms, and the two linear driving mechanisms respectively act on the corresponding clamping arms, so that the two clamping arms can translate in directions approaching to each other.

In an embodiment of the present invention, the base station body is provided with two parallel sliding rails, and the two sliding rails are respectively connected with the corresponding clamping arms in a sliding manner;

the two linear driving mechanisms comprise a second motor, a connecting rod and a rocker, the second motors in the two linear driving mechanisms are respectively installed on the base station body, one ends of the connecting rods in the two linear driving mechanisms are fixedly connected with output shafts of the second motors, the other ends of the connecting rods in the two linear driving mechanisms are hinged with one ends of the rockers, and the other ends of the rockers in the two linear driving mechanisms are hinged with corresponding clamping arms.

In an embodiment of the present invention, the base station body is provided with two sliding rails arranged in parallel, the two sliding rails are respectively connected with one end of the corresponding sliding rail, which is close to the other sliding rail, the two sliding rails are respectively arranged perpendicular to the corresponding sliding rail, and the length of the connecting rod in each driving device is smaller than the length of the rocking rod;

the cleaning base station further comprises a bearing support rotatably mounted on the base station body, the bearing support is mounted on the base station body and located at a position, far away from the sliding track, of the sliding track, and the bearing support can be driven to rotate relative to the base station body and is in a bearing state for bearing a mop of the cleaning robot and an idle state attached to the base station body.

In an embodiment of the present invention, the driving device further includes two rotating mechanisms, where the two rotating mechanisms are respectively connected to the corresponding clamping arms, and the two driving mechanisms respectively act on the corresponding rotating mechanisms to drive the two rotating mechanisms to translate in directions approaching to each other.

In an embodiment of the invention, the base station body can be driven to move in a direction approaching or moving away from the cleaning robot.

In an embodiment of the invention, a plurality of clamping grooves are arranged at the position of the clamping arm facing the other clamping arm, and the clamping grooves are used for being matched with a plurality of buckles at corresponding positions on the mop of the cleaning robot.

In an embodiment of the present invention, the base station body further has a bearing surface, the bearing surface is provided with a cleaning groove, and the two clamping arms are located on a side of a notch of the cleaning groove away from a bottom of the cleaning groove.

In one embodiment of the invention, the cleaning groove is internally provided with a cleaning piece, and the cleaning piece is used for cleaning the mop of the cleaning robot.

The invention also proposes a cleaning system comprising a cleaning robot and a cleaning base station as described above.

In an embodiment of the invention, the cleaning robot comprises a machine body and a mop of the cleaning robot, and the mop of the cleaning robot is in snap connection with the machine body.

The invention also provides a cleaning method of the cleaning system, wherein the cleaning system comprises a cleaning base station and a cleaning robot; the cleaning base station comprises a base station body, two clamping arms and a driving device, wherein the two clamping arms are arranged on the base station body at intervals along the horizontal direction or the vertical direction, and the driving device acts on at least one clamping arm in the two clamping arms so that the two clamping arms can clamp and take off the mop of the cleaning robot; the cleaning robot comprises a machine body and a mop of the cleaning robot, and the mop of the cleaning robot is in buckle connection with the machine body;

The cleaning method for cleaning the base station comprises the following steps:

when the mop of the cleaning robot is aligned with the two clamping arms, the driving device is controlled to act on at least one of the two clamping arms, so that the two clamping arms clamp and remove the mop of the cleaning robot.

In an embodiment of the invention, the drive means can be driven in translation so that the drive means has a first position for gripping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot; the cleaning base station also comprises a bearing bracket which is arranged at a second position and is rotationally connected with the base station body, and the bearing bracket can be driven to rotate relative to the base station body so as to have a bearing state for bearing a mop of the cleaning robot and an idle state attached to the base station body;

the cleaning method of the cleaning system further includes:

after the two clamping arms clamp and remove the mop of the cleaning robot, controlling the driving device to continue working, and simultaneously driving the driving device to move from a first position to a second position;

and controlling the bearing bracket to rotate from an idle state to a bearing state, and simultaneously controlling the driving device to stop working so that the mop of the cleaning robot is released and then placed on the bearing bracket.

In an embodiment of the present invention, after the two gripping arms grip and remove the mop of the cleaning robot, controlling the driving device to continue to operate, and driving the driving device to move from the first position to the second position further includes:

after the two clamping arms clamp and remove the mop of the cleaning robot, controlling the driving device to work continuously, and simultaneously controlling the machine body and/or the base station body to move so as to enable the machine body and the base station body to move in a direction away from each other;

the driving device is driven to move from the first position to the second position.

According to the technical scheme, when the mop of the cleaning robot needs to be taken down, the cleaning robot drives the mop of the cleaning robot to move between the two clamping arms, and the mop of the cleaning robot is clamped and taken down through the two clamping arms, so that the mop of the cleaning robot can be conveniently taken down.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a cleaning base station according to an embodiment of the present invention;

FIG. 2 is a schematic diagram illustrating an embodiment of a first motor, a winding wheel and a belt according to the present invention;

FIG. 3 is a schematic diagram illustrating an embodiment of a rotating mechanism and a clamping arm according to the present invention;

FIG. 4 is a schematic diagram of another embodiment of a cleaning base station according to the present invention;

FIG. 5 is a schematic diagram illustrating an embodiment of a second motor, a connecting rod and a rocker according to the present invention;

FIG. 6 is a schematic diagram of a cleaning system according to an embodiment of the present invention.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				1000	Cleaning system	131a	Sliding block
100	Cleaning base station	132	Linear driving mechanism
				110	Base station body	132a	Second motor
111	Rail track	132b	Connecting rod
				112	Sliding rail	132c	Rocker bar
113	Sliding rail	140	Bearing bracket
				114	Cleaning groove	151	First motor
120	Clamping arm	152	Winding wheel
				121	Clamping groove	153	Transmission belt
130	Driving device	160	Cleaning member
				131	Rotating mechanism	200	Cleaning robot

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

The invention provides a cleaning base station which is matched with a cleaning robot to be used, the cleaning base station not only can be used for taking off the mop of the cleaning robot, but also can be used for cleaning the mop of the cleaning robot, the cleaning base station also can be used for drying the mop of the cleaning robot, the cleaning base station also can be used for charging the cleaning robot, the cleaning base station also can be used for replacing the mop of the cleaning robot, namely, the cleaning base station can combine the function of taking off the mop of the cleaning robot with other functions, and the cleaning base station is not limited.

Referring to fig. 1, the present invention provides a cleaning base station 100 for use with a cleaning robot 200 (fig. 6), wherein the cleaning base station 100 includes a base station body 110 and two clamping arms 120. The base station body 110 is for the cleaning robot 200 to stop, and the two clamping arms 120 are suitable for clamping and removing the mop of the cleaning robot.

The base station body 110 may be square, triangular prism, or other regular shapes, and the base station body 110 may be shaped in other shapes, which are not limited herein. The base station body 110 may be made of a metal material, the base station body 110 may be made of a plastic with higher hardness, and the base station body 110 may be made of other materials, which are not limited herein.

The base station body 110 is provided with a parking station for the cleaning robot 200 to park, and the parking station refers to a space position, that is, the parking station may be formed by a plane on the base station body 110, the parking station may be formed by a groove structure on the base station body 110, and the parking station may also be formed by other structures on the cleaning base station 100 body, which are not listed herein. In addition, the cleaning robot 200 may rest directly on the side of the cleaning base station 100, and the mop of the cleaning robot may be clamped and removed by the two clamping arms 120.

The two gripping arms 120 may be mops that directly grip and remove the cleaning robot; the two gripping arms 120 may have elasticity, the two gripping arms 120 may have elasticity on the side close to each other, the two gripping arms 120 may have elasticity on the whole, when gripping the mop of the cleaning robot, the two gripping arms 120 are pressed, and then the two gripping arms 120 grip and remove the mop of the cleaning robot under the action of their own resilience force, and in addition, one gripping arm 120 of the two gripping arms 120 may have elasticity.

Specifically, for the mop of the cleaning robot connected in a snap-in manner, the two clamping arms 120 directly press and clamp both ends of the snap-in portion of the mop of the cleaning robot to remove the mop of the cleaning robot; for the mop of the cleaning robot connected by magnetic attraction, the two clamping arms 120 directly clamp the mop of the cleaning robot, and the clamping force applied by the two clamping arms 120 to the mop of the cleaning robot is larger than the magnetic attraction force applied by the mop of the cleaning robot, so that the magnetic attraction force applied by the mop of the cleaning robot can be overcome, and the mop of the cleaning robot can be clamped and taken down.

For the mop of the cleaning robot connected in a snap-in manner, the arrangement direction of the two clamping arms 120 is adapted to the unlocking direction of the mop of the cleaning robot connected in a snap-in manner. The two clamping arms 120 may be installed on the base station body 110 at intervals along the horizontal direction, the connecting line of the two clamping arms 120 may be parallel to the horizontal plane, and the connecting line of the two clamping arms 120 may also be set at an included angle with the horizontal plane, at this time, the two clamping arms 120 can clamp and take off the mop of the cleaning robot that is in snap-on connection and presses and unlocks along the horizontal direction; the two clamping arms 120 may also be installed on the base station body 110 at intervals along the vertical direction, the connecting line of the two clamping arms 120 may be parallel to the vertical surface, the connecting line of the two clamping arms 120 may also be set at an included angle with the vertical surface, and at this time, the two clamping arms 120 may clamp and take off the mop of the cleaning robot that is connected by a snap-in type, which presses and unlocks along the vertical direction. When two clamping arms 120 are installed on the base station body 110 at intervals along the horizontal direction or the vertical direction, the interval can be that two clamping arms 120 are completely separated to perform interval setting, or a part of two clamping arms 120 are separated, and the other part is kept connected, wherein the two clamping arms 120 are provided with a first end and a second end, when the two clamping arms 120 are completely separated to perform interval setting, the two first ends of the two clamping arms 120 are separated, the two second ends are separated, the two clamping arms 120 are completely separated to perform interval setting, when the two clamping arms 120 are partially separated to perform interval setting, the two first ends are spaced to perform interval setting, and the two second ends are kept to rotate and are connected during operation to form a clamp structure in a pliers shape.

Through the above technical scheme, when the mop of the cleaning robot needs to be taken down, the cleaning robot 200 and the base station body 110 move toward the direction close to each other, so that the two clamping arms 120 clamp and take down the mop of the cleaning robot, and thus, the mop of the cleaning robot is conveniently taken down. And the mop of the cleaning robot can be removed, so that the mop of the cleaning robot can be dried, and bacteria are prevented from breeding.

It should be noted that, the movement of the cleaning robot 200 and the base station body 110 in the direction approaching or separating from each other may be that the base station body 110 is not moving, and the cleaning robot 200 moves in the direction approaching or separating from the base station body 110; the cleaning robot 200 and the base station body 110 may be moved in a direction approaching or moving away from each other, the cleaning robot 200 may be stationary, the base station body 110 is moved in a direction approaching or moving away from the cleaning robot 200, and the base station body 110 may come to rest at a side of the cleaning robot 200 when the base station body 110 is moved in a direction approaching the cleaning robot 200; the cleaning robot 200 and the base station body 110 may be moved in a direction approaching or moving away from each other, or the cleaning robot 200 and the base station body 110 may be moved in a direction approaching or moving away from each other.

The base station body 110 can be driven to move in a direction approaching or separating from the cleaning robot 200 in various ways, and the bottom of the base station body 110 may be provided with a driving wheel, or the base station body 110 may be driven by a linear driving module such as a motor screw linear driving module, a cylinder linear driving module, etc., which are not listed here.

It is obvious that there are a number of ways of removing the mop of the cleaning robot by means of the two gripping arms 120, and in some embodiments of the invention, referring to fig. 1, the cleaning base station 100 further comprises a driving device 130, the driving device 130 acting on at least one gripping arm 120 of the two gripping arms 120, so that the two gripping arms 120 can grip and remove the mop of the cleaning robot.

Specifically, the driving means 130 acts on the two grip arms 120 so that the two grip arms 120 can move in directions approaching each other, so that it is convenient to grip and take down the mop of the cleaning robot by the two grip arms 120. In addition, the driving device 130 may act on one clamping arm 120 to move the clamping arms 120 in a direction approaching to two clamping arms 120.

Through the above technical solution, when the mop of the cleaning robot needs to be removed, the cleaning robot 200 and the base station body 110 relatively move, so that the mop of the cleaning robot is located between the two clamping arms 120, and for the mop of the cleaning robot connected by the snap-in type, the driving device 130 drives the two clamping arms 120 to move in the direction of approaching each other, so as to press and clamp the snap of the mop of the cleaning robot, so as to remove the mop of the cleaning robot; for the mop of the cleaning robot connected by magnetic attraction, the driving device 130 drives the two clamping arms 120 to move towards the directions approaching to each other to clamp the mop of the cleaning robot, and the clamping force applied by the two clamping arms 120 to the mop of the cleaning robot is larger than the magnetic attraction force applied by the mop of the cleaning robot, so that the magnetic attraction force applied by the mop of the cleaning robot can be overcome, and the mop of the cleaning robot can be clamped and taken down.

Further, in order to enhance the stability of the two clamping arms 120 when clamping and fixing the mop of the cleaning robot, referring to fig. 2, a plurality of clamping grooves 121 are provided at positions of the clamping arms 120 facing the other clamping arm 120, and the plurality of clamping grooves 121 are configured to be in snap fit with a plurality of corresponding positions on the mop of the cleaning robot. The number of the clamping grooves 121 on one clamping arm 120 can be 1, 2, 3, 4, … … N, n+1, … …, N is a positive integer greater than zero, and is not particularly limited herein.

It should be noted that, the clamping groove 121 may be provided on one clamping arm 120 of the two clamping arms 120, or the clamping grooves 121 may be provided on both clamping arms 120, which is not limited herein.

It should be understood that there are many ways of driving the two clamping arms 120 to move in the direction of approaching each other by the driving device 130, the driving device 130 may be configured to drive the two clamping arms 120 to rotate in the direction of approaching each other, the driving device 130 may also be configured to drive the two clamping arms 120 to translate in the direction of approaching each other, and the driving device 130 may also be configured to drive both the two clamping arms 120 to rotate in the direction of approaching each other and the two clamping arms 120 to translate in the direction of approaching each other.

When the driving device 130 drives the two clamping arms 120 to rotate in the direction approaching each other, in some embodiments of the present invention, referring to fig. 1, the driving device 130 includes two rotating mechanisms 131 mounted on the base station body 110, and the two rotating mechanisms 131 respectively act on the corresponding clamping arms 120, so that one ends of the two clamping arms 120 away from the corresponding rotating mechanisms 131 can rotate in the direction approaching each other.

Specifically, each of the rotating mechanisms 131 may be other rotating members such as a motor and a rotary cylinder, which are not described herein. The two rotation mechanisms 131 may be the same rotation member, or the two rotation mechanisms 131 may be different rotation members.

Considering that the two rotating mechanisms 131 need to act on the two clamping arms 120 all the time after the mop of the cleaning robot is removed, so that the two clamping arms 120 clamp the mop of the cleaning robot to dry the mop of the cleaning robot, in order to facilitate drying the mop of the cleaning robot, in some embodiments of the present invention, please refer to fig. 1, both rotating mechanisms 131 are slidably connected to the base station body 110, and both rotating mechanisms 131 can be driven to translate in the same direction, so that both rotating mechanisms 131 have a first position for clamping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot.

It should be noted that, the two rotating mechanisms 131 may be driven to translate horizontally; referring to fig. 1, the two rotating mechanisms 131 may also be driven to translate upwards along the vertical direction; the two rotation mechanisms 131 may be driven to translate downward in the vertical direction, which is not particularly limited herein.

The cleaning base station 100 further includes a carrying bracket 140, where the carrying bracket 140 is disposed at the second position and is rotationally connected with the base station body 110, and the carrying bracket 140 can be driven to rotate relative to the base station body 110 to have a carrying state for carrying a mop of the cleaning robot and an idle state attached to the base station body 110.

The number of the bearing brackets 140 may be 1, 2, 3, 4, … … N, n+1, … …, N is a positive integer greater than zero, which is not particularly limited herein. The bearing bracket 140 can be a plate, and the bearing bracket 140 can be a plurality of rods assembled together. Preferably, the carrying support 140 is a grid plate, so that when carrying the mop of the cleaning robot, water in the mop of the cleaning robot can leak out along the grid on the grid plate, and the mop of the cleaning robot can be dried conveniently.

Specifically, the rotation of the carrier 140 may be performed by a motor drive, by a rotary cylinder drive, or by other rotary member drive, which are not illustrated herein.

Through the above technical solution, after the two rotating mechanisms 131 drive the two clamping arms 120 to move in directions approaching to each other, and clamp and remove the mop of the cleaning robot, the two rotating mechanisms 131 are driven to move from the first position to the second position at the same time; then, the bearing bracket 140 is driven to rotate from the idle state to the bearing state, so that the bearing bracket 140 bears the mop of the cleaning robot; then, the two rotating mechanisms 131 can release the acting force applied to the two clamping arms 120, so that the mop of the cleaning robot is carried by the carrying bracket 140, and the mop of the cleaning robot can be dried conveniently.

In addition, the two rotating mechanisms 131 may be fixedly connected with the base station body 110, and the carrying bracket 140 is directly installed below the two rotating mechanisms 131, so that the mop of the removed cleaning robot can be carried by the carrying bracket 140.

In some embodiments of the present invention, referring to fig. 1 and 3, the base station body 110 is provided with two rails 111 arranged in parallel along a vertical direction, wherein ends of the two rails 111 located below form a first position, ends of the two rails 111 located above form a second position, and the two rails 111 are respectively connected to the corresponding rotating mechanisms 131 through sliding blocks 131 a.

The cleaning base station 100 further includes two first motors 151, two winding wheels 152 and two driving belts 153, wherein the two first motors 151 are installed above the second position, the two winding wheels 152 are fixedly connected with the corresponding output shafts of the first motors 151, one ends of the two driving belts 153 are connected with the corresponding winding wheels 152, and the other ends of the two driving belts 153 are respectively connected with the corresponding sliding blocks 131 a.

Through the above technical solution, when driving the two rotating mechanisms 131 to move from the first position to the second position, the two first motors 151 rotate simultaneously to drive the two winding wheels 152 to rotate simultaneously and wind the two driving belts 153, and the two driving belts 153 drive the two sliding blocks 131a to slide upwards along the two tracks 111 until the two rotating mechanisms 131 move to the second position; when the two rotating mechanisms 131 are driven to move from the second position to the first position, the two first motors 151 simultaneously rotate reversely, and then the two sliding blocks 131a are driven to slide downwards along the two tracks 111 under the action of the gravity of the two rotating mechanisms and the two sliding blocks.

In addition, the translation of the two rotating mechanisms 131 towards the same direction can be realized by manual driving, the translation of the two rotating mechanisms 131 towards the same direction can be realized by driving of a motor screw linear transmission module, and the translation of the two rotating mechanisms 131 towards the same direction can be realized by driving of an air cylinder linear transmission module.

When the driving device 130 drives the two clamping arms 120 to translate in the direction approaching each other, in some embodiments of the present invention, referring to fig. 4 and 5, the driving device 130 includes two linear driving mechanisms 132, and the two linear driving mechanisms 132 respectively act on the corresponding clamping arms 120 to enable the two clamping arms 120 to translate in the direction approaching each other.

In some embodiments of the present invention, referring to fig. 4 and 5, the base station body 110 is provided with two parallel sliding rails 112, the extending directions of the two sliding rails 112 are the same, one sliding rail 112 is located at one side of the extending direction of the other sliding rail 112, and the two sliding rails 112 are respectively slidably connected with the corresponding clamping arms 120.

It should be noted that the two sliding rails 112 may be disposed at intervals along a vertical direction, and the two sliding rails 112 may be disposed at intervals along a horizontal direction, which is not particularly limited herein. Specifically, the two sliding rails 112 are arranged in a line, so that the two sliding rails 112 are conveniently opened. In addition, the two sliding rails 112 may be arranged non-collinearly.

The two linear driving mechanisms 132 each comprise a second motor 132a, a connecting rod 132b and a rocker 132c, the second motors 132a in the two linear driving mechanisms 132 are respectively installed on the base station body 110, one ends of the connecting rods 132b in the two linear driving mechanisms 132 are fixedly connected with the output shafts of the second motors 132a, the other ends of the connecting rods 132b in the two linear driving mechanisms 132 are hinged with one ends of the rockers 132c, and the other ends of the rockers 132c in the two linear driving mechanisms 132 are hinged with the corresponding clamping arms 120.

Through the above technical solution, the two second motors 132a rotate simultaneously to drive the two connecting rods 132b to rotate in the direction away from each other, the two connecting rods 132b rotate to drive the two rockers 132c to rotate in the direction towards each other, and the two rockers 132c drive the two clamping arms 120 to move along the two sliding rails 112 in the direction towards each other; the two second motors 132a rotate simultaneously to drive the two connecting rods 132b to rotate towards the directions approaching each other, the two connecting rods 132b rotate to drive the two rocking bars 132c to rotate towards the directions separating from each other, and the two rocking bars 132c drive the two clamping arms 120 to move along the two sliding rails 112 towards the directions separating from each other.

In addition, the two linear driving mechanisms 132 may be linear driving modules such as a motor screw linear driving module and a cylinder linear driving module, which are not illustrated herein. The two linear driving mechanisms 132 may be the same type of linear driving module, or the two linear driving mechanisms 132 may be different types of linear driving modules. Alternatively, the second motor 132a disposed on each of the two linear driving mechanisms 132 may be combined and replaced by one second motor 132a, and at this time, a transmission structure may be connected to one second motor 132a to drive the two connecting rods 132b to rotate, and the transmission structure may be a rack-and-pinion transmission mechanism or a transmission structure such as a gear transmission mechanism, specifically, driven gears coaxial with the respective driving ends of the two connecting rods 132b may be fixed on the respective driving ends, and driving gears may be connected to the second motor 132a, and the two connecting rods 132b may be driven to rotate by meshing or adding racks between the driven gears and the driving gears.

Considering that the two linear driving mechanisms 132 need to act on the two clamping arms 120 all the time after the mop of the cleaning robot is removed, so that the two clamping arms 120 clamp the mop of the cleaning robot and dry the mop of the cleaning robot, in order to facilitate drying the mop of the cleaning robot, in some embodiments of the present invention, please refer to fig. 4 and fig. 5, the base station body 110 is provided with two sliding rails 113 disposed in parallel, the two sliding rails 113 are respectively connected with one end of the corresponding sliding rail 112 near the other sliding rail 112, the connection portion between each sliding rail 113 and the corresponding sliding rail 112 is in an arc shape, the two sliding rails 113 are respectively disposed perpendicular to the corresponding sliding rail 112, and the length of the connecting rod 132b in each driving device 130 is smaller than the length of the rocker 132 c.

The cleaning base station 100 further includes a carrying bracket 140 rotatably mounted on the base station body 110, wherein the carrying bracket 140 is mounted on the base station body 110 and located at a position of the sliding rail 113 away from the sliding rail 112, and the carrying bracket 140 can be driven to rotate relative to the base station body 110 to have a carrying state for carrying a mop of the cleaning robot and an idle state attached to the base station body 110. The carrier 140 is provided with reference to the carrier 140 in the above embodiments.

Through the above technical solution, after the two rotating mechanisms 131 drive the two clamping arms 120 to move in the directions approaching each other to clamp and remove the mop of the cleaning robot, firstly, if the two clamping arms 120 do not slide to the ends of the two sliding rails 112 approaching each other, the two second motors 132a are continuously controlled to rotate simultaneously, the two connecting rods 132b drive the two rockers 132c to continuously rotate in the directions approaching each other, and further drive the two clamping arms 120 to continuously move in the directions approaching each other, and the clamping parts of the mop of the cleaning robot are continuously pressed until the two clamping arms 120 slide to the ends of the two sliding rails 112; then, if the two clamping arms 120 have slid to the end portions of the two sliding rails 112, the two second motors 132a are controlled to rotate simultaneously, and the two rocking bars 132c are driven to rotate in the directions of approaching each other by the rotation of the two connecting rods 132b, so as to drive the two clamping arms 120 to slide into the corresponding sliding rails 113 from the corresponding sliding rails 112 respectively until the two clamping arms 120 drive the mop of the cleaning robot to slide to the bearing bracket 140; then, the bearing bracket 140 is driven to rotate from the idle state to the bearing state, so that the bearing bracket 140 bears the mop of the cleaning robot; then, the two linear driving mechanisms 132 can release the acting force applied to the two clamping arms 120, so that the mop of the cleaning robot is carried by the carrying bracket 140, and the mop of the cleaning robot can be dried conveniently.

It should be noted that, referring to fig. 1, two sliding rails 112 may be disposed along a horizontal direction, and two sliding rails 113 may be disposed along a vertical direction; the two sliding rails 112 may be extended in the vertical direction, and the two sliding rails 113 may be extended in the horizontal direction.

When the driving device 130 can drive the two clamping arms 120 to rotate in the direction of approaching each other and can drive the two clamping arms 120 to translate in the direction of approaching each other, in some embodiments of the present invention, the driving device 130 includes two linear driving mechanisms 132 and two rotating mechanisms 131, the two rotating mechanisms 131 are respectively connected with the corresponding clamping arms 120, the two driving mechanisms respectively act on the corresponding rotating mechanisms 131 to drive the two rotating mechanisms 131 to translate in the direction of approaching each other, so that the distance between the two clamping arms 120 can be adjusted by the two linear driving mechanisms 132 driving the two rotating mechanisms 131 to translate in the direction of approaching each other, and the distance between the two clamping arms 120 can be adjusted by the two rotating mechanisms 131 driving the two clamping arms 120 to rotate in the direction of approaching each other, so as to expand the application range of the two clamping arms 120, and make the two clamping arms 120 adapt to the mops of the cleaning robot with different specifications.

The linear driving mechanism 132 and the rotation mechanism 131 are each provided with reference to the rotation mechanism 131 in each of the above embodiments.

In order to prevent water drops on the mop of the cleaning robot from falling onto the surrounding floor and wetting the surrounding floor after the mop of the cleaning robot is removed, in one embodiment of the present invention, the base station body 110 further has a carrying surface provided with a cleaning groove 114, and the two clamping arms 120 are disposed on one side of the notch of the cleaning groove 114 away from the bottom of the cleaning groove 114, so that water on the mop of the cleaning robot falls into the cleaning groove 114. Particularly when the cleaning robot 200 adopts the water tank structure for injecting water into the mop of the cleaning robot in a penetrating manner, if the mop of the cleaning robot is installed on the cleaning robot 200, the water tank can continuously permeate water into the mop of the cleaning robot, after the mop of the cleaning robot is taken down, the water tank can stop to permeate water into the mop of the cleaning robot, and if the mop of the cleaning robot is not timely disassembled after the cleaning is finished, the water tank structure can continuously inject water on the mop of the cleaning robot, so that bacteria are bred on the mop of the cleaning robot to be smelly and rotten, and the mop of the cleaning robot is automatically taken down, so that the problem can be effectively solved, hands are liberated, and the user experience is good.

In an embodiment of the present invention, the cleaning member 160 is disposed in the cleaning tank 114, and the cleaning member 160 is used for cleaning the mop of the cleaning robot, so that the cleaning of the mop of the cleaning robot is facilitated.

The cleaning member 160 may scrape, flap, and other ways of cleaning the mop of the cleaning robot.

In one embodiment of the invention, the cleaning tank 114 is provided with a water spraying member (not shown) for spraying water toward the mop of the cleaning robot and a water outlet member (not shown); the water outlet member is used for discharging water in the cleaning tank 114, and is arranged in such a way that the mop cloth of the cleaning robot is conveniently cleaned.

The spray member may be a device, structure or assembly capable of driving a flow of liquid, such as a spray pipe, a spray head, a water pump, etc., which are not shown herein. The water spraying member may be fixed in the cleaning tank 114 to spray water, or the water spraying member may be driven to move in the cleaning tank 114 to spray water. The water outlet member may be a device, structure or assembly capable of driving a flow of liquid, such as a water outlet pipe, a water pump, etc., which are not shown herein.

The invention also proposes a cleaning system 1000, the cleaning system 1000 comprising a cleaning robot 200 and a cleaning base station 100 as above. The cleaning robot 200 includes a machine body (not shown) and a mop (not shown) of the cleaning robot, and the mop of the cleaning robot is snap-coupled to the machine body.

The specific structure of the cleaning base station 100 refers to the above embodiment, and since the cleaning system 1000 adopts all the technical solutions of all the embodiments, at least has all the beneficial effects brought by the technical solutions of the embodiments, and will not be described in detail herein.

The present invention also proposes a cleaning method of a cleaning system, the cleaning system 1000 including a cleaning base station 100 and a cleaning robot 200; the cleaning base station 100 includes a base station body 110, two clamping arms 120, and a driving device 130, wherein the two clamping arms 120 are mounted on the base station body 110 at intervals along a horizontal direction or a vertical direction, and the driving device 130 acts on at least one clamping arm 120 of the two clamping arms 120, so that the two clamping arms 120 can clamp and remove mops of the cleaning robot; the cleaning robot 200 includes a machine body and a mop of the cleaning robot, and the mop of the cleaning robot is snap-coupled to the machine body;

the cleaning method of the cleaning base station 100 includes:

step S100: when the mop of the cleaning robot is aligned with the two gripping arms 120, the driving device 130 is controlled to act on at least one of the two gripping arms 120 so that the two gripping arms 120 grip and remove the mop of the cleaning robot.

It should be noted that, the alignment of the mop of the cleaning robot with the two clamping arms 120 refers to the mop of the cleaning robot, and there are various methods for determining whether the mop of the cleaning robot is located between the two clamping arms 120, for example, when the mop of the cleaning robot is located between the two clamping arms 120, it can be detected through signal sensing, that is, the cleaning robot 200 is provided with an optical signal transmitter, the clamping arms 120 are provided with an optical signal receiver, and when the optical signal receiver on the clamping arms 120 receives a signal transmitted by the optical signal transmitter on the cleaning robot 200, it can be determined that the mop of the cleaning robot is located between the two clamping arms 120. For example, the base station body 110 may monitor the position of the cleaning robot 200 through a camera, the image shot by the camera is transmitted to the processor of the base station body 110 for processing, and the processor of the base station body 110 determines whether the mop of the cleaning robot is located between the two clamping arms 120 according to the result of the image processing.

Obviously, there are various ways of determining whether the mop of the cleaning robot is located between the two gripping arms 120, which are not listed here.

Further, in an embodiment of the invention, the drive means 130 can be driven in translation such that the drive means 130 has a first position for gripping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot; the cleaning base station 100 further comprises a bearing bracket 140, wherein the bearing bracket 140 is arranged at the second position and is rotationally connected with the base station body 110, and the bearing bracket 140 can be driven to rotate relative to the base station body 110 to have a bearing state for bearing a mop of the cleaning robot and an idle state attached to the base station body 110;

The cleaning method of the cleaning system further includes:

step S200: after the two clamping arms 120 clamp and remove the mop of the cleaning robot, the driving device 130 is controlled to continue to work, and meanwhile, the driving device 130 is driven to move from the first position to the second position;

the supporting bracket 140 is controlled to rotate from the idle state to the supporting state, and the driving device 130 is controlled to stop working, so that the mop of the cleaning robot is released and placed on the supporting bracket 140.

There are various methods for determining whether the driving device 130 is located at the second position, for example, when the driving device 130 is located at the second position, it can be detected through signal sensing, that is, an optical signal transmitter is disposed on the driving device 130, an optical signal receiver is disposed on the base station body 110, and when the optical signal receiver on the base station body 110 receives a signal transmitted by the optical signal transmitter on the driving device 130, it can be determined that the driving device 130 is located at the second position. For example, the base station body 110 may monitor the position of the driving device 130 through a camera, the picture shot by the camera is transmitted to the processor of the base station body 110 for processing, and the processor of the base station body 110 determines whether the driving device 130 is located at the second position according to the result of the image processing.

Further, in an embodiment of the present invention, after the two gripping arms 120 grip and remove the mop of the cleaning robot, the driving device 130 is controlled to operate continuously, and the driving device 130 is driven to move from the first position to the second position further includes:

after the two clamping arms 120 clamp and remove the mop of the cleaning robot, the driving device 130 is controlled to continue to work, and the machine body and/or the base station body 110 are controlled to move so as to enable the machine body and the base station body 110 to move in a direction away from each other;

the driving device 130 is driven to move from the first position to the second position.

It should be noted that, the movement of the machine body and the base station body 110 in the direction approaching or separating from each other may be that the base station body 110 is not moving, and the machine body moves in the direction approaching or separating from the base station body 110; the movement of the machine body and the base station body 110 in the direction approaching or separating from each other may be that the machine body is stationary, the base station body 110 moves in the direction approaching or separating from the machine body, and the base station body 110 stops at the side of the machine body when moving in the direction approaching to the cleaning machine body; the movement of the machine body and the base station body 110 in the direction approaching or moving away from each other may be the movement of both the machine body and the base station body 110 in the direction approaching or moving away from each other.

The base station body 110 can be driven to move in a direction approaching to or separating from the machine body in various manners, and the base station body 110 may be provided with a driving wheel at the bottom thereof, or may be driven by a linear driving module such as a motor screw linear driving module or a cylinder linear driving module, which are not specifically described herein.

It should be noted that, the working time of the driving device 130 in step S100 and the working time of the driving device 130 in step S200 may be determined according to the power-on time of the driving device 130, and detecting the working time of the device according to the power-on time of the device is a technical means well known to those skilled in the art, and will not be described herein.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A cleaning base station for use with a cleaning robot, the cleaning base station comprising:

a base station body;

The two clamping arms are arranged on the base station body at intervals along the horizontal direction or the vertical direction, the two clamping arms are suitable for clamping and taking down the mop of the cleaning robot, at least one clamping arm is provided with at least one clamping groove, and at least one clamping groove is used for being matched with a buckle on the mop of the cleaning robot;

the bearing support is rotatably arranged on the base station body, can be driven to rotate relative to the base station body and has a bearing state for bearing a mop of the cleaning robot and an idle state attached to the base station body, and is a grid plate;

the driving device acts on at least one clamping arm in the two clamping arms to enable the two clamping arms to clamp and remove the mop of the cleaning robot, acts on the two clamping arms to enable the two clamping arms to move towards the direction of approaching each other, and comprises two rotating mechanisms mounted on the base station body, wherein the two rotating mechanisms act on the corresponding clamping arms respectively to enable one end, away from the corresponding rotating mechanisms, of the two clamping arms to rotate towards the direction of approaching each other, the two rotating mechanisms are connected with the base station body in a sliding mode, and can be driven to the same translational direction, so that the two rotating mechanisms have a first position for clamping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot;

The bearing bracket is arranged at a second position and is rotationally connected with the base station body;

the base station body is provided with two rails which are arranged in parallel along the vertical direction, the end parts of the two rails positioned below form the first position, the end parts of the two rails positioned above form the second position, and the two rails are respectively connected with the corresponding rotating mechanisms through sliding blocks;

2. A cleaning base station according to claim 1, characterized in that the drive means comprise two linear drive mechanisms which each act on a corresponding clamping arm so that the two clamping arms can translate in directions towards each other.

3. The cleaning base station according to claim 2, wherein the base station body is provided with two parallel sliding rails, and the two sliding rails are respectively connected with the corresponding clamping arms in a sliding manner;

4. A cleaning base station according to claim 3, wherein the base station body is provided with two sliding rails arranged in parallel, the two sliding rails are respectively connected with one end of the corresponding sliding rail close to the other sliding rail, the two sliding rails are respectively arranged perpendicular to the corresponding sliding rails, and the length of the connecting rod in each driving device is smaller than that of the swinging rod;

the bearing support is arranged on the base station body and located at the position, far away from the sliding rail, of the sliding rail.

5. The cleaning base station as claimed in claim 2, wherein two of said rotating mechanisms are respectively connected to corresponding holding arms, and two of said driving mechanisms respectively act on corresponding rotating mechanisms to drive said rotating mechanisms to translate in directions approaching each other.

6. A cleaning base station according to any one of claims 1-5, characterized in that the base station body can be driven to move in a direction towards or away from the cleaning robot.

7. A cleaning base station according to any one of claims 1-5, characterized in that the clamping arm is provided with a plurality of clamping grooves facing the other clamping arm, the plurality of clamping grooves being adapted to be snap-fitted with a plurality of corresponding positions on the mop of the cleaning robot.

8. The cleaning base station of any one of claims 1 to 5, wherein the base station body further has a carrying surface provided with a cleaning groove, and the two clamping arms are located on a side of a notch of the cleaning groove away from a bottom of the cleaning groove.

9. The cleaning base station of claim 8, wherein a cleaning member is disposed in the cleaning tank, the cleaning member being for cleaning a mop of the cleaning robot.

10. A cleaning system, characterized in that it comprises a cleaning robot and a cleaning base station according to any one of claims 1 to 9.

11. The cleaning system of claim 10, wherein the cleaning robot comprises a machine body and a cleaning robot mop, the cleaning robot mop being snap-fit with the machine body.

12. A cleaning method of a cleaning system, characterized in that the cleaning system comprises a cleaning base station and a cleaning robot; the cleaning base station comprises a base station body, two clamping arms, a driving device and a bearing bracket rotatably mounted on the base station body, wherein the two clamping arms are mounted on the base station body at intervals along the horizontal direction or the vertical direction, at least one clamping arm is provided with at least one clamping groove, at least one clamping groove is used for being matched with a clamp buckle on a mop of the cleaning robot, the driving device acts on at least one clamping arm of the two clamping arms, so that the two clamping arms can clamp and take down the mop of the cleaning robot, the bearing bracket can be driven to rotate relative to the base station body and has a bearing state for bearing the mop of the cleaning robot and an idle state for being attached to the base station body, and the bearing bracket is a grid plate; the cleaning base station further comprises a driving device, wherein the driving device acts on at least one clamping arm in the two clamping arms to enable the two clamping arms to clamp and remove the mop of the cleaning robot, the driving device acts on the two clamping arms to enable the two clamping arms to move towards the direction of approaching each other, the driving device comprises two rotating mechanisms which are arranged on the base station body, the two rotating mechanisms respectively act on the corresponding clamping arms to enable one end of the two clamping arms away from the corresponding rotating mechanisms to rotate towards the direction of approaching each other, the two rotating mechanisms are connected with the base station body in a sliding mode, and the two rotating mechanisms can be driven to move in the same direction in a translation mode, so that the two rotating mechanisms have a first position for clamping the mop of the cleaning robot and a second position for releasing the mop of the cleaning robot; the bearing bracket is arranged at a second position and is rotationally connected with the base station body; the base station body is provided with two rails which are arranged in parallel along the vertical direction, the end parts of the two rails positioned below form the first position, the end parts of the two rails positioned above form the second position, and the two rails are respectively connected with the corresponding rotating mechanisms through sliding blocks; the cleaning base station further comprises two first motors, two winding wheels and two driving belts, wherein the two first motors are arranged above the second position, the two winding wheels are fixedly connected with output shafts of the corresponding first motors, one ends of the two driving belts are connected with the corresponding winding wheels, and the other ends of the two driving belts are respectively connected with corresponding sliding blocks; the cleaning robot comprises a machine body and a mop of the cleaning robot, and the mop of the cleaning robot is in buckle connection with the machine body;

when the mop of the cleaning robot is aligned with the two clamping arms, controlling the driving device to act on at least one of the two clamping arms so that the two clamping arms clamp and remove the mop of the cleaning robot;

13. The cleaning method of the cleaning system of claim 12, wherein after the two gripping arms grip and remove the mop of the cleaning robot, controlling the driving device to continue to operate while driving the driving device from the first position to the second position further comprises: