The disclosure relates to the technical field of cleaning equipment and accessories for cleaning equipment, and in particular to a cleaning module which can have a cleaning medium mounted thereon and can be assembled on a cleaning robot to execute a cleaning task, a device for mounting a clean or new cleaning medium to the cleaning module, a base station which includes the cleaning medium mounting device and accommodates the cleaning robot to automatically replace the cleaning medium for the cleaning robot, and a cleaning robot system including the cleaning robot and the base station.
Cleaning robots (including but not limited to sweeping robots, mopping robots, window cleaners, etc.) generally use cleaning media (e.g., paper towels, mops, etc.) for cleaning operations. With the extension of cleaning time, stains attached to a cleaning medium increase, and the cleaning effect becomes worse. Therefore, the dirty cleaning medium has to be demounted and replaced with a clean cleaning medium.
Presently, cleaning robots on the market generally use tapes/hook-and-loop tapes (VELCRO®) to stick the cleaning medium to a cleaning tool (e.g., a mop board) or a machine body. When it is necessary to replace the cleaning medium, the cleaning medium needs to be manually torn off and replaced with a new one. This mode requires human intervention for manual replacement of the cleaning medium, and a user easily gets his/her hands dirty in a collection process, thereby having a bad experience. By contrast, when the cleaning medium is automatically replaced by the base station, the cleaning tool or the machine body has strong adhesion to the cleaning medium, and it is difficult to separate the cleaning medium from the cleaning tool or the machine body.
In view of this, embodiments of the disclosure provide a cleaning module which can have a cleaning medium mounted thereon and can be assembled on a cleaning robot to execute a cleaning task, a device for mounting a clean or new cleaning medium for the cleaning module, and a base station which includes the cleaning medium mounting device and accommodates the cleaning robot to automatically replace the cleaning medium for the cleaning robot, so as to solve the above problems.
In order to achieve the above objectives, the disclosure provides the following technical solutions.
Provided is a cleaning robot system, including a cleaning robot. The cleaning robot includes: a framework, a moving module and a cleaning module. The moving module is arranged at a bottom of the framework to drive the cleaning robot to travel on a working surface. The cleaning module is configured to clean the working surface. The cleaning module is connected to the cleaning robot. The cleaning module includes: a main body. The main body is connectable with a cleaning medium to wipe the working surface. The main body is provided with a connection region for connection of the cleaning medium and a demounting region for demounting of the cleaning medium, and no interconnection action occurs between the demounting region and the cleaning medium.
In the above cleaning robot system, the cleaning module of the cleaning robot effectively fixes the cleaning medium to the main body through the connection region. When the cleaning medium needs to be removed from the main body, the cleaning medium can be more easily and conveniently demounted from the main body by means of the demounting region because no interconnection action occurs between the demounting region and the cleaning medium.
Preferably, the connection region includes an adhesion surface. The cleaning medium adheres to the adhesion surface.
Preferably, the demounting region includes notches. An outer edge of the main body is recessed into the main body to form the notches.
Preferably, the main body has an integral body. The cleaning medium is connected to the integral body. The connection region and the demounting region are arranged on the integral body.
Preferably, when the cleaning robot works, the adhesion surface is opposite to the working surface.
Preferably, the connection region and/or the demounting region are/is arranged in at least a pair of two opposite ends of the main body.
Preferably, the main body at least includes a pair of opposite long ends. The connection region and/or the demounting region are/is at least partially arranged on the opposite long ends. Preferably, two ends of the opposite long ends respectively include two head portions, and the head portions are provided with the connection region.
Preferably, the connection region is spaced apart from the demounting region.
Preferably, the connection region is adjacent to the demounting region. A distance between adjacent outer edges of the connection region and the demounting region is in a preset range.
Preferably, the connection region and the demounting region are arranged at two opposite ends of the main body.
Preferably, the number of the demounting regions is two or more.
Preferably, the connection region arranged at one end of the main body is a whole. Projections of the two or more demounting regions to a lateral direction of the main body form first projections. A projection of the connection region to the lateral direction of the main body forms a second projection. The first projections and the second projection at least partially overlap.
Preferably, the number of the connection regions is two or more, and the connection regions are mutually non-contiguous.
Preferably, a plurality of connection regions are formed between adjacent ends of the main body, and at least two or more of the connection regions are provided with the connection region.
Preferably, the main body includes a body and turnover pieces. The turnover pieces are connected to the body and rotating relative to the body, and the connection region and the demounting region are arranged on the turnover pieces.
Preferably, the connection region has an adhesion face, the main body has a working face, and the cleaning medium is connected to the adhesion face and the working face. The turnover piece has a first state and a second state. When the turnover piece is in the first state, a first angle is formed between the adhesion face and the working face. When the turnover piece is in the second working state, a second angle is formed between the adhesion face and the working face. The first angle is different from the second angle.
Preferably, the first state is an open state, and the second state is a closed state. When the turnover piece is in the open state, the adhesion face and the working face point to a same side of the main body. When the turnover piece is in the closed state, the adhesion face and the working face point to two sides substantially opposite to each other.
Preferably, the turnover pieces are arranged at two opposite ends of the main body.
Preferably, when being switched from the open state to the closed state, the turnover piece turns towards an inner side of the main body, and the adhesion face drives the cleaning medium to turn inwards to tension the cleaning medium.
Preferably, the cleaning robot system further includes a closure maintainer, configured to apply a closure maintenance force to the turnover piece so as to maintain the turnover piece in the closed state or move it towards the closed state.
Preferably, the closure maintainer includes a first attachment element arranged on the main body, and a second attachment element arranged on the turnover piece and corresponding to the first attachment element. One of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetizable element or a magnetic element. The closure maintenance force is a magnetic attraction force produced between the first attachment element and the second attachment element.
Preferably, the cleaning module further includes an opening executer, configured to apply an opening execution force to the turnover piece so as to maintain the turnover piece in the open state or move it towards the open state.
Preferably, the opening executer includes a lever rotatably arranged on the main body. The lever has a stressed end and an acting end, and a rotatable connection point for the lever and the main body is located between the stressed end and the acting end. The stressed end receives an external force to drive the lever to rotate, and the acting end corresponds to the turnover piece. The opening execution force includes a mechanical pushing force applied by the acting end to the turnover piece.
Preferably, the opening executer further includes a torsion spring arranged between the main body and the turnover piece. The opening execution force further includes a torsional force applied by the torsion spring to the turnover piece to turn the turnover piece towards the open state.
Preferably, the turnover piece is made of a flexible and elastic material. The turnover piece is maintained in the closed state by means of its own elasticity. When the cleaning medium receives an external force directed away from the main body, the cleaning medium pulls the turnover piece to turn outwards through the adhesion face.
Preferably, the demounting region is adjacent to the connection region. A distance between adjacent outer edges of the connection region and the demounting region is in a preset range.
Provided is a cleaning robot system, including a cleaning robot. The cleaning robot is connected with a cleaning module. The cleaning module includes a main body and a turnover piece. The main body has a working face connectable with a cleaning medium. The turnover piece has an adhesion face adherable to the cleaning medium. The turnover piece is rotatably arranged on the main body and has a first state and a second state. When the turnover piece is in the first state, a first angle is formed between the adhesion face and the working face. When the turnover piece is in the second working state, a second angle is formed between the adhesion face and the working face. The first angle is different from the second angle.
Provided is a cleaning robot system, including a cleaning robot. The cleaning robot includes a framework, a moving module, and a cleaning module. The moving module is arranged at a bottom of the framework to drive the cleaning robot to travel on a working surface. The cleaning module is configured to clean the working surface. The cleaning module is connected to the cleaning robot. The cleaning module includes a main body and a base station. The main body is connectable with a cleaning medium to wipe the working surface. The main body is provided with a connection region for connection of the cleaning medium and a demounting region for demounting of the cleaning medium, and no interconnection action occurs between the demounting region and the cleaning medium. The base station includes a housing and a cleaning medium collection device. The cleaning medium collection device is arranged on the housing and configured to demount and collect the cleaning medium mounted on the cleaning module.
The above base station can automatically replace the cleaning medium without user intervention, including demounting and collection of a dirty cleaning medium on the cleaning module and mounting of a new cleaning medium. This allows for a higher quality user experience to be achieved.
Preferably, the cleaning medium collection device includes a separation module. The separation module acts on the cleaning medium covering the demounting region to separate the cleaning medium from the main body.
Preferably, the cleaning medium collection device further includes a collection box, configured to collect the cleaning medium separated by the separation module.
Preferably, the collection box is arranged on a moving path of the separated cleaning medium, thereby making the cleaning medium enter the collection box.
Preferably, the separation module applies an external force directed away from the main body to the cleaning medium covering the demounting region to demount the cleaning medium, and the separated cleaning medium falls into the collection box by its own gravity.
Preferably, the separation module applies an external force directed away from the main body to the cleaning medium covering the demounting region to demount the cleaning medium, and the cleaning medium is brought into the collection box by the external force.
Preferably, the separation module includes paper detaching hooks. The paper detaching hooks correspond to the demounting region, hook the cleaning medium covering the demounting region and apply an external force directed away from the main body to the cleaning medium to separate the cleaning medium from the main body.
Preferably, the paper detaching hooks are at least partially located in the collection box.
Preferably, one side of the collection box is provided with an opening, and the paper detaching hooks are distributed at two sides of the opening.
Preferably, one side of the collection box is provided with an opening, and the paper detaching hooks are arranged outside the opening relative to the collection box.
Preferably, an upper side of the collection box is provided with an opening, and the paper detaching hooks are arranged above the opening relative to the collection box.
Preferably, the cleaning module moves beyond the paper detaching hooks; the cleaning module moves reversely, so that the cleaning medium covering the demounting region is hooked by the paper detaching hooks; the cleaning module continues to move; and the cleaning medium is demounted.
Preferably, the collection box is provided with cover bodies, and the paper detaching hooks have an outstretched state of extending into the housing and a hidden state of being received in the cover bodies.
Preferably, rotating shafts are rotatably arranged on the collection box, and the paper detaching hooks are arranged on the rotating shafts. The rotating shafts drive the paper detaching hooks to be switched between the received state and the outstretched state.
The above description is only an overview of the technical solutions (embodiments) of the disclosure. In order to better understand the technical means of the disclosure and implement it in accordance with the contents of the specification, the following specific implementations of the disclosure in conjunction with the accompanying drawings will be described in details below.
The following is a listing and description of reference signs used in this disclosure:
Embodiments of the disclosure provide a cleaning module which can have a cleaning medium mounted thereon and can be assembled on a cleaning robot to execute a cleaning task, a device for mounting a clean or new cleaning medium for the cleaning module, a base station which includes the cleaning medium mounting device and accommodates the cleaning robot to automatically replace the cleaning medium for the cleaning robot, and a cleaning robot system including the cleaning robot and the base station.
A cleaning robot may have any suitable existing structure and may belong to any suitable existing category, such as a sweeping robot, a mopping robot, a window cleaning robot, etc. In an embodiment, the cleaning robot includes a framework, a moving module (“mover”) arranged at a bottom of the framework and configured to drive the cleaning robot to travel on a working surface, an energy supply unit (e.g., battery pack) arranged on the framework, and a control module arranged on the framework and electrically connected with the energy supply unit. A cleaning module (“cleaner”) is arranged at the bottom of the framework, and a cleaning medium mounted thereon is in contact with the working surface, thereby executing a cleaning task. In a further embodiment, the framework is provided with a water tank configured to contain a liquid to wet the cleaning medium mounted on the cleaning module, so as to realize wet mopping.
In an optional embodiment, the moving module includes driving wheels at the back side of the bottom of the framework and a caster arranged at the front end of the bottom of the framework. The driving wheels act as power wheels, and rotate under the drive of a motor connected with the control module. The caster may be connected with the control module, and can be retracted or let down under the control of the control module. A lifting mechanism for driving the cleaning module to rise or fall may be arranged in the framework. The lifting mechanism can adopt a known cam structure.
A top of the framework may be provided with a detection element connected with the control module, such as a laser scanning module, for detecting whether there are obstacles ahead in the traveling direction of the cleaning robot. When detecting that there are obstacles ahead in the traveling direction of the cleaning robot, the control module controls the lifting mechanism to lift the cleaning module and let down the caster. At this point, the cleaning robot is in an obstacle surmounting mode. After the cleaning robot avoids the obstacles, the control module controls the lifting mechanism to let down the cleaning module and retract the caster. At this point, the cleaning robot is in a working mode, that is, it may perform a cleaning operation.
In order to achieve fundamental functions of the cleaning robot, the cleaning robot in the embodiments of the disclosure may further include other necessary modules or components, such as a rolling brush, side brushes, a suction port, a dust box, a battery, a motor, etc. It should be noted that the other necessary modules or components included in the cleaning robot may have any suitable existing structure. In order to clearly and briefly explain the technical solutions provided by the disclosure, unnecessary details of the above parts will not be given here, and the drawings in the specification have been simplified accordingly. However, it should be understood that the scope of the disclosure is not limited thereby.
As described above, the cleaning robot of the embodiments of the disclosure may be applied to cleaning operation scenarios including but not limited to sweeping, mopping, window cleaning, etc. In a specific scenario, the cleaning robot of the embodiments of the disclosure may be a mopping robot, and the mopping robot can drive the cleaning module to come into contact with the working surface such as a floor, so as to realize floor wiping.
It should be noted that the above mopping scenario is only one cleaning operation scenario for the cleaning robot of the embodiments of the disclosure. Within the conceivable scope, those skilled in the art may extend the cleaning robot of the embodiments of the disclosure to any suitable cleaning scenario. The embodiments of the disclosure are not limited to this.
This disclosure uses the mopping robot as a main embodiment. However, based on the above description, it can be seen that the protection scope of the embodiments of the disclosure is not limited thereto.
In an optional embodiment, a cleaning robot system includes a cleaning robot 600. The cleaning robot 600 is connected with a cleaning module 100. The cleaning module 100 of the embodiment of the disclosure is shown in
The cleaning module 100 of the cleaning robot 600 in this embodiment effectively fixes the cleaning medium to the main body 101 through the connection region 1020. When the cleaning medium needs to be removed from the main body 101, the cleaning medium can be more easily and conveniently demounted from the main body 101 by means of the demounting region 1024 because no interconnection action occurs between the demounting region 1024 and the cleaning medium.
In an optional affixes, the connection region 1020 includes an adhesion surface 1025, and the cleaning medium adheres to the adhesion surface 1025. The cleaning medium directly adheres to the adhesion surface 1025, thereby realizing convenient mounting and simultaneously further simplifying the structure of the main body. The cleaning medium directly adheres to the adhesion surface 1025 in a way that, for example, the cleaning medium may directly adhere to the adhesion surface 1025 through hook-and-loop tapes. Of course, the cleaning medium may also be connected to the connection region 1020 in other ways, for example, indirectly connected to the connection region 1020 through magnetic pieces, VELCRO® tapes, etc.
In an optional embodiment, the demounting region 1024 includes notches 1023, and an outer edge of the main body is recessed into the main body 101 to form the notches 1023. The notches 1023 facilitates adaptation of a cleaning medium demounting structure such as paper detaching hooks 202 and thus demounting of the cleaning medium from the main body 101.
The cleaning module 100 of a first embodiment of the disclosure is shown in
In an optional embodiment, the connection region and/or the demounting region are/is arranged in at least a pair of two opposite ends of the main body. At least two opposite ends of the main body 101 are provided with the connection region 1020. The connection region 1020 is at least arranged at two opposite ends of the main body 101, thereby effectively fixing the cleaning medium to the main body 101 to avoid crimping. Preferably, the demounting region 1024 is arranged at two opposite ends of the main body 101. The arrangement of the demounting region 1024 at two opposite ends of the main body 101 facilitates cooperation with the cleaning medium demounting structure, thereby realizing more convenient cleaning medium demounting.
Further, the main body at least includes a pair of opposite long ends L1, L2, and the connection region 1020 and/or the demounting region 1024 are/is at least partially arranged on the opposite long ends L1, L2. With reference to
Of course, in an optional embodiment, the main body at least includes a pair of opposite short ends L3, L4, and the connection region 1020 and/or the demounting region 1024 are/is at least partially arranged on the opposite short ends L3, L4.
In an optional embodiment, the connection region 1020 is spaced apart from the demounting region 1024. With reference to
In an optional embodiment, the connection region 1020 is adjacent to the demounting region 1024, and a distance L between adjacent outer edges of the connection region 1020 and the demounting region 1024 is in a preset range. With reference to
Further, the number of the demounting regions 1024 is two or more. When the cleaning medium is demounted from the main body 101, the demounting force applied to the cleaning medium is further dispersed, thereby avoiding easy tearing of the cleaning medium due to existence of only one application point.
Furthermore, as shown in
Alternatively, the number of the connection regions 1020 is two or more, and the connection regions 1020 are mutually non-contiguous. With reference to
In an optional embodiment, a plurality of connection regions are formed between adjacent ends of the main body, and at least two or more of the connection regions are arranged as the connection regions 1020. With reference to
As shown in
In an optional embodiment, the main body 101 is present as a rectangular plate-like structure having a length direction and a width direction, and a cleaning robot drives the cleaning module 100 to move in the width direction. In this way, the cleaning module 100 affords a large sweeping area for a single movement, thereby having a high cleaning efficiency. As shown in
The turnover pieces 102 are each present as a plate or a bar, and are arranged at two ends (front and back ends) of the main body 101 along its width direction. As shown in
Since the turnover piece 102 may rotate relative to the main body 101 (as can be seen from the following, the turnover piece 102 may turn inwards or outwards relative to the main body 101), orientations of the adhesion face 1021 and the second face 1022 may vary when the turnover piece 102 is in different positional states (a closed state and an open state, as described below) relative to the main body 101. Specifically, as shown in
Relative to the main body 101, the turnover piece 102 has a first state and a second state. When the turnover piece 102 is in the first state, a first angle is formed between the adhesion face 1021 and the working face 1012. When the turnover piece 102 is in the second working state, a second angle is formed between the adhesion face 1021 and the working face 1012. The first angle is different from the second angle. That is to say, when the turnover piece 102 is in different working states, its positional relationship with the main body 101 is different. The transition of the positional relationship is realized by rotation of the turnover piece 102.
To continue from the above description, because the turnover piece 102 is rotatably connected with the main body 101, the turnover piece 102 has the closed state (as shown in
Using geometry, an included angle between two planes is an intersecting plane angle. According to the definition of the intersecting plane angle (dihedral angle), an included angle between the adhesion face 1021 and the working face 1012 is in a range of [0,180] degrees. Based on the correspondence relationship between the above first state and second state and the working state of the turnover piece 102 as well as the positional relationship between the open state and the closed state, it can be known that the first angle is greater than the second angle. In a certain scenario, the first angle may be 0 degree, and the second angle may be an obtuse angle or even a straight angle.
Because the turnover piece 102 rotates relative to the main body 101, the position of the main body 101 is relatively unchanged. Therefore, when the turnover piece 102 is in different states, the orientations of the working face 1012 and the first face 1011 of the main body 101 are unchanged, but the orientations of the adhesion face 1021 and the second face 1022 of the turnover piece 102 vary. Accordingly, mounting and release of the cleaning medium are realized.
Specifically, when the turnover piece 102 is in the open state, the second face 1022 of the turnover piece 102 is separated from the first face 1011 (specifically, the upper surface), the adhesion face 1021 rotates to one and the same side where the working face 1012 of the main body 101 is located, and the cleaning medium may be detached by an external force. When the turnover piece 102 is in the closed state, the second face 1022 of the turnover piece 102 abuts against the first face 1011 of the main body 101, and the adhesion face 1021 rotates until the adhesion face and the working face 1012 of the main body 101 are located at two sides of the main body 102, thereby tensioning the cleaning medium.
In this embodiment, when the turnover piece 102 is in the open state, the adhesion face 1021 and the working face 1012 point to the same side of the main body 101. Specifically, an included angle between a normal direction F1 of the adhesion face 1021 and a normal direction F2 of the working face 1012 may be an acute angle. Specifically, as shown in FIG. 9, both the adhesion face 1021 and the working face 1012 point downwards. The term “normal direction” refers to a direction perpendicular to a face and pointing outwards.
In an optional embodiment, as illustrated in
Described above is an embodiment in which the adhesion face 1021 of the turnover piece 102 is obliquely downward. However, in practice, the state of the turnover piece 102 is not limited to the above embodiment. In another optional embodiment, the normal direction F1 of the adhesion face 1021 may also be vertically downward. At this point, the adhesion face 1021 is parallel to or even flush with the working face 1012, and the normal directions F1, F2 both are parallel.
Likewise, when the turnover piece 102 is in the closed state, the adhesion face 1021 and the working face 1012 point to two opposite sides of the main body 101. Specifically, the included angle between the normal direction F1 of the adhesion face 1021 and the normal direction F2 of the working face 1012 may be an obtuse angle. Specifically, as shown in
In this embodiment, when being switched from the closed state to the open state, the turnover piece 102 turns outwards. When being switched from the open state to the closed state, the turnover piece 102 turns inwards. A surface of the turnover piece 102 opposite to the second face 1022 is provided with an adhesion structure capable of realizing adhesion of the cleaning medium, to form the adhesion face 1021. The adhesion structure includes VELCRO® tapes, hook-and-loop tapes, etc. When the turnover piece 102 is switched from the open state to the closed state, the adhesion face 1021 drives the cleaning medium to turn inwards so as to tension the cleaning medium.
Specifically, as shown with respect to
Through the above structural design, the cleaning medium in a tensioned state may be in better contact with the working surface in the subsequent cleaning process, thereby avoiding crimping or folding in the working surface contact process due to relaxation of the cleaning medium, which in turn influences the cleaning effect.
Thus, when the turnover piece 102 is in the open state, the adhesion face 1021 for adhesion of the cleaning medium and the working face 1012 of the main body 102 for connection of the cleaning medium are located at the same side of the main body 101. In this way, after the cleaning medium is mounted on the working face 1012 of the main body 102 and adheres to the adhesion face 1021, the whole is in a state of being relatively relaxed. Subsequently, in a process of being switched to the closed state, the turnover piece 102 rotates towards the inner side of the main body 101. By means of the adhesion and fixation of the adhesion face 1021 to the cleaning medium, adhering portions of the cleaning medium are driven all together to move inwards, thereby tensioning the cleaning medium.
Likewise, after the turnover piece 102 is switched from the closed state to the open state, the cleaning medium returns to the relaxed state from the tensioned state, thereby conveniently realizing demounting of a dirty cleaning medium.
As shown in
In a feasible embodiment, the closure maintainer includes a first attachment element arranged on the main body 101 (specifically, first face 1011), and a second attachment element arranged on the turnover piece 102 (specifically, second face 1022) and corresponding to the first attachment element. One of the first attachment element and the second attachment element is a magnetic element, and the other is a magnetizable element or a magnetic element. The closure maintenance force is a magnetic attraction force produced between the first attachment element and the second attachment element.
In this embodiment, the magnetic element may be an element having magnetism and capable of producing a magnetic field, for example it may be a magnet (e.g., a permanent magnet or a hard magnet) having magnetism per se and may also be an electromagnetic element (e.g., an electromagnet) capable of producing magnetism after being electrified. The magnetizable element may be made of a magnetizable material such as iron, cobalt, nickel, etc., and it can be attracted by a magnetic force. When both the first attachment element and the second attachment element are magnetic elements, magnetic poles of the two magnetic elements facing each other are different.
The opening executer includes a lever 105 rotatably arranged on the main body. The lever has a stressed end and an acting end. A rotatable connection point for the lever 105 and the main body 101 is located between the stressed end and the acting end. The stressed end receives an external force to drive the lever 105 to rotate. The acting end corresponds to the second face 1022. The opening execution force is a mechanical pushing force applied by the acting end to the second face 1022.
As shown in
In order to prevent the lever 105 from interfering with the closure of the turnover piece 102, the upper surface of the main body 101 is recessed inwards near the left and right ends to form grooves 106, two levers located at the same side are rotatably arranged in the same groove 106, and the two levers at the same side are symmetrically arranged. When the acting end of the lever 105 extends out of the groove 106 and lifts the second face 1022 of the turnover piece 102, an outward force is applied to the turnover piece 102, thereby realizing switching from the original closed state to the open state. Correspondingly, when the acting end of the lever 105 retracts into the groove 106, the turnover piece 102 returns to and stably remains in the closed state under the action of the magnetic attraction force between the first attachment element and the second attachment element.
Further, the opening executer further includes a torsion spring 104 arranged between the main body 101 and the turnover piece 102. As shown in
In practice, the lever 105 cooperates with the torsion spring 104 to realize opening of the turnover piece 102. Specifically, the magnetic attraction force between the first attachment element and the second attachment element is correlated with a distance between the first face 1011 and the second face 1022. In a process of the lever 105 pushing the turnover piece 102 to turn outwards, the distance between the first face 1011 and the second face 1022 is gradually increased, and the magnetic attraction force between the first attachment element and the second attachment element is gradually decreased. When the turnover piece 102 turns outwards to a preset position, the torsional force applied by the torsion spring 104 to the turnover piece 102 is greater than the magnetic attraction force between the two attachment elements, so that the torsional force overcomes the magnetic attraction force. The turnover piece 102 continues to turn outwards to the open state.
When the turnover piece 102 is in a closed state, the first face 1011 abuts against the second face 1022. At this point, the distance between the first attachment element and the second attachment element is the minimum, the magnetic attraction force is the maximum, and the magnetic attraction force is greater than the torsional force applied by the torsion spring 104 to the turnover piece 102. Therefore, when being in the closed state, the turnover piece 102 will stably remain in the closed state without the aid of an external force.
Therefore, in this embodiment, the lever 105 is configured to overcome the magnetic attraction force between the first attachment element and the second attachment element at an initial stage. That is to say, the pushing action force applied by the lever 105 to the turnover piece 102 is greater than the maximum magnetic attraction force, thereby starting rotation of the turnover piece 102. When the magnetic attraction force is lowered to be smaller than the torsional force of the torsion spring 104 in a process of the turnover piece 102 rotating outwards, the turnover piece 102 may continue to rotate outwards under the action of the torsion spring 104 and be switched to the open state finally.
Of course, the closure maintainer and the opening executer are not limited to the above embodiments. In another feasible embodiment, the closure maintainer may also realize closure of the turnover piece 102 by the magnetic attraction force of the magnetic element. The difference lies in that the production and disappearance of the magnetic attraction force are controllable in this embodiment.
Specifically, the closure maintainer includes an electromagnetic element arranged on the first face 1011 of the main body 101 and a magnetizable element or a magnet arranged on the second face 1022 of the turnover piece 102 and corresponding to the electromagnetic element, and the closure maintenance force is still a magnetic attraction force. Similarly, the turnover piece 102 is rotatably connected with the main body 101 through the rotating shaft 103. The opening executer is a torsion spring sleeved on the rotating shaft 103, and two ends of the torsion spring respectively push against the main body 101 and the turnover piece 102. The opening execution force is a torsional force. The torsion spring in this embodiment has the same action as the torsion spring 104 in the previous embodiment, to apply the torsional force to the turnover piece 102 so as to enable the turnover piece to turn outwards. When the turnover piece 102 needs to be maintained in the closed state or needs to be switched from the current open state to the closed state, the electromagnetic element is electrified to produce a magnetic field, so that the turnover piece 102 turns inwards under the action of the magnetic attraction force until the magnetizable element or the magnet is adsorbed by the electromagnetic element, thereby realizing closure of the turnover piece 102. When the turnover piece 102 needs to be maintained in the open state or needs to be switched from the current closed state to the open state, the electromagnetic element is de-electrified to make the magnetic field disappear, so that the turnover piece 102 turns outwards under the action of the torsion spring, thereby realizing opening.
Described above is an embodiment in which the turnover piece 102 is made of a hard material. Since the turnover piece 102 does not have preferred flexibility and elasticity, the turnover piece 102 needs to be switched between the closed state and the open state by means of the closure maintainer and the opening executer.
As shown in
Specifically, as shown in
A base station of an embodiment of the disclosure includes a housing, and the cleaning medium mounting device 300 is arranged on the housing. Since a clean cleaning medium cannot be mounted until the dirty cleaning medium mounted on the cleaning module 100 is demounted, the housing of the base station is further provided with a cleaning medium collection device 200 configured to demount and collect the dirty cleaning medium mounted on the cleaning module 100.
A cleaning robot system of an embodiment of the disclosure includes a cleaning robot 600. The cleaning robot 600 is detachably connected with a cleaning module 100. The cleaning module 100 includes a main body 101, connectable with a cleaning medium to wipe a working surface. The main body 101 is provided with a connection region 1020 for connection of the cleaning medium and a demounting region 1024 for demounting of the cleaning medium, and no interconnection action occurs between the demounting region 1024 and the cleaning medium. The cleaning robot 600 system further includes a base station. The base station includes a housing and a cleaning medium collection device 200, arranged on the housing and configured to demount and collect the cleaning medium mounted on the cleaning module 100. It should be noted that the base station in this embodiment may be adapted to the cleaning module 100 in any of the above embodiments, to separate the cleaning medium on the cleaning module 100 from the main body 101.
As shown in
The cleaning medium collection device 200 further includes a collection box 201, configured to collect the cleaning medium separated by the separation module. The separated cleaning medium is directly collected into the collection box 201, thereby avoiding polluting hands during manual handling of the dirty cleaning medium. In order to enable the dirty cleaning medium to be directly collected into the collection box 201, the collection box 201 is arranged on a moving path of the separated cleaning medium, thereby making the cleaning medium fall into the collection box 201.
The separation module (separator) applies an external force directed away from the main body 101 to the cleaning medium covering the demounting region 1024 to demount the cleaning medium, and the separated cleaning medium falls into the collection box 201 by its own gravity. Optionally, the collection box 201 may be arranged below the separated cleaning medium. In this way, the separated cleaning medium directly falls into the collection box 201 by its own gravity, and the cleaning medium may be collected without the aid of additional structures.
Alternatively, the separation module applies an external force directed away from the main body 101 to the cleaning medium covering the demounting region 1024 to demount the cleaning medium, and the external force pulls the cleaning medium into the collection box 201. The cleaning medium is pulled into the collection box 201 by means of the external force applied by the separation module to demount the cleaning medium, which also realizes collection of the cleaning medium without the aid of additional structures.
Further, the separation module includes paper detaching hooks 202. The paper detaching hooks 202 correspond to the demounting region 1024, hook the cleaning medium covering the demounting region 1024 and apply an external force directed away from the main body 101 to the cleaning medium to separate the cleaning medium from the main body 101. The paper detaching hooks 202 may be arranged on the housing, and may also be arranged on the collection box 201. In this embodiment, the paper detaching hooks 202 are at least partially located in the collection box 201. One side of the collection box 201 is provided with an opening, and the paper detaching hooks 202 are distributed at two sides of the opening. Specifically, the collection box 201 is provided with two shafts (rotating shafts 203, as described below) respectively arranged at two sides of the opening of the collection box 201. The paper detaching hooks 202 are arranged on the rotating shafts 203 to form upper paper detaching hooks and lower paper detaching hooks. There are a plurality of paper detaching hooks 202 arranged on each rotating shaft 203, and the plurality of paper detaching hooks 202 are evenly distributed to improve the efficiency of demounting the dirty cleaning medium.
In an embodiment, one side of the collection box 201 is provided with an opening, and the paper detaching hooks 202 are arranged outside the opening relative to the collection box 201. Further, with reference to
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In an embodiment, the cleaning module 100 moves beyond the paper detaching hooks 202; the cleaning module 100 moves reversely, so that the cleaning medium covering the demounting region 1024 is hooked by the paper detaching hooks 202; the cleaning module 100 continues to move; and the cleaning medium is demounted.
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The paper detaching hooks 202 correspond to the demounting region 1024, hook the cleaning medium covering the demounting region 1024 and apply an external force directed away from the main body 101 to the cleaning medium to separate the cleaning medium from the main body 101. The separated cleaning medium is collected into the collection box 201. When the cleaning medium connected to the cleaning module 100 is demounted, the paper detaching hooks 202 are aligned with the demounting region 1024 to make the paper detaching hooks travel through the demounting region 1024 and hook the cleaning medium covering the demounting region 1024. At this point, the cleaning module 100 moves away from the paper detaching hooks 202, and the paper detaching hooks 202 limit movement of the cleaning medium covering the demounting region 1024. The cleaning module 100 continues to move away from the paper detaching hooks 202, so that the cleaning medium will be pulled by the paper detaching hooks 202. Since no interconnection action occurs between the demounting region 1024 and the cleaning medium, the paper detaching hooks 202 may easily pull off the cleaning medium from the main body 101.
Further, in order to avoid a potential safety hazard caused by non-simultaneous exposure of the saw teeth arranged on the paper detaching hooks 202, the paper detaching hooks 202 have an outstretched state and a hidden state. Specifically, the collection box 201 is provided with cover bodies, including an upper cover body 204 and a lower cover body 205 respectively arranged on the upper housing 2012 and the lower housing 2011. As shown in
After the dirty cleaning medium is demounted, a clean cleaning medium needs to be mounted on the cleaning module 100. As shown in
In this embodiment, the floating plate 302 may move horizontally relative to the chassis 301. An elastic piece 305 is arranged between the chassis 301 and the floating plate 302. Specifically, the elastic piece 305 may be a plurality of springs that apply an elastic force directed away from the chassis 301 to the floating plate 302. In order to stop outward movement of the floating plate 302, i.e. movement away from the chassis 301, the chassis 301 is provided with stop portions 306. The stop portions 306 stop movement of the floating plate 302 away from the chassis 301.
The stop portions 306 are arranged at upper and lower ends of the chassis 301 and extend to the floating plate 302. There is a limit position for rotation of the gripping jaw 304 relative to the floating plate 302, and this limit position of the gripping jaw 304 may be defined by an arresting portion arranged on a back face of the floating plate 302. When the floating plate 302 moves away from the chassis 301 until the gripping jaw 304 comes into contact with the stop portion 306, the gripping jaw 304 starts to rotate towards the arresting portion. After the gripping jaw 304 pushes against the arresting portion, the gripping jaw 304 arrives at the limit position and cannot rotate any more, and the floating plate 302 is stopped accordingly.
Further, a surface of the chassis 301 pointing to the floating plate 302 is provided with protrusions 307 corresponding to the gripping jaws 304, and ends of the protrusions 307 are smooth. As shown in
Since the clean cleaning medium released by the supply module 303 is wound around the reel in advance, the released clean cleaning medium will be correspondingly bent rather than leveled when it sags to a position corresponding to the floating plate 302 under the action of gravity. In order to facilitate normal mounting of the cleaning medium on the cleaning module 100, the cleaning medium needs to be maintained in a relatively leveled state. Therefore, the cleaning medium mounting device 300 further includes a leveling piece configured to level the cleaning medium released by the supply module 303.
The leveling piece may level the cleaning medium through air flow, a pressure bar, etc. For example, in a specific embodiment, the leveling piece is a rod body 308 that is rotatably arranged on the housing of the base station and driven by the motor. The rod body 308 rotates to level the cleaning medium. Alternatively, in other embodiments, the leveling piece may be a fan or a blower that blows air to level the cleaning medium.
In order to transport the clean cleaning medium released by the supply module 303 to the position corresponding to the floating plate 302, a pushing mechanism 309 is further arranged between the supply module 303 and the floating plate 302 to transport the cleaning module 100 released by the supply module 303 to the floating plate 302. As shown in FIG. 20A to
Further, the pushing mechanism 309 further includes a driving assembly 310 connected with the first pushing wheel 3091 and configured to drive the first pushing wheel 3091 to move close to or away from the second pushing wheel 3092. The driving assembly 310 drives the first pushing wheel 3091 to move relative to the second pushing wheel 3092, so that the distance between the two pushing wheels 3091, 3092 is adjustable, thereby realizing pushing, compression and release of the cleaning medium. Thus, needs of different steps for cleaning medium mounting are met.
In some embodiments, the driving assembly 310 may be a telescopic member, such as a pneumatic cylinder, a hydraulic cylinder, a telescopic joint, etc. The first pushing wheel 3091 is arranged at an end of the telescopic member. In other embodiments, the driving assembly 310 may adopt a structure in which a cam 3101 cooperates with a link rod. Specifically, as shown in
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A process in which the cleaning medium mounting device 300 mounts the cleaning medium for the cleaning module 100 will be described below with respect to
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The connection assembly includes a first roller wheel 509 arranged in the first chute 506 and capable of moving horizontally in the first chute 506, and a first connector 510 and a second connector 511 that are rotatably connected with the first roller wheel 509. The first connector 510 is fixedly connected with the horizontal traction section 5041 of the moving mechanism 504. One end of the second connector 511 is connected with the adsorption plate 505, and the other end is rotatably provided with a second roller wheel 512. The second roller wheel 512 may slide in the second chute 507 and the third chute 508. The first connector 510, the second connector 511 and the first roller wheel 509 may be rotatably connected in the following mode: the second connector 511 is shaped like a sheet or a plate, one side of the second connector pointing to the first chute 506 is provided with a rotating shaft, and the first roller wheel 509 is rotatably arranged on the rotating shaft. The end of the rotating shaft may extend to one side of the first roller wheel 509 opposite to the first chute 506. The first connector 510 is also shaped like a sheet or a plate, and is fixedly connected with the end of the rotating shaft.
Alternatively, a round hole adapted to the first roller wheel 509 in shape and size is arranged in the second connector 511. One part of the first roller wheel 509 is embedded in the round hole and can rotate therein, and the other part is located outside the round hole. The part exposed outside the round hole is embedded in the first chute 506. A circle center position of the first roller wheel 509 may be provided with the rotating shaft that extends away from the first chute 506. The first connector 510 may be provided with a shaft hole, and the rotating shaft passes through the shaft hole.
The adsorption plate 505 has a horizontal position and a vertical position. Specifically, when the lifting mechanism 501 transports the cleaning module 100 upwards to the vicinity of the adsorption plate 505, the cleaning module 100 is adsorbed at the lower end of the adsorption plate 505 under the action of a magnetic force. At this point, the second roller wheel 512 is located in the third chute 508, and the whole adsorption plate 505 is in a horizontal position state. When the moving mechanism 504 moves, the adsorption plate 505 connected with the horizontal traction section 5041 of the moving mechanism 504 through the connection assembly turns.
Specifically, when the horizontal traction section 5041 moves leftwards, the second roller wheel 512 that is originally in the vertical state in the third chute 508 will enter the left half of the horizontal second chute 507. Thus, under the stop action of the second roller wheel 512 and the second chute 507, the adsorption plate 505 rotates clockwise upwards, which is a process as illustrated in
In this embodiment, the collection box 206 of the cleaning medium collection device 200 is located at one end (the left side as illustrated in
A complete process in which the base station 500 of an embodiment of the disclosure replaces the cleaning medium for the cleaning module 100 will be described below with respect to
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In this embodiment, the adsorption plate 505 and the cleaning module 100 may realize detachable magnetism in the following mode: the adsorption plate 505 is provided with an electromagnet, and the electromagnet is electrified to produce a magnetic field when the cleaning module 100 needs to be adsorbed on the adsorption plate 505. When the cleaning module 100 needs to be removed from the adsorption plate 505 (the step as shown in
It should be noted that, in the description of the disclosure, the terms “first”, “second”, etc. are merely used for descriptive purposes and used to distinguish between similar objects. There is no priority for them, and they should not be understood as indicating or implying relative importance. In addition, in the description of the disclosure, unless otherwise stated, the term “a plurality of” means two or more.
Mentioned above are only several embodiments of the disclosure, and those skilled in the art can make various modifications or variations to the embodiments of the disclosure according to the contents disclosed in the application documents without departing from the spirit and scope of the disclosure.
Number | Date | Country | Kind |
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202011156723.2 | Oct 2020 | CN | national |
202022406958.4 | Oct 2020 | CN | national |
This application is a National Stage Application of International Application No. PCT/CN2021/126450, filed on Oct. 26, 2021, which claims benefit of and priority to Chinese Patent Application No. 202011156723.2, filed on Oct. 26, 2020, and Chinese Patent Application No. 202022406958.4, filed on Oct. 26, 2020, all of which are hereby incorporated by reference in their entirety for all purposes as if fully set forth herein.
Filing Document | Filing Date | Country | Kind |
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PCT/CN2021/126450 | 10/26/2021 | WO |