Base station of cleaning robot and cleaning system

Abstract

The invention relates to a base station of a cleaning robot and a cleaning system. Based on the base station, the cleaning and maintaining module of the base station can be driven by the movement drainage module to move in a reciprocating mode, and the clean water nozzle can move synchronously with the movement drainage module and the cleaning and maintaining module. Clean water output by the clean water nozzle can flow into a water storage tank at the top of the movement drainage module, the clean water in the water storage tank can be poured into a friction cleaning assembly at the top of the cleaning and maintaining module from a water supply port of the water storage tank, and the friction cleaning assembly gradually inclines towards the bottom of a sewage discharging groove in the direction away from the water supply port. Therefore, clean water can flow through the friction cleaning assembly. Therefore, based on the external mode that the clean water nozzle is located outside the cleaning and maintaining module, an open water path from the movement drainage module to the pollution discharge groove through the friction cleaning assembly can be formed, then self-cleaning of the base station to the cleaning and maintaining module can be achieved, and the risk that the clean water nozzle is polluted is reduced.

Description

Technical Field

[0001] The present application relates to the field of smart home, and in particular to a base station of a cleaning robot and a cleaning system. Background Art

[0002] The bottom of the cleaning robot may be equipped with a floor cleaning component, and the cleaning robot may use the floor cleaning component to perform floor cleaning such as sweeping or wiping.

[0003] The floor cleaning component of the cleaning robot will be attached with dirt after completing floor cleaning, and the cleaning robot can move to the base station to clean and maintain the floor cleaning component after completing floor cleaning. Specifically, when the cleaning robot is parked at the base station, the cleaning and maintenance module of the base station can reciprocate under the bottom of the cleaning robot, and the cleaning and maintenance module can interfere and rub with the floor cleaning component during the reciprocating movement, and the clean water nozzle in the cleaning and maintenance module can also provide clean water to the floor cleaning component, so that the dirt attached to the floor cleaning component can be separated from the floor cleaning component by interference and friction, and the dirt separated from the floor cleaning component is removed by flushing with clean water.

[0004] However, the wastewater generated by washing the dirt with clean water will fall into the cleaning and maintenance module of the base station, so some of the dirt in the wastewater will remain in the cleaning and maintenance module, and the dirt remaining in the cleaning and maintenance module may also contaminate the clean water nozzle. If the cleaning and maintenance module stores dirt for a long time and the clean water nozzle is contaminated, the interference friction process between the cleaning and maintenance module and the floor cleaning component will become a process of dirt exchange, and the water provided by the contaminated clean water nozzle to the floor cleaning component will also be mixed with dirt, making it difficult to perform effective cleaning and maintenance on the floor cleaning component.

[0005] It can be seen that how to improve the cleaning and maintenance effect of the base station on the ground cleaning parts of the cleaning robot has become a technical problem to be solved. Summary of the invention

[0006] The embodiments of the present application provide a base station of a cleaning robot and a cleaning system, which help to improve the cleaning and maintenance effect of the base station on the floor cleaning components of the cleaning robot.

[0007] In one embodiment of the present application, a base station of a cleaning robot is provided, comprising:

[0008] A base assembly, the base assembly having a drainage groove;

[0009] A cleaning and maintenance module, wherein the cleaning and maintenance module is movably arranged in the sewage discharge groove, and a friction cleaning component is installed on the top of the cleaning and maintenance module;

[0010] A motion drainage module, wherein the motion drainage module is movably mounted on the base assembly, the motion drainage module is fixedly connected to the cleaning and maintenance module, and the motion drainage module is used to drive the cleaning and maintenance module to reciprocate in the sewage discharge groove parallel to the first horizontal direction under the drive of the driving assembly;

[0011] A clean water nozzle, the clean water nozzle is used to move back and forth synchronously with the motion drainage module outside the sewage discharge groove under the drive of the driving assembly;

[0012] in:

[0013] The top of the motion drainage module is provided with a water storage tank, the clean water nozzle is also used to fill water into the water storage tank, and the water storage tank has a water supply port on one side close to the cleaning and maintenance module;

[0014] One end of the friction cleaning assembly in the second horizontal direction is located in the water supply range of the water supply port, and the other end of the friction cleaning assembly in the second horizontal direction away from the water supply port is inclined downward toward the bottom of the sewage discharge groove.

[0015] In some examples, optionally, the water storage tank includes an inner area and an outer area, the inner area is located between the water supply port and the outer area, the inner area and the water supply port are located on the inner side of the edge of the drain groove in the second horizontal direction, the outer area is located on the outer side of the edge of the drain groove in the second horizontal direction, and the water outlet end of the clean water nozzle is limited within the outer area in the second horizontal direction.

[0016] In some examples, optionally, a guide assembly is further included, wherein the guide assembly includes a first shaft seat and a second shaft seat, the first shaft seat and the second shaft seat are respectively fixedly mounted on the base assembly outside the opposite ends of the drainage groove in the first horizontal direction, and the guide assembly also includes a guide shaft rod erected between the first shaft seat and the second shaft seat along the first horizontal direction, and the motion drainage module is slidably mounted on the guide shaft rod to achieve movable installation on the base assembly; wherein the first shaft seat and the second shaft seat have an installation position offset relative to the drainage groove in the second horizontal direction, and the installation position offset enables the motion drainage module to cross the edge of the drainage groove in the second horizontal direction, so that the water storage tank includes the inner area and the outer area.

[0017] In some examples, optionally, the water storage tank also has an upwardly protruding limiting rib, and the limiting rib is located at the boundary between the inner area and the outer area; the clean water nozzle is located above the top of the motion drainage module, and the water outlet end of the clean water nozzle extends into the outer area from the side of the motion drainage module facing away from the sewage discharge groove in the second horizontal direction, and the water outlet end of the clean water nozzle is limited and blocked in the outer area by the limiting rib in the second horizontal direction.

[0018] In some examples, optionally, the water outlet end of the clean water nozzle is a bent end, the bending direction of the bent end is toward the bottom of the water storage tank, and there is a water outlet gap between the bent end and the bottom of the water storage tank.

[0019] In some examples, optionally, the driving assembly is installed on the base assembly outside the sewage discharge groove, and the driving assembly includes a driving motor, a transmission mechanism and a driving slider, and the driving slider is connected to the driving motor through the transmission mechanism; the driving slider is spliced ​​adjacent to the motion drainage module on the side of the motion drainage module facing away from the sewage discharge groove in the second horizontal direction, and the clean water nozzle is adjustably installed on the top of the driving slider, and the driving slider is used to drive the motion drainage module and the clean water nozzle to reciprocate synchronously parallel to the first horizontal direction based on the power output of the driving motor; the clean water nozzle utilizes the adjustable installation on the top of the driving slider to keep the water outlet end within the outer area.

[0020] In some examples, optionally, a nozzle holder is fixedly mounted on the top of the driving slider, the clean water nozzle is clamped on the nozzle holder, and the position of the clean water nozzle relative to the nozzle holder in the second horizontal direction is adjustable.

[0021] In some examples, optionally, the cleaning and maintenance module includes a module moving base, which is used to move back and forth in the drainage groove of the base station; a friction cleaning assembly, which is arranged obliquely above the top surface of the moving base in the module thickness direction, and the opposite ends of the friction cleaning assembly in the module length direction are respectively an upward inclined end and a downward inclined end with a height difference, and the upward inclined end of the friction cleaning assembly is used to receive clean water supplied by the base station, and the clean water is used to flow through the friction cleaning assembly from the upward inclined end to the downward inclined end of the friction cleaning assembly; a water storage rib assembly, which is located in the flow path of the clean water, and the water storage rib assembly is used to cause hysteresis in the flow of the clean water.

[0022] In some examples, optionally, the module width direction of the cleaning and maintenance module is parallel to the bottom of the drain groove and parallel to the movement direction of the module movable base reciprocating in the drain groove, the module length direction is parallel to the bottom of the drain groove and perpendicular to the movement direction, and the module thickness direction is perpendicular to the bottom of the drain groove and perpendicular to the movement direction.

[0023] In some examples, optionally, the top surface of the module movable base is an inclined top surface, and the friction cleaning component is arranged obliquely above the inclined top surface based on the inclined support of the inclined top surface; wherein the opposite ends of the inclined top surface in the length direction of the module are respectively a high end and a low end with a height difference; the upward inclined end of the friction cleaning component is located above the high end of the inclined top surface, and the downward inclined end of the friction cleaning component is located above the low end of the inclined top surface.

[0024] In some examples, optionally, the water storage rib assembly is located on the top surface of the module movable base, or on the friction cleaning assembly.

[0025] In some examples, optionally, a base suspension wheel group is also included, and the base suspension wheel group is used to movably install the module mobile base in the drainage groove of the base station, and the base suspension wheel group is also used to suspend the module mobile base in the drainage groove above the bottom of the drainage groove.

[0026] In some examples, optionally, a bottom cleaning assembly is further included, wherein the bottom cleaning assembly is fixedly mounted on the module movable base or the friction cleaning assembly, the bottom cleaning assembly protrudes below the bottom surface of the module movable base in the module thickness direction, and the bottom cleaning assembly is used to interfere with the bottom of the sewage discharge groove when the module movable base is suspended above the bottom of the sewage discharge groove.

[0027] In some examples, optionally, the module mobile base has a base end boss at one end in the length direction of the module, and the base end boss is used to fixedly connect the module mobile base with a motion drainage module of a base station, and the motion drainage module is used to drive the module mobile base to reciprocate in the sewage discharge groove, and the clean water comes from the motion drainage module, and the upward inclined end of the friction cleaning assembly is close to the base end boss in the length direction of the module; wherein the base end boss is detachably fixedly connected to the motion drainage module by screwing a locking rod.

[0028] In some examples, optionally, the module movable base includes a first movable base, which is movably accommodated in the sewage discharge groove, and the first movable base is fixedly connected to the motion drainage module, and the first movable base has an inclined top surface, and the opposite ends of the inclined top surface in the second horizontal direction are respectively a high end and a low end with a height difference, the high end of the inclined top surface is close to the motion drainage module, and the low end of the inclined top surface is far away from the motion drainage module; the water storage rib assembly includes a first water storage rib, the first water storage rib is located on the inclined top surface, and the first water storage rib is arranged at intervals from the high end to the low end of the inclined top surface; the first movable base also has a first water storage rib deployed on the inclined top surface, the first friction assembly is installed on the inclined top surface, and the first friction assembly avoids the first water storage rib on the inclined top surface to form a hysteresis flow channel on the inclined top surface for the clean water to flow from the high end through the first water storage rib to the low end.

[0029] In some examples, optionally, the first movable base is detachably fixedly connected to the motion drainage module by a screwing locking rod; the first movable base has a base end boss, and the base end boss is located below the motion drainage module; the screwing locking rod passes through the motion drainage module and the base end boss, the operating space of the screwing locking rod is located at the top of the motion drainage module, and the screwing locking rod is used to form an anti-detachment lock or release the anti-detachment lock on the motion drainage module and the base end boss in response to a screwing operation occurring in the operating space.

[0030] In some examples, optionally, the first friction assembly includes a first cleaning wiper and a first cleaning strip, wherein the first cleaning wiper and the first cleaning strip are continuously disposed between a high end and a low end of the inclined top surface, and the first cleaning wiper and the first cleaning strip are separated by the first water storage rib on opposite sides of the hysteresis flow channel in the first horizontal direction.

[0031] In some examples, optionally, one end of the drain groove in the first horizontal direction is connected to a drain pipe, the first cleaning wiper is located on a side of the hysteresis flow channel in the first horizontal direction close to the drain pipe, and the first cleaning scraper is located on the other side of the hysteresis flow channel in the first horizontal direction away from the drain pipe.

[0032] In some examples, optionally, the first movable base has a first side flange and a second side flange on opposite sides in the first horizontal direction, and the first water storage rib is located between the first side flange and the second side flange; wherein: the first cleaning wiper is detachably clamped between the first side flange and the first water storage rib, and the first side flange is discretely distributed between the high end and the low end of the inclined top surface; the first cleaning scraper is detachably clamped between the second side flange and the first water storage rib, and the first cleaning scraper is also suspended and supported by a first elastic support assembly arranged between the second side flange and the first water storage rib, and the maximum height of the suspended first cleaning scraper is higher than the first cleaning wiper.

[0033] In some examples, optionally, the module movable base includes a second movable base, the second movable base is fixedly connected to the motion drainage module, the second movable base is used to be movably accommodated in the sewage discharge groove, the second movable base has an inclined top surface, and the inclined top surface has opposite ends in the length direction of the module, which are respectively a high end and a low end with a height difference; the friction cleaning assembly includes a second friction assembly, the second friction assembly is mounted on the inclined top surface, and the second friction assembly covers the inclined top surface; the water storage rib assembly includes a second water storage rib, and the second water storage rib is located in the second friction assembly, and the second water storage rib is spaced from the upper inclined end to the lower inclined end of the second friction assembly.

[0034] In some examples, optionally, the second friction assembly includes a second cleaning wiper, which is continuously deployed between the upward inclined end and the downward inclined end of the second friction assembly, and the second water storage ribs are spaced apart from the second cleaning wiper between the upward inclined end and the downward inclined end of the second friction assembly.

[0035] In some examples, optionally, the second friction assembly further includes a second cleaning scraper bar and a third cleaning scraper bar, wherein the second cleaning scraper bar and the third cleaning scraper bar are respectively close to opposite sides of the second cleaning wiper in the width direction of the module, the second cleaning scraper bar is continuously deployed between the upward inclined end and the downward inclined end of the second friction assembly, and the third cleaning scraper bar is discretely distributed between the upward inclined end and the downward inclined end of the second friction assembly.

[0036] In some examples, optionally, the second movable base further has lateral sinkers, which are arranged in pairs outside the side edges of the inclined top surface on opposite sides in the module width direction, and the height of the lateral sinkers in the module height direction is lower than the inclined top surface; the second cleaning scraper and the third cleaning scraper are respectively installed on the second movable base with the lateral sinkers on opposite sides as positioning reference surfaces.

[0037] In some examples, optionally, the base assembly includes a base frame and a base platform, the drive assembly is mounted on the base frame, the drain groove is located on the base platform, and the base platform is detachably spliced ​​and assembled with the base frame along the second horizontal direction.

[0038] In some examples, optionally, the base pedestal is provided with a locking assembly, and the locking assembly is used to produce a releasable splicing lock on the spliced ​​and assembled base pedestal and the base frame.

[0039] In some examples, optionally, the base frame includes a main frame body and a pair of side frames, the pair of side frames are connected to opposite ends of the main frame body in the first horizontal direction, the pair of side frames protrude and extend from the main frame body along the second horizontal direction, and the frame walls of the pair of side frames have locking slots; the locking components are installed in pairs on opposite sides of the base platform in the first horizontal direction, and when the base platform is inserted between the pair of side frames along the second horizontal direction, the pair of side frames form a limiting fit with the base platform in the first horizontal direction and the vertical direction, and the locking components and the locking slots form a releasable snap-fit ​​in the second horizontal direction.

[0040] In some examples, optionally, the driving assembly includes a driving slider, which is used to drive the motion drainage module and the clean water nozzle to synchronously reciprocate parallel to the first horizontal direction, the clean water nozzle is installed on the driving assembly, the motion drainage module is movably installed on the base base, and when the base base is detachably spliced ​​and installed on the base frame along the second horizontal direction, the motion drainage module is detachably fixedly docked with the driving slider.

[0041] In some examples, optionally, the motion drainage module has a plug-in boss, and when the base susceptor is detachably spliced ​​and installed on the base frame along the second horizontal direction, the plug-in boss is inserted into the driving slider along the second horizontal direction, and the motion drainage module utilizes the plug-in fit formed by the plug-in boss and the driving slider to: lock the relative position between the motion drainage module and the driving slider in the first horizontal direction.

[0042] In some examples, optionally, the drain groove is connected to a drain pipe fixed to the base, the base frame also has a sewage recovery port, and when the base is detachably spliced ​​and installed on the base frame along the second horizontal direction, the drain pipe is detachably sealed and docked with the sewage recovery port along the second horizontal direction.

[0043] In some examples, optionally, a guide assembly is further included, wherein the guide assembly includes a first shaft seat and a second shaft seat, the first shaft seat and the second shaft seat are respectively fixedly mounted on the base assembly outside the opposite ends of the sewage groove in the first horizontal direction, the guide assembly also includes a guide shaft rod erected between the first shaft seat and the second shaft seat along the first horizontal direction, and the motion drainage module is slidably mounted on the guide shaft rod to achieve movable installation of the base assembly; wherein the sewage pipe is located at one end of the sewage groove in the first horizontal direction close to the first shaft seat, and a sewage pipe joint extending along the second horizontal direction is penetrated by the first shaft seat, the sewage pipe joint is fixedly docked with the sewage pipe in a normal state, and when the base susceptor is detachably spliced ​​and mounted on the base frame along the second horizontal direction, the sewage pipe is detachably sealed and docked with the sewage recovery port along the second horizontal direction through the sewage pipe joint.

[0044] In some examples, optionally, the base frame includes a limiting rib plate, the limiting rib plate extends along the first horizontal direction, the limiting rib plate is arranged side by side with the driving assembly in the second horizontal direction, and the limiting rib plate is provided with a positioning hole; the base platform has a positioning column corresponding to the positioning hole at the side in the second horizontal direction, and when the base platform is detachably spliced ​​and installed on the base frame along the second horizontal direction: the base platform is limited by the limiting rib plate in the second horizontal direction to produce a locking position for the splicing lock of the locking assembly; and the positioning column is inserted into the positioning hole, so as to utilize the plug-in cooperation between the positioning column and the positioning hole to provide docking positioning for the detachable sealed docking of the sewage pipe and the sewage recovery port.

[0045] In some examples, optionally, the cleaning and maintenance module further comprises a tank bottom cleaning member, and the tank bottom cleaning member is in interference contact with the sewage discharge groove.

[0046] In some examples, optionally, one end of the drain groove in the first horizontal direction is connected to a drain pipe, and a detachable filter assembly is installed at the connection point between the drain groove and the drain pipe.

[0047] In another embodiment of the present application, a cleaning system is provided, comprising a cleaning robot and the base station as described in the above embodiment.

[0048] Based on the embodiment of the present application, the cleaning and maintenance module of the base station can move back and forth under the drive of the motion drainage module, and the clean water nozzle located outside the sewage groove can move synchronously with the motion drainage module and the cleaning and maintenance module above the top of the motion drainage module. Among them, the clean water output by the clean water nozzle can flow into the water storage tank at the top of the motion drainage module, and the clean water in the water storage tank can be poured into the friction cleaning component at the top of the cleaning and maintenance module from the water supply port of the water storage tank, and the friction cleaning component gradually tilts downward toward the bottom of the sewage groove in the direction away from the water supply port to help the clean water flow through the friction cleaning component. Therefore, based on the external arrangement of the clean water nozzle outside the cleaning and maintenance module, an open water path can be formed from the motion drainage module through the friction cleaning component to the sewage groove, and the open water path can realize the self-cleaning of the cleaning and maintenance module by the base station and reduce the risk of contamination of the clean water nozzle, thereby helping to improve the cleaning and maintenance effect of the base station on the ground cleaning components of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The following drawings are only used to illustrate and explain the present application, and do not limit the scope of the present application:

[0050] Figure 1 This is a schematic diagram of the assembly structure of a base station in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the decomposed structure of a base station in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of the connection status between the motion drainage module and the cleaning and maintenance module of the base station in the embodiment of the present application;

[0053] Figure 4 A cross-sectional view of the connection state of the motion drainage module and the cleaning and maintenance module of the base station in the embodiment of the present application;

[0054] Figure 5 for Figure 4 The structural schematic diagram of the screw lock rod in the locked state shown in FIG.

[0055] Figure 6 Schematic diagram of the assembly relationship between the motion drainage module and the driving assembly of the base station in the embodiment of the present application;

[0056] Figure 7 This is a schematic diagram of the decomposed structure of the cleaning and maintenance module of the base station in the embodiment of the present application;

[0057] Figure 8 This is a schematic diagram of the top structure of the cleaning and maintenance module of the base station in the embodiment of the present application;

[0058] Fig. 9 This is a schematic diagram of the bottom structure of the cleaning and maintenance module of the base station in the embodiment of the present application;

[0059] Fig.10 It is a schematic diagram of the structure of an open waterway of a base station in an embodiment of the present application;

[0060] Fig.11 A schematic diagram of a self-cleaning example of a cleaning and maintenance module of a base station in an embodiment of the present application;

[0061] Fig.12 A schematic diagram of a base station in a disassembled state in an embodiment of the present application;

[0062] Fig.13 A schematic diagram of the assembled state of the base of the base station in the embodiment of the present application;

[0063] Fig.14 This is a schematic diagram of the assembly structure of another cleaning and maintenance module of the base station in an embodiment of the present application;

[0064] Fig.15 This is a schematic diagram of the top surface structure of another cleaning and maintenance module of the base station in an embodiment of the present application;

[0065] Fig.16 This is a schematic diagram of the side structure of another cleaning and maintenance module of the base station in an embodiment of the present application;

[0066] Fig.17 This is a schematic diagram of the end structure of another cleaning and maintenance module of the base station in the embodiment of the present application;

[0067] Fig.18 This is a schematic diagram of the decomposed structure of another cleaning and maintenance module of the base station in an embodiment of the present application;

[0068] Fig.19 It is a schematic diagram of a semi-assembled structure of another cleaning and maintenance module of a base station in an embodiment of the present application;

[0069] Fig. 20A schematic diagram of a local structure when a base station in an embodiment of the present application uses another cleaning and maintenance module;

[0070] Fig.21 A schematic diagram of the structure of an open water channel when a base station in an embodiment of the present application uses another cleaning and maintenance module;

[0071] Fig. 22 A schematic diagram of a clamping structure of another cleaning and maintenance module of a base station in an embodiment of the present application;

[0072] Fig.23 is a cross-sectional view of another cleaning and maintenance module of a base station in an embodiment of the present application;

[0073] Fig.24 It is a schematic diagram of a self-cleaning example of another cleaning and maintenance module of a base station in an embodiment of the present application.

[0074] Reference numerals

[0075] 10 Base assembly

[0076] 11 Base frame

[0077] 110 Main frame

[0078] 111 limit rib plate

[0079] 112 positioning hole

[0080] 113 side frame

[0081] 115 lock card slot

[0082] 118 Sewage recycling port

[0083] 12 base base

[0084] 120 sewage groove

[0085] 122 Positioning column

[0086] 123 shaft seat mounting table

[0087] 125 lock assembly

[0088] 126 guide wheel track

[0089] 128 sewage pipe

[0090] 129 connected to the sinking platform

[0091] 20 drive components

[0092] 21 Drive motor

[0093] 210 motor shield

[0094] 22 Transmission mechanism

[0095] 220 transmission base

[0096] 23 drive slider

[0097] 230 docking station

[0098] 235 Slider Side Wing

[0099] 25 Position Sensor

[0100] 27 Nozzle Holder

[0101] 30 Guide components

[0102] 31 First shaft seat

[0103] 32 Second shaft seat

[0104] 33 guide shaft

[0105] 38 sewage pipe joint

[0106] 50 cleaning and maintenance modules

[0107] 500 inclined top surface

[0108] 51 First Mobile Base

[0109] 511 Hysteresis Flow Channel

[0110] 512 The first water storage bar

[0111] 515 first side flange

[0112] 516 second side flange

[0113] 52 friction cleaning components

[0114] 521 First Cleaning Wipe Board

[0115] 522 First Cleaning Strip

[0116] 523 first elastic support component

[0117] 53 base suspension wheel set

[0118] 531 support wheel

[0119] 532 guide wheel

[0120] 55 Second mobile base

[0121] 556 Lateral sinking platform

[0122] 558 base card slot

[0123] 56 Second friction assembly

[0124] 561 Second Cleaning Wipe Board

[0125] 5611 wipe board bump

[0126] 5612 Wipe Board Insert

[0127] 5613 Wipe Board Break

[0128] 562 Second cleaning strip

[0129] 563 Third cleaning scraper

[0130] 564 second elastic support component

[0131] 565 Second water storage bar

[0132] 566 side skirt

[0133] 567 Skirt Side Wing

[0134] 568 wiper clip

[0135] 57 Base end boss

[0136] 571 base through hole

[0137] 572 limit end face

[0138] 58 First bottom cleaning assembly

[0139] 580 First installation side frame

[0140] 59 Second bottom cleaning assembly

[0141] 590 Second installation side frame

[0142] 595 Mounting Screw Kit

[0143] 60 Sports drainage module

[0144] 61 Slider body assembly

[0145] 62 water storage tank

[0146] 620 water supply port

[0147] 627 limit rib

[0148] 63 plug boss

[0149] 65 limit lug

[0150] 67 Twist lock rod

[0151] 678 radial convex teeth

[0152] 679 limit terminal

[0153] 68 module through holes

[0154] 70 Clean water nozzle

[0155] 80 filter components DETAILED DESCRIPTION

[0156] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0157] Figure 1 It is a schematic diagram of the assembly structure of a base station in an embodiment of the present application. Figure 2 Schematic diagram of the decomposition structure of the base station in the embodiment of the present application. Figure 1 and Figure 2 In an embodiment of the present application, the base station of the cleaning robot may include a base assembly 10 , a driving assembly 20 , a cleaning maintenance module 50 , a motion drainage module 60 , and a clean water nozzle 70 .

[0158] For example, in an embodiment of the present application, the base assembly 10 may have a drainage groove 120, and when a cleaning robot is parked above the base assembly 10, the floor cleaning component of the cleaning robot may be suspended above the drainage groove 120, and the sewage generated by cleaning and maintaining the floor cleaning component of the cleaning robot may be discharged to the outside of the chassis assembly through the drainage groove 120. For example, the floor cleaning component of the cleaning robot may include at least one of a floor cleaning component (such as a roller brush) for cleaning the floor and a floor wiping component (such as a rag plate) for wiping the floor.

[0159] Exemplarily, in an embodiment of the present application, the base assembly 10 may include a base frame 11 and a base platform 12, the base frame 11 is used to install the drive assembly 20, the base frame 11 can be arranged adjacent to a water tank assembly including a clean water tank and a sewage tank, the clean water used by the clean water nozzle base 70 can be supplied by the clean water tank, the base platform 12 is used to park the cleaning robot, the sewage groove 120 can be located on the base platform 12, and the sewage in the sewage groove 120 can be discharged to the sewage tank.

[0160] For example, in the embodiment of the present application, the drainage groove 120 may extend in the base width direction of the base assembly 10, the groove width direction of the drainage groove 120 corresponds to the base length direction of the base assembly 10, and the base length direction of the base assembly 10 may be the driving direction of the cleaning robot when it stops or leaves the base assembly 10. For ease of expression, the embodiment of the present application defines a first horizontal direction X, a second horizontal direction Y, and a vertical direction Z, the groove length direction of the drainage groove 120 and the base width direction of the base assembly 10 may be parallel to the first horizontal direction X, the groove width direction of the drainage groove 120 and the base length direction of the base assembly 10 may be parallel to the second horizontal direction Y, and the base height direction of the base assembly 10 and the groove depth direction of the drainage groove 120 may both be parallel to the vertical direction Z.

[0161] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may be movably arranged in the drain groove 120. For example, the module length of the cleaning and maintenance module 50 may be adapted to the groove width dimension of the drain groove 120, and the module width direction of the cleaning and maintenance module 50 is smaller than the groove length dimension of the drain groove 120. As defined above, when the cleaning module 50 is movably arranged in the drain groove 120, the module length direction of the cleaning and maintenance module 50 may be parallel to the second horizontal direction Y, the module width direction of the cleaning and maintenance module 50 may be parallel to the first horizontal direction X, and the cleaning and maintenance module 50 may reciprocate in the drain groove 120 parallel to the first horizontal direction X. In addition, the module thickness direction of the cleaning and maintenance module 50 may be parallel to the vertical direction Z, and when the cleaning and maintenance module 50 is accommodated in the drain groove 120, the module thickness direction of the cleaning and maintenance module 50 (i.e., the vertical direction Z) may be parallel to the gravity direction.

[0162] For example, in an embodiment of the present application, the driving assembly 20 may be used to provide driving force for the reciprocating movement of the cleaning and maintenance module 50 in the sewage discharge groove 120 parallel to the first horizontal direction X (or the groove length direction).

[0163] Illustratively, in an embodiment of the present application, in order to prevent the drive component 20 from being contaminated, the drive component 20 can be installed on the base component 10 outside the drain groove 120. For example, the drive component 20 can be avoided outside the base base 12 where the drain groove 120 is located, and the drive component 20 can be installed on the base frame 11.

[0164] Exemplarily, in an embodiment of the present application, the driving assembly 20 may include a driving motor 21, a transmission mechanism 22 and a driving slider 23. The driving slider 23 and the driving motor 21 may be connected to each other through the transmission mechanism 22. The driving slider 23 may reciprocate parallel to the first horizontal direction X (or the base width direction) outside the sewage discharge groove 120 in response to the power output generated by the driving motor 21, and the driving slider 23 is used to provide driving force for the reciprocating movement of the cleaning and maintenance module 50 in the sewage discharge groove 120 parallel to the first horizontal direction X (or the groove length direction).

[0165] Illustratively, in an embodiment of the present application, the driving motor 21 of the driving assembly 20 may be covered and shielded by a motor shield 210 .

[0166] Exemplarily, in an embodiment of the present application, the transmission mechanism 22 may include a belt transmission mechanism and a transmission base 220, a pair of transmission wheels of the belt transmission mechanism may be rotatably mounted on the base assembly 10, a pair of transmission wheels of the belt transmission mechanism may be spaced apart in the first horizontal direction X (or the width direction of the base), the output shaft of the drive motor 21 may be coaxially connected to one of the transmission wheels, the power output of the drive motor 21 is used to drive the transmission belt of the belt transmission mechanism to move, the transmission base 220 may be fixed to the transmission belt of the belt transmission mechanism, and the drive slider 23 is fixedly mounted on the transmission base 220, so that the drive slider 23 may reciprocate parallel to the first horizontal direction X (or the width direction of the base) in response to the power output generated by the drive motor 21.

[0167] For example, in the embodiment of the present application, the driving assembly 20 may further include a pair of position sensors 25, which may be fixedly mounted on the base assembly 10, and the pair of position sensors 25 may be arranged at intervals in the first horizontal direction X (or the base width direction), and the pair of position sensors 25 are used to define the bending position of the reciprocating movement of the driving slider 23. That is, the driving slider 23 may alternately touch the pair of position sensors 25 during the reciprocating movement, and the contact between the driving slider 23 and any one of the position sensors 25 is used to trigger the movement and steering of the driving slider 23.

[0168] Illustratively, in an embodiment of the present application, the cleaning and maintenance module 50 located in the drainage groove 120 may not be directly connected to the driving slider 23 outside the drainage groove 120 , and the cleaning and maintenance module 50 may be connected to the driving slider 23 via the motion drainage module 60 .

[0169] Exemplarily, in an embodiment of the present application, the motion drainage module 60 can be movably mounted on the base assembly 10 (e.g., the base base 12), the motion drainage module 60 is fixedly connected to the cleaning and maintenance module 50, and the motion drainage module 60 is used to drive the cleaning and maintenance module 50 to reciprocate in the sewage discharge groove 120 parallel to the first horizontal direction X under the drive of the driving assembly 20 (e.g., the driving slider 23).

[0170] For example, in an embodiment of the present application, the motion drainage module 60 can be movably mounted on the base assembly 10 (eg, the base platform 12 ) using the guide assembly 30 .

[0171] Exemplarily, in an embodiment of the present application, the guide assembly 30 may include a first shaft seat 31 and a second shaft seat 32. The first shaft seat 31 and the second shaft seat 32 may be fixedly mounted on the base assembly 10 (for example, the base base 12) at opposite ends of the sewage discharge groove 120 in the first horizontal direction X (or the base width direction or the groove length direction), respectively. The guide assembly 30 also includes at least one guide shaft rod 33 (two guide shaft rods 33 are taken as an example in the figure) mounted between the first shaft seat 31 and the second shaft seat 32 along the first horizontal direction X (or the base width direction or the groove length direction), and the motion drainage module 60 may be slidably mounted on the guide shaft rod 33 to realize movable installation on the base assembly 10 (for example, the base base 12).

[0172] For example, in an embodiment of the present application, the motion drainage module 60 may include a slider body assembly 61, and the slider body assembly 61 may include two detachable parts, and the two detachable parts of the slider body assembly 61 may be assembled with each other, and the two detachable parts of the slider body assembly 61 may slide and clamp the guide shaft 33 by assembling with each other. In this case, the assembly process of the guide assembly 30 may be: firstly, the two ends of the guide shaft 33 are respectively inserted into the first shaft seat 31 and the second shaft seat 32, and then the first shaft seat 31 and the second shaft seat 32 are respectively fixed to the opposite ends of the water storage tank 62 in the first horizontal direction X (or the base width direction or the groove length direction), and then the coaxiality between the two ends of the guide shaft 33 (i.e., the first shaft seat 31 and the second shaft seat 32) is adjusted, and finally the two detachable parts of the slider body assembly 61 are respectively buckled from the opposite sides of the guide shaft 33. Thus, the guide assembly 30 can be allowed to be coaxially adjusted when the motion drainage module 60 is not installed, which is beneficial to the smoothness of the reciprocating movement of the motion drainage module 60 along the guide shaft 33.

[0173] Exemplarily, in an embodiment of the present application, the moving drainage module 60, which is movably mounted on the base assembly 10 (e.g., the base base 12) using the guide assembly 30, can cross the groove edge of the sewage groove 120 in the second horizontal direction Y (or the base length direction or the groove width direction).

[0174] Exemplarily, in an embodiment of the present application, the first shaft seat 31 and the second shaft seat 32 may have an installation position offset relative to the sewage discharge groove 120 in the second horizontal direction Y (or the base length direction or the groove width direction), and the installation position offset may enable the guide shaft 33 to suspend the motion drainage module 60 to span the groove edge of the sewage discharge groove 120.

[0175] Exemplarily, in an embodiment of the present application, the base assembly 10 (such as the base base 12) may also have a pair of axle seat mounting platforms 123, and the pair of axle seat mounting platforms 123 are respectively located outside the opposite ends of the water storage tank 62 in the first horizontal direction X (or the base width direction or the groove length direction), and the first axle seat 31 and the second axle seat 32 are respectively fixedly mounted on the pair of axle seat mounting platforms 123, and the pair of axle seat mounting platforms 123 have a position offset relative to the sewage groove 120 in the second horizontal direction Y (or the base length direction or the groove width direction), so that the first axle seat 31 and the second axle seat 32 can have the aforementioned installation position offset in the second horizontal direction Y (or the base length direction or the groove width direction).

[0176] Figure 3 This is a schematic diagram of the connection status of the motion drainage module and the cleaning and maintenance module of the base station in an embodiment of the present application. Figure 4 This is a cross-sectional view of the connection state of the motion drainage module and the cleaning and maintenance module of the base station in the embodiment of the present application. Figure 3 and Figure 4 In an embodiment of the present application, the cleaning and maintenance module 50 may include a module movable base (e.g., a first movable base 51), which may be movably accommodated in a sewage discharge groove 120, and the motion drainage module 60 (e.g., a slider body assembly 61) may be fixedly connected to the first movable base 51, thereby achieving a fixed connection with the cleaning and maintenance module 50.

[0177] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a base suspension wheel group 53, the first mobile base 51 may be equipped with a base suspension wheel group 53, and the first mobile base 51 may utilize the base suspension wheel group 53 to roll with the bottom and / or wall of the sewage groove 120 to achieve movable installation in the sewage groove 120.

[0178] Exemplarily, in an embodiment of the present application, the base suspension wheel group 53 is used to movably mount the first mobile base 51 in the sewage discharge groove 120 of the base station, and the base suspension wheel group 53 is also used to suspend the first mobile base 51 in the sewage discharge groove 120 above the bottom of the sewage discharge groove 120.

[0179] For example, in an embodiment of the present application, the base suspension wheel group 53 may include a support wheel 531 and a guide wheel 532, and the support wheel 531 and the guide wheel 532 may be respectively located at opposite ends of the first mobile base 51 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50). The support wheel 531 may be installed at the bottom of the first mobile base 51 in the vertical direction Z (or the module thickness direction), and the support wheel 531 may roll with the bottom of the drainage groove 120; the side groove wall of the drainage groove 120 in the second horizontal direction Y (or the groove width direction) has a guide wheel track 126 extending along the first horizontal direction X, and the guide wheel 532 may be installed on the first mobile base 51 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) toward the end of the side groove wall of the drainage groove 120, and the guide wheel 532 rolls with the guide wheel track 126.

[0180] Exemplarily, in an embodiment of the present application, the motion drainage module 60 (such as the slider body assembly 61) can be fixedly connected to one end of the first movable base 51 in the second horizontal direction Y (or the module length direction or groove width direction of the cleaning and maintenance module 50).

[0181] For example, in an embodiment of the present application, if the first mobile base 51 is equipped with the base suspension wheel group 53 described above, then: the support wheel 531 can be located at one end of the first mobile base 51 close to the motion drainage module 60 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50), and the end can be implemented by the motion drainage module 60 to prevent warping in the vertical direction Z; the guide wheel 532 can be located at one end of the first mobile base 51 away from the motion drainage module 60 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50), and the guide wheel track 126 can form a warping limit for the guide wheel 532 in the vertical direction Z, that is, the first mobile base 51 can be implemented at the low end by the rolling cooperation between the guide wheel 532 and the guide wheel track 126 to prevent warping in the vertical direction Z. Thereby, the cleaning and maintenance module 50 can be prevented from tilting due to instability during the reciprocating movement.

[0182] For example, in the embodiment of the present application, the first mobile base 51 can be detachably fixedly connected to the motion drainage module 60 (e.g., the slider body assembly 61) by screwing the lock rod 67. Thus, the cleaning and maintenance module 50 can be easily replaced after disassembly or cleaned separately when separated from the base station.

[0183] Exemplarily, in an embodiment of the present application, the first movable base 51 of the cleaning and maintenance module 50 may have a base end boss 57, and the base end boss 57 is located below the motion drainage module 60 (for example, the slider body assembly 61), and the screwing lock rod 67 passes through the motion drainage module 60 (for example, the slider body assembly 61) and the base end boss 57 of the first movable base 51, and the operating space of the screwing lock rod 67 is located at the top of the motion drainage module 60 (for example, the slider body assembly 61), and the screwing lock rod 67 is used to form an anti-slip lock or release the anti-slip lock on the motion drainage module 60 and the base end boss 57 in response to the screwing operation occurring in the operating space.

[0184] Exemplarily, in an embodiment of the present application, the bottom of the base end boss 57 may have a limiting end face 572, the base end boss 57 has a boss through hole 571 extending from the top of the base end boss 57 to the limiting end face 572 in the vertical direction Z (or the module thickness direction), the motion drainage module 60 may have a module through hole 68 extending from the top to the bottom of the motion drainage module 60 (for example, the slider main body assembly 61), and the boss through hole 571 and the module through hole 68 are coaxially aligned.

[0185] For example, in the embodiment of the present application, the first rod end of the screw lock rod 67 has a radial convex tooth 679, the second rod end of the screw lock rod 67 may have a limiting end head 678, and the cross-sectional shape of the boss through hole 571 and the module through hole 68 is the same as that of the first rod end having the radial convex tooth 679. When the first rod end of the screw lock rod 67 passes through the module through hole 68 and the boss through hole 571 from the top of the motion drainage module 60 (e.g., the slider body assembly 61) to reach the limiting end face 572, the limiting end head 678 of the second rod end of the screw lock rod 67 may be limited at the top of the motion drainage module 60 (e.g., the slider body assembly 61), and the limiting end head 678 of the second rod end of the screw lock rod 67 may be used to accept the screwing operation at the top of the motion drainage module 60 (e.g., the slider body assembly 61).

[0186] Figure 5 for Figure 4 The schematic diagram of the structure when the screw lock rod is in the locked state is shown in FIG. Figure 5In an embodiment of the present application, if the limit end 678 drives the radial protruding teeth 679 to shift in phase relative to the boss through hole 571 in response to the screwing operation, the radial protruding teeth 679 of the first rod end of the screwing lock rod 67 and the limit end face 572 form a limit lock to prevent the first rod end from retreating, thereby fixing the first movable base 51 with the motion drainage module 60 (for example, the slider main body assembly 61).

[0187] Exemplarily, in an embodiment of the present application, if the limit end 678 drives the radial protrusion 679 to align with the boss through hole 571 in response to the reverse screwing operation, then the first rod end of the screwing lock rod 67 having the radial protrusion 679 is allowed to be pulled out from the boss through hole 571, thereby releasing the fixed connection between the first movable base 51 and the motion drainage module 60 (for example, the slider main body assembly 61).

[0188] Figure 6 Schematic diagram of the assembly relationship between the motion diversion module and the driving assembly of the base station in the embodiment of the present application. Figure 6 In the embodiment of the present application, the driving module 23 can be fixedly inserted into the transmission base 220 of the transmission mechanism 20 along the second horizontal direction Y (or the base length direction), the motion drainage module 60 can have a plug-in boss 63, the plug-in boss 63 can protrude out of the slider body component 61, the driving slider 23 can have a plug-in seat 230, the plug-in seat 230 can have a groove for inserting the plug-in boss 63, and the plug-in boss 63 is inserted into the driving slider 23 along the second horizontal direction Y (or the base length direction). Thus, the motion drainage module 60 (for example, the slider body component 61) can synchronously reciprocate with the driving slider 23 parallel to the first horizontal direction X (or the base width direction), and the motion drainage module 60 (for example, the slider body component 61) can drive the cleaning and maintenance module 50 to reciprocate in the sewage tank 120 parallel to the first horizontal direction X (or the groove length direction).

[0189] Exemplarily, in an embodiment of the present application, based on the plug-in fit between the plug-in boss 63 and the plug-in base 230, the driving slider 23 is spliced ​​adjacent to the motion drainage module 60 (e.g., the slider main body component 61) on the side of the motion drainage module 60 (e.g., the slider main body component 61) facing away from the sewage discharge groove 120 in the second horizontal direction Y (or the base length direction).

[0190] For example, in the embodiment of the present application, the motion drainage module 60 may have a pair of limiting lugs 65, which may protrude from the slider body assembly 61 on the same side as the plug-in boss 63, and the pair of limiting lugs 65 may be distributed on opposite sides of the plug-in boss 63. Thus, when the plug-in boss 63 is inserted into the driving slider 23 (e.g., the plug-in seat 230) along the second horizontal direction Y (or the base length direction), the pair of limiting lugs 65 may respectively form limiting clamps on the driving slider 23 (e.g., the plug-in seat 230) from the opposite sides of the driving slider 23 (e.g., the plug-in seat 230) to improve the stability of the adjacent splicing between the motion drainage module 60 (e.g., the slider body assembly 61) and the driving slider 23 (e.g., the plug-in seat 230).

[0191] Exemplarily, in an embodiment of the present application, the driving slider 23 may also have a pair of slider side wings 235, which may protrude on opposite sides of the driving slider 23 (for example, the docking base 230) in the first horizontal direction X (or the base width direction), and the pair of slider side wings 235 are respectively used to alternately touch a pair of position sensors 25 during the reciprocating movement of the driving slider 23.

[0192] Exemplarily, in an embodiment of the present application, the clean water nozzle 70 can be fixedly mounted on the driving slider 23, and the clean water nozzle 70 fixedly mounted on the driving slider 23 can also reciprocate parallel to the first horizontal direction X (or the groove length direction) synchronously with the motion drainage module 60 and the cleaning maintenance module 50, and the clean water nozzle 70 can be connected to the clean water tank mentioned above through a flexible hose.

[0193] Illustratively, in an embodiment of the present application, the clean water nozzle 70 may be located outside the drain groove 120 , and the clean water nozzle 70 is used to move back and forth synchronously with the motion drainage module 60 outside the drain groove 120 under the drive of the drive assembly 20 (eg, the drive slider 23 ).

[0194] For example, in the embodiment of the present application, the clean water nozzle 70 located outside the drain groove 120 is used to supply clean water to the cleaning and maintenance module 50 in the drain groove 120, and there is no waterway formed by a closed pipeline between the clean water nozzle 70 and the cleaning and maintenance module 50, but an open waterway is formed by the motion drainage module 60. That is, the motion drainage module 60 in the embodiment of the present application is not only a power transmission component between the cleaning and maintenance module 50 and the driving assembly 20 (such as the driving slider 23), but also a waterway connection component for forming an open waterway.

[0195] Exemplarily, in an embodiment of the present application, the top of the motion drainage module 60 (e.g., the slider body assembly 61) has a water storage tank 62, and the clean water nozzle 70 is also used to inject water into the water storage tank 62 of the motion drainage module 60. For example, the clean water nozzle 70 can be located (e.g., supported by the driven slider 23) above the motion drainage module 60 (e.g., the slider body assembly 61) in the vertical direction Z, and the clean water flowing out of the water outlet end of the clean water nozzle 70 can pass through a free fall body such as the water storage tank 62 of the motion drainage module 60.

[0196] For example, in the embodiment of the present application, the water storage tank 62 at the top of the motion drainage module 60 may have a water supply port 620 on a side close to the cleaning and maintenance module 50. Thus, the clean water injected into the water storage tank 62 of the motion drainage module 60 by the clean water nozzle 70 may be supplied to the cleaning and maintenance module 50 through the water supply port 620.

[0197] Illustratively, in an embodiment of the present application, the bottom of the water storage tank 62 at the top of the motion drainage module 60 can gradually slope downward toward the water supply port 620, so that the clean water injected into the water storage tank 62 of the motion drainage module 60 by the clean water nozzle 70 can be more efficiently supplied to the cleaning and maintenance module 50 through the water supply port 620.

[0198] Exemplarily, in an embodiment of the present application, the water storage tank 62 of the motion drainage module 60 may include an inner area and an outer area, and the inner area of ​​the water storage tank 62 is located between the water supply port 620 and the outer area of ​​the water storage tank 62. Since the motion drainage module 60 spans the edge of the drainage groove 120 in the second horizontal direction Y (or the groove width direction), the inner area of ​​the water storage tank 62 and the water supply port 620 are located inside the edge of the drainage groove 120 in the second horizontal direction Y (or the groove width direction), and the outer area of ​​the water storage tank 62 is located outside the edge of the drainage groove 120 in the second horizontal direction Y (or the groove width direction). In this case, in order to prevent the clean water nozzle 70 from being contaminated, the water outlet end of the clean water nozzle 70 can be limited in the outer area of ​​the water storage tank 62 in the second horizontal direction Y (or the groove width direction).

[0199] For example, in the embodiment of the present application, the clean water nozzle 70 can be supported by the driving slider 23 above the top of the motion drainage module 60, and the driving slider 23 is spliced ​​adjacent to the motion drainage module 60 (for example, the slider body assembly 61) on the side of the motion drainage module 60 facing away from the drainage groove 120 in the second horizontal direction Y (or the groove width direction), and the water outlet end of the clean water nozzle 70 fixedly mounted on the driving slider 23 can extend from the side of the motion drainage module 60 facing away from the drainage groove 120 in the second horizontal direction Y (or the groove width direction) into the outer area of ​​the water storage tank 62. In this case, the water storage tank 62 can also have an upwardly protruding limiting rib 627, which is located at the boundary between the inner area and the outer area of ​​the water storage tank 62, and the water outlet end of the clean water nozzle 70 can be limited and blocked in the outer area of ​​the water storage tank 62 by the limiting rib 627 in the second horizontal direction Y (or the groove width direction).

[0200] For example, in the embodiment of the present application, the water outlet end of the clean water nozzle 70 can be a bent end, the bending direction of the bent end is toward the bottom of the water storage tank 62, and there is a water outlet gap between the bent end and the bottom of the water storage tank 62. Therefore, even if the water outlet end of the clean water nozzle 70 abuts against the limiting rib 627, it will not affect the clean water nozzle 70 from injecting water into the water storage tank 62.

[0201] Exemplarily, in an embodiment of the present application, the clean water nozzle 70 can be adjustably fixed on the top of the driving slider 23, and the clean water nozzle 70 utilizes the adjustable installation on the top of the driving slider 23 to keep the water outlet end of the clean water nozzle 70 within the outer area of ​​the water storage tank 62 of the motion drainage module 60.

[0202] Illustratively, in an embodiment of the present application, a nozzle holder 27 can be fixedly mounted on the top of the driving slider 23 (e.g., the docking base 230), the clean water nozzle 70 can be clamped on the nozzle holder 27, and the position of the clean water nozzle 70 relative to the nozzle holder 27 in the second horizontal direction can be adjusted, thereby achieving the clean water nozzle 70 being adjustable at the top of the driving slider 23.

[0203] Figure 7 This is a schematic diagram of the decomposed structure of the cleaning and maintenance module of the base station in the embodiment of the present application. Figure 8 This is a schematic diagram of the top structure of the cleaning and maintenance module of the base station in an embodiment of the present application. Fig. 9 Schematic diagram of the bottom structure of the cleaning and maintenance module of the base station in the embodiment of the present application. Figures 7 to 9A friction cleaning component (such as a first friction component 52) ​​can be installed on the top of the cleaning and maintenance module 50, and the reciprocating movement of the cleaning and maintenance module 50 parallel to the first horizontal direction X in the drainage groove 120 can cause: the first friction component 52 and the floor cleaning component of the cleaning robot stationed on the base component 10 to repeatedly interfere with each other and rub, thereby causing the dirt attached to the floor cleaning component to separate from the floor cleaning component and fall off, and mix with clean water to become sewage and flow into the drainage groove 120.

[0204] Exemplarily, in an embodiment of the present application, the clean water injected by the clean water nozzle 70 into the water storage tank 62 of the motion drainage module 60 can be supplied to the cleaning maintenance module 50 through the water supply port 620. Therefore, the interference friction between the first friction assembly 52 and the floor cleaning part of the cleaning robot stationed on the base assembly 10 can be wet friction.

[0205] Exemplarily, in an embodiment of the present application, the first friction component 52 can be arranged obliquely above the top surface of the first movable base 51 in the module thickness direction (corresponding to the vertical direction Z), so that the opposite ends of the first friction component 52 in the module length direction (corresponding to the second horizontal direction Y) are respectively: an upward inclined end and a downward inclined end having a height difference in the module thickness direction (corresponding to the vertical direction Z) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the drain groove 120.

[0206] Exemplarily, in an embodiment of the present application, the upward inclined end of the first friction assembly 52 of the cleaning and maintenance module 50 can be used to receive clean water supplied by the base station (for example, from the clean water nozzle 70 and supplied through the motion drainage module 60), and the clean water is used to flow through the friction cleaning assembly from the upward inclined end to the downward inclined end of the friction cleaning assembly of the cleaning and maintenance module 50.

[0207] Exemplarily, in an embodiment of the present application, the first movable base 51 may have an inclined top surface 500, which is located on the side of the first movable base 51 that is opposite to the bottom of the sewage discharge groove 120 in the vertical direction Z (or the module thickness direction or the groove depth direction), and the first friction assembly 52 of the cleaning and maintenance module 50 may be fixedly installed (for example, detachably fixedly installed) on the inclined top surface 500 of the first movable base 51, and the inclined top surface 500 is located on the side of the first movable base 51 that is opposite to the bottom of the sewage discharge groove 120 in the vertical direction Z (or the module thickness direction or the groove depth direction).

[0208] For example, in the embodiment of the present application, the opposite ends of the inclined top surface 500 of the first movable base 51 in the second horizontal direction Y may be respectively a high end and a low end having a height difference in the vertical direction Z (or the module thickness direction) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the sewage discharge groove 120. In this case, the first friction component 52 may be installed on the first movable base 51 with the inclined top surface 500 as the positioning reference surface, so that the end (e.g., the upward inclined end) height of one end of the first friction component 52 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) in the vertical direction Z (or the module height direction of the cleaning and maintenance module 50) is higher than the end height of the other end (e.g., the downward inclined end) of the first friction component 52 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) in the vertical direction Z (or the module height direction of the cleaning and maintenance module 50).

[0209] For example, in the embodiment of the present application, the high end of the inclined top surface 500 of the first movable base 51 can be close to the motion drainage module 60 in the second horizontal direction Y (or the module length direction or the groove width direction of the cleaning and maintenance module 50), and the low end of the inclined top surface 500 of the first movable base 51 can be away from the motion drainage module 60 in the second horizontal direction Y (or the module length direction or the groove width direction of the cleaning and maintenance module 50). In this case, one end (i.e., the upward inclined end) of the first friction component 52 close to the motion drainage module 60 in the second horizontal direction Y (or the module length direction or the groove width direction of the cleaning and maintenance module 50) can be higher than the other end (i.e., the downward inclined end) of the first friction component 52 away from the motion drainage module 60 in the second horizontal direction Y (or the module length direction or the groove width direction of the cleaning and maintenance module 50).

[0210] Exemplarily, in an embodiment of the present application, one end of the first friction component 52 in the second horizontal direction Y can be located in the water supply range of the water supply port 620, and the other end of the first friction component 52 in the second horizontal direction Y away from the water supply port 620 is inclined downward toward the bottom of the sewage groove 120.

[0211] As can be seen above, based on the embodiment of the present application, the clean water output by the clean water nozzle 70 can flow into the water storage tank 62 at the top of the motion drainage module 60, and the clean water in the water storage tank 62 can be poured into the first friction component 52 at the top of the cleaning and maintenance module 50 from the water supply port 620 of the water storage tank 62, and the first friction component 52 gradually tilts downward toward the bottom of the drainage groove 120 in the direction away from the water supply port 620, so as to help the clean water flow through the first friction component 52. Therefore, based on the external arrangement of the clean water nozzle 70 outside the cleaning and maintenance module 50, an open water path can be formed from the motion drainage module 60 through the first friction component 52 to the drainage groove 120, and the open water path can realize the self-cleaning of the cleaning and maintenance module 50 by the base station and reduce the risk of contamination of the clean water nozzle 70, thereby helping to improve the cleaning and maintenance effect of the base station on the floor cleaning components of the cleaning robot.

[0212] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a water storage rib assembly, which may be located in the flow path of the clean water, and the water storage rib assembly may be used to cause hysteresis in the flow of clean water supplied by the base station through the friction cleaning assembly.

[0213] Fig.10 Schematic diagram of the structure of the open waterway of the base station in the embodiment of the present application. Fig.10 In an embodiment of the present application, taking the water storage rib assembly located on the module movable base (for example, the first movable base 51) as an example, the first movable base 51 of the cleaning and maintenance module 50 may also have a first water storage rib 512 deployed on the inclined top surface 500, that is, the water storage rib assembly may include the first water storage rib 512, and the first water storage rib 512 is arranged from the high end of the inclined top surface 500 close to the motion drainage module 60 (for example, the water supply port 620) to the low end, and the first friction assembly 52 can form on the inclined top surface 500 of the first movable base 51: from the high end close to the motion drainage module 60 (for example, the water supply port 620), through the first water storage rib 512 arranged at intervals to the low end. In addition, the first friction assembly 52 avoids the first water storage rib 512 arranged at intervals in the module width direction, and can form a hysteresis flow channel 511 on the inclined top surface 500 of the first movable base 51: from the high end close to the motion drainage module 60 (for example, the water supply port 620), passing through the first water storage rib 512 arranged at intervals to the low end. Thus, the hysteresis flow channel 511 can slow down the flow speed of the clean water on the inclined top surface 500 of the cleaning and maintenance module 50, so that the clean water can be temporarily stored on the inclined top surface 500 of the cleaning and maintenance module 50, thereby improving the self-cleaning efficiency of the clean water on the inclined top surface 500 of the cleaning and maintenance module 50 on the first friction component 52. Furthermore, the clean water nozzle 70 located outside the drainage groove 120 can be used as a supply starting point to form an open water path flowing through the cleaning and maintenance module 50 with the water storage tank 62 at the top of the motion drainage module 60 as a relay node.

[0214] Exemplarily, in an embodiment of the present application, the first friction assembly 52 may include a first cleaning wiper 521 and a first cleaning scraper 522. For example, the first cleaning wiper 521 may include bristles as shown in the illustrated expression in the embodiment of the present application, or other friction structures such as convex points of silicone or plastic materials that can replace bristles. For another example, the first cleaning scraper 522 may be a strip profile such as a rubber or silicone material, and the first cleaning scraper 522 may be suspended and supported on the top surface of the base of the first mobile base 51 using the first elastic support assembly 523. Thus, in the process of repeated interference and friction between the first friction assembly 52 and the floor cleaning component of the cleaning robot parked on the base assembly 10, the first cleaning wiper 521 can cause the dirt attached to the floor cleaning component to separate from the floor cleaning component, and the first cleaning scraper 522 can cause the dirt separated from the floor cleaning component to fall off from the floor cleaning component in the form of sewage.

[0215] Exemplarily, in an embodiment of the present application, the first cleaning wipe plate 521 and the first cleaning strip 522 are continuously deployed between the high end and the low end of the inclined top surface 500 of the first movable base 51, and the first cleaning wipe plate 521 and the first cleaning strip 522 can be separated by the first water storage ribs 512 arranged at intervals on opposite sides of the hysteresis channel 511 in the first horizontal direction X (or the groove length direction or the module width direction of the first friction component 52).

[0216] Exemplarily, in an embodiment of the present application, one end of the drain groove 120 in the first horizontal direction X (or in the length direction of the groove) can be connected to the drain pipe 128 of the base assembly 10, and the drain pipe 128 can be sealed and connected to the sewage recovery port 118 of the base assembly 10, and the sewage recovery port 118 can be connected to a sewage tank not shown in the accompanying drawings.

[0217] Exemplarily, in an embodiment of the present application, the drain pipe 128 can be located at one end of the drain groove 120 close to the first shaft seat 31 in the first horizontal direction X (or the groove length direction). In this case, a drain pipe joint 38 extending along the second horizontal direction Y (or the base length direction) can be passed through the first shaft seat 31, and the drain pipe joint 38 is normally fixedly docked with the drain pipe 128, and the drain pipe 128 can be detachably sealed and docked with the sewage recovery port 118 along the second horizontal direction Y (or the base length direction) through the drain pipe joint 38.

[0218] For example, in the embodiment of the present application, the drainage groove 120 may have a connecting sink 129, which may be lower than the bottom of the drainage groove 120 in the vertical direction Z (or the groove depth direction), and the drainage groove 120 may be connected to the connecting sink 129 and the drainage pipe 128. Thus, the connecting sink 129 may use its low terrain to guide the sewage in the drainage groove 120 to flow into the drainage pipe 128.

[0219] Exemplarily, in an embodiment of the present application, the first movable base 51 may have a first side flange 515 and a second side flange 516 on opposite sides in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50), and the first side flange 515 may be located on one side of the first movable base 51 close to the drain pipe 128 (or the connecting sink 129) in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50), and the second side flange 516 may be located on the other side of the first movable base 51 away from the drain pipe 128 (or the connecting sink 129) in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50), and the first friction assembly 52 may be limited between the first side flange 515 and the second side flange 516.

[0220] Illustratively, in an embodiment of the present application, the spaced first water storage ribs 512 may be located between the first side flange 515 and the second side flange 516 (eg, in a module width direction of the cleaning and maintenance module parallel to the first horizontal direction X).

[0221] Exemplarily, in an embodiment of the present application, the first side flange 515 can be discretely distributed between the opposite ends of the first movable base 51 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) (i.e., continuously deployed between the high end and the low end of the inclined top surface 500), or, it can also be considered that the first movable base 51 has a drainage break arranged alternately with the first side flange 515 between the opposite ends of the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) (i.e., continuously deployed between the high end and the low end of the inclined top surface 500), Furthermore, the length of the drainage cutout between the opposite ends of the first movable base 51 (i.e., continuously disposed between the high end and the low end of the inclined top surface 500) is preferably greater than the length of the flange between the opposite ends of the first movable base 51 (i.e., continuously disposed between the high end and the low end of the inclined top surface 500); the second side flange 516 can be continuously disposed between the opposite ends of the first movable base 51 in the second horizontal direction Y (or the module length direction of the cleaning and maintenance module 50) (i.e., continuously disposed between the high end and the low end of the inclined top surface 500). Thus, the sewage generated by the friction cleaning of the first friction component 52 can flow into the sewage groove 120 only from the side of the cleaning and maintenance component 50 close to the sewage pipe 128 (e.g., through the drainage cutouts described above that are staggered with the first side flange 515), so as to improve the efficiency of sewage being discharged from the sewage groove 120 through the sewage pipe 128.

[0222] For example, in an embodiment of the present application, the first cleaning wiper 521 may be located on one side (e.g., one side close to the first side edge flange 515) of the first movable base 51 in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50) close to the drain pipe 128 (or the connecting sink 129), and the first cleaning scraper 522 may be located on the other side (e.g., the other side close to the second side edge flange 516) of the first movable base 51 in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50) away from the drain pipe 128 (or the connecting sink 129). That is, the first cleaning wiper 521 may be located on one side of the hysteresis flow channel 511 in the first horizontal direction X (or the groove length direction) close to the drain pipe 128, and the first cleaning scraper 522 is located on the other side of the hysteresis flow channel 511 in the first horizontal direction X (or the groove length direction) away from the drain pipe 128. Thus, during the sewage discharge movement of the cleaning and maintenance module 50 toward the sewage discharge pipe 128, the dirt attached to the floor cleaning component can be separated from the floor cleaning component by the interference friction (i.e., wet friction) of the first cleaning wiper 521, and then scraped off by the first cleaning scraper 522 in a separated state. Therefore, the sewage generated during the sewage discharge movement of the cleaning and maintenance module 50 toward the sewage discharge pipe 128 has a higher dirt content. Furthermore, the cleaning and sewage discharge efficiency of the first friction component 52 during the sewage discharge movement of the cleaning and maintenance module 50 toward the sewage discharge pipe 128 can be higher than that during the return movement process away from the sewage discharge pipe 128.

[0223] For example, in the embodiment of the present application, the first cleaning wipe plate 521 can be detachably clamped between the first side flange 515 and the first water storage barrier rib 512, and the first cleaning scraper 522 can be detachably clamped between the second side flange 516 and the first water storage barrier rib 512. Thus, any one of the first cleaning wipe plate 521 and the first cleaning scraper 522 in the first friction assembly 52 can be easily disassembled and replaced.

[0224] Exemplarily, in an embodiment of the present application, the first cleaning scraper 522 can also be suspended and supported by a first elastic support assembly 523 arranged between the second side flange 516 and the first water storage barrier rib 512, and the maximum height of the suspended first cleaning scraper 522 is higher than the first cleaning wiper plate 521.

[0225] Fig.11 Schematic diagram of a self-cleaning example of the cleaning and maintenance module of the base station in the embodiment of the present application. Fig.11In each reciprocating cycle of the reciprocating movement of the cleaning and maintenance module 50 driven by the motion drainage module 60, it includes the sewage discharge movement process of the cleaning and maintenance module 50 driven by the motion drainage module 60 toward the sewage pipe 128, and the return movement process of the cleaning and maintenance module 50 driven by the motion drainage module 60 away from the sewage pipe 128.

[0226] For example, in the embodiment of the present application, during the sewage movement process, the clean water flowing from the water storage tank 62 of the motion drainage module 60 through the water supply port 620 into the hysteresis flow channel 511 can clean the first cleaning scraper 522, thereby achieving self-cleaning of the first cleaning scraper 522. Moreover, during the sewage movement process, the clean water flowing from the water storage tank 62 of the motion drainage module 60 through the water supply port 620 into the hysteresis flow channel 511 can also be accumulated at the first water storage retaining rib 512. Among them, clean water accumulates at the first water storage barrier 512, which means that the clean water accumulation at the first water storage barrier 512 reaches or approaches the saturated water volume that the first water storage barrier 512 can accumulate, and while the clean water accumulates at the first water storage barrier 512, the clean water is also allowed to slowly leak from the first water storage barrier 512 to the first cleaning wipe plate 521, and finally flows into the sewage groove 120 from the side of the cleaning and maintenance module 50 close to the sewage pipe 128 through the drainage fractures described above that are staggered with the first side flange 515.

[0227] For example, in an embodiment of the present application, at the turning switching node from the sewage discharge movement process to the return movement process, the motion drainage module 60 drives the cleaning maintenance module 50 to switch the movement direction. At this time, the clean water accumulated at the first water storage barrier 512 (or the sewage generated by the clean water cleaning the first cleaning scraper 522) can surge toward the first cleaning wiper 521 under the action of inertia, and the surge can produce a strong flushing on the first cleaning wiper 521, thereby achieving self-cleaning of the first cleaning wiper 521. Moreover, the surging sewage for self-cleaning the first cleaning wiper 521 can directly flow into the area of ​​the sewage discharge groove 120 near the sewage discharge pipe 128 (for example, the connecting sink 129), thereby improving the sewage discharge efficiency of the surging sewage for self-cleaning the first cleaning wiper 521.

[0228] Exemplarily, in the embodiment of the present application, the cleaning and maintenance module 50 may further include a first tank bottom cleaning member 58 . For example, the first tank bottom cleaning member 58 may include a sheet of a flexible material such as rubber.

[0229] Exemplarily, in an embodiment of the present application, a first bottom cleaning assembly 58 can be fixedly installed on the bottom side of the first movable base 51 in the module height direction (corresponding to the vertical direction Z), and the first bottom cleaning assembly 58 can extend below the bottom surface of the first movable base 51, and the first bottom cleaning assembly 58 is used to interfere with the bottom of the sewage discharge groove 120 when the first movable base 51 is suspended above the bottom of the sewage discharge groove 120.

[0230] For example, in the embodiment of the present application, the first bottom cleaning member 58 can be fixed to the first movable base 51 at the bottom of opposite sides or one side in the first horizontal direction X (or the groove length direction or the module width direction of the cleaning and maintenance module 50) by the first mounting side frame 580, and the first bottom cleaning member 58 can interfere with the drainage groove 120. Thus, sewage flowing from the cleaning and maintenance component 50 into the drainage groove 120 (for example, only flowing into the drainage groove 120 from the side of the cleaning and maintenance component 50 close to the drainage pipe 128 (or the connecting sink 129)) can be gathered by the first bottom cleaning member 58 to one end of the drainage groove 120 connected to the drainage pipe 128 in the first horizontal direction X (or the groove length direction) during the drainage movement of the cleaning and maintenance module 50 toward the drainage pipe 128 (for example, the connecting sink 129), and quickly discharged from the drainage pipe 128.

[0231] For example, in the embodiment of the present application, a detachable filter assembly 80 (such as a filter net) may be installed at the connection point between the drainage groove 120 of the base assembly 10 and the drainage pipe 128 (such as in the connection sink 129). Thus, the dirt remaining after the cleaning robot is cleaned and maintained in the parking area of ​​the base assembly 10 can be collected in the filter assembly 80 in the sewage tank 120, and the cleaning and maintenance of the base station (especially the cleaning and maintenance of the parking area) can be achieved by regularly disassembling and cleaning the filter assembly 80.

[0232] Illustratively, in the embodiment of the present application, the dirt retained by the cleaning robot in the parking area of ​​the base assembly 10 may also be stored in other locations other than the filter assembly 80 in the parking area provided by the base base 12. Therefore, in order to facilitate the cleaning and maintenance of the base station in the parking area, the base assembly 10 in the embodiment of the present application may be detachable.

[0233] Fig.12 It is a schematic diagram of the base station in the embodiment of the present application in the disassembled state. Fig.13 Schematic diagram of the assembled state of the base of the base station in the embodiment of the present application. Fig.12 and Fig.13In the embodiment of the present application, the base pedestal 12 can be spliced ​​and assembled with the base frame 11 along the second horizontal direction Y (or the base length direction), and the base pedestal 12 having the drainage groove 120 is detachable from the base frame 11. That is, the base pedestal 12 can be detachably spliced ​​and assembled with the base frame 11 along the second horizontal direction Y (or the base length direction). Therefore, by detaching the base pedestal 12 from the base frame 11, the base pedestal 12 in the provided parking area can be cleaned and maintained separately.

[0234] Illustratively, in an embodiment of the present application, the base pedestal 12 may be provided with a locking assembly 125 , and the locking assembly 125 is used to produce a releasable splicing lock on the spliced ​​and assembled base pedestal 12 and base frame 11 .

[0235] Exemplarily, in an embodiment of the present application, the base frame 11 may include a main frame 110 and a pair of side frames 113, the driving assembly 20 may be installed on the main frame 110, the pair of side frames 113 are connected to opposite ends of the main frame 110 in a first horizontal direction X, the pair of side frames 113 protrude and extend from the main frame 110 along a second horizontal direction Y (or the length direction of the base), and the frame walls of the pair of side frames 113 have locking slots 115. In this case, the locking components 125 can be installed in pairs on opposite sides of the base pedestal 12 in the first horizontal direction X (or the base width direction), and when the base pedestal 12 is inserted between a pair of side frames 113 of the base frame 11 along the second horizontal direction Y (or the base length direction), the pair of side frames 113 form a limiting fit on the base pedestal 12 in the first horizontal direction X (or the base width direction) and the vertical direction (or the base height direction), and the locking components 125 and the locking slots 115 can form a releasable snap-fit ​​fit in the second horizontal direction Y (or the base length direction), and the snap-fit ​​fit can be used to produce a releasable splicing lock on the spliced ​​and assembled base pedestal 12 and the base frame 11.

[0236] Exemplarily, in an embodiment of the present application, the locking assembly 125 may include a buckle for snapping together with the locking slot 115, and an operating button for connecting the buckle, and the operating button may be exposed on opposite sides of the base 12 in the first horizontal direction X (or the base width direction), so that by unlocking the operating button, the snap-fitting between the connecting buckle and the locking slot 115 can be released, that is, the splicing lock of the base 12 and the base frame 11 by the locking assembly 125 can be released.

[0237] Exemplarily, in an embodiment of the present application, the base frame 11 (for example, the main frame 110) may include a limiting rib 111, which may extend along a first horizontal direction X (or a base width direction), and the limiting rib 111 is arranged side by side with the driving assembly 20 in a second horizontal direction Y (or a base length direction), and the driving assembly 20 may be located on the side of the limiting rib 111 that is away from a pair of side frames 113 in the second horizontal direction Y (or a base length direction). Thus, when the base pedestal 12 is inserted between a pair of side frames 113 of the base frame 11 along the second horizontal direction Y (or the length direction of the base): the base pedestal 12 can be limited and matched with the limiting rib 111 in the second horizontal direction Y (or the length direction of the base), and the limiting cooperation is used to lock and position the splicing lock of the locking assembly 125, that is, the relative position relationship between the base pedestal 12 and the base frame 11 in the second horizontal direction Y (or the length direction of the base) is positioned to prompt the locking assembly 125 to engage with the locking slot 115; and the base pedestal 12 can be limited and blocked by the limiting rib 111 in the second horizontal direction Y (or the length direction of the base) to be separated from the driving assembly 20.

[0238] For example, in an embodiment of the present application, the driving assembly 20 including the driving slider 23 can be installed on the base frame 11, the cleaning and maintenance module 50 can be located in the drainage groove 120 of the base platform 12, and the motion drainage module 60 connected to the cleaning and maintenance module 50 can be installed on the base platform 12 using the guide assembly 30. In this case, the motion drainage module 60 and the driving slider 23 will be separated as the base platform 12 and the base frame 11 are disassembled, and will be docked as the base platform 12 and the base frame 11 are spliced ​​and assembled. Among them, when the base pedestal 12 is detachably spliced ​​and installed on the base frame 11 along the second horizontal direction Y (or the length direction of the base), as described above, the plug-in boss 63 of the motion drainage module 60 can be inserted into the driving slider 23 (for example, the plug-in base 230) along the second horizontal direction Y, so that the motion drainage module 60 and the driving slider 23 can be docked, and then the cleaning and maintenance module 50 can be docked with the driving slider 23 through the motion drainage module 60; when the base pedestal 12 and the base frame 11 are disassembled, the motion drainage module 60 is separated from the driving slider 23, so that the motion drainage module 60 is separated from the drive of the driving slider 23.

[0239] Illustratively, in an embodiment of the present application, the clean water nozzle 70 can be fixedly mounted on the driving slider 23 of the driving assembly 20, and there is no closed pipeline docking between the clean water nozzle 70 and the cleaning and maintenance module 50 and the motion drainage module 60. Therefore, the disassembly and splicing assembly of the base base 12 and the base frame 11 has no effect on the clean water nozzle 70.

[0240] For example, in an embodiment of the present application, the drain pipe 128 may be fixed to the base pedestal 12, that is, the drain groove 120 may be connected to the drain pipe 128 fixed to the base pedestal 12, and the base frame 11 further has a sewage recovery port 118, that is, the sewage recovery port 118 may be located at the base frame 11. In this case, when the base pedestal 12 is detachably mounted on the base frame 11 along the second horizontal direction Y (or the base length direction), the drain pipe 128 is detachably sealed and docked with the sewage recovery port 118 along the second horizontal direction Y (for example, through the drain pipe joint 38).

[0241] Illustratively, in an embodiment of the present application, since the disassembly and splicing assembly of the base susceptor 12 and the base frame 11 has no effect on the clean water nozzle 70, during the splicing and assembly process of the base susceptor 12 and the base frame 11, more attention can be paid to the docking accuracy between the sewage pipe 128 (for example, through the sewage pipe joint 38) and the sewage recovery port 118, so as to avoid sealing failure due to docking deviation, thereby avoiding sewage leakage.

[0242] For example, in the embodiment of the present application, the limiting rib plate 111 may be provided with positioning holes 112 (for example, at least two positioning holes 112), and the base pedestal 12 may have positioning posts 122 corresponding to the positioning holes 112 at the side edge in the second horizontal direction Y (or the length direction of the base) (for example, the outer side of the groove wall of the sewage groove 120). Thus, when the base pedestal 12 is inserted between a pair of side frames 113 of the base frame 11 along the second horizontal direction Y (or the length direction of the base): the positioning posts 122 are inserted into the positioning holes 112, so as to utilize the plug-in cooperation between the positioning posts 122 and the positioning holes 112 to provide docking positioning for the detachable sealed docking of the sewage pipe 128 (for example, through the sewage pipe joint 38) and the sewage recovery port 118.

[0243] It is understandable that the embodiment of the present application sets the base assembly 10 to be detachable only to facilitate the cleaning and maintenance of the base assembly 10, and is not a necessary condition for improving the cleaning and maintenance effect of the base station on the floor cleaning parts of the cleaning robot. That is, the base assembly 10 in the embodiment of the present application can also adopt an integrated structure in which the base frame 11 and the base base 12 are integrated.

[0244] For example, in the embodiment of the present application, the structure of the cleaning and maintenance module 50 may not be limited to the structure described above.

[0245] Fig.14 This is a schematic diagram of the assembly structure of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.15 It is a schematic diagram of the top surface structure of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.16This is a schematic diagram of the bottom structure of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.16 It is a side structural diagram of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.17 This is a schematic diagram of the end structure of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.18 This is a schematic diagram of the decomposed structure of another cleaning and maintenance module of the base station in an embodiment of the present application. Fig.19 This is a schematic diagram of a semi-assembled structure of another cleaning and maintenance module of a base station in an embodiment of the present application. Figures 14 to 19 In an embodiment of the present application, the module movable base of the cleaning and maintenance module 50 may include a second movable base 55 to replace the first movable base 51 described above, the friction cleaning assembly of the cleaning and maintenance module 50 may include a second friction assembly 56 to replace the first friction assembly 52 described above, the water storage rib assembly of the cleaning and maintenance module 50 may include a second water storage rib 565 to replace the first water storage rib 512 described above, and the water storage rib assembly of the cleaning and maintenance module 50 (i.e., the second water storage rib 565) may be located in the second friction assembly 56.

[0246] Fig. 20 This is a schematic diagram of a local structure when a base station in an embodiment of the present application uses another cleaning and maintenance module. Fig. 20 Only the base base 12 of the base assembly 10 is shown. Fig. 20 In an embodiment of the present application, the motion drainage module 60 (eg, the slider body assembly 61 ) may be fixedly connected to the second movable base 55 , thereby achieving a fixed connection with the cleaning and maintenance module 50 .

[0247] Exemplarily, in the embodiment of the present application, the second movable base 55 is used to be movably accommodated in the sewage discharge groove 120 .

[0248] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a base suspension wheel group 53, the second mobile base 55 may be equipped with a base suspension wheel group 53, and the second mobile base 55 may utilize the base suspension wheel group 53 to roll with the bottom and / or wall of the sewage groove 120 to achieve movable installation in the sewage groove 120.

[0249] Exemplarily, in an embodiment of the present application, the base suspension wheel group 53 is used to movably mount the second mobile base 55 in the sewage discharge groove 120 of the base station, and the base suspension wheel group 53 is also used to suspend the second mobile base 55 in the sewage discharge groove 120 above the bottom of the sewage discharge groove 120.

[0250] Illustratively, in an embodiment of the present application, the base suspension wheel set 53 may include the support wheel 531 and the guide wheel 532 described above, which will not be described in detail here.

[0251] Exemplarily, in an embodiment of the present application, the motion drainage module 60 (such as the slider body assembly 61) can be fixedly connected to one end of the second movable base 55 in the second horizontal direction Y (or the module length direction or groove width direction of the cleaning and maintenance module 50).

[0252] For example, in the embodiment of the present application, the second mobile base 55 can be detachably fixedly connected to the motion drainage module 60 (e.g., the slider body assembly 61) by screwing the lock rod 67. Thus, the cleaning and maintenance module 50 can be easily replaced after disassembly or cleaned separately when separated from the base station.

[0253] Exemplarily, in an embodiment of the present application, the second movable base 55 of the cleaning and maintenance module 50 may have a base end boss 57, and the base end boss 57 is located below the motion drainage module 60 (for example, the slider body assembly 61), and the screwing lock rod 67 passes through the motion drainage module 60 (for example, the slider body assembly 61) and the base end boss 57 of the first movable base 51, and the operating space of the screwing lock rod 67 is located at the top of the motion drainage module 60 (for example, the slider body assembly 61), and the screwing lock rod 67 is used to form an anti-detachment lock or release the anti-detachment lock on the motion drainage module 60 and the base end boss 57 in response to the screwing operation occurring in the operating space.

[0254] For example, in the embodiment of the present application, the specific structure of the base end boss 57 and the installation method of the screw lock rod 67 on the base end boss 57 can refer to the previous description and will not be repeated here.

[0255] Please look back Figures 14 to 19 In an embodiment of the present application, the second friction component 56 can be arranged obliquely above the top surface of the second movable base 55 in the module thickness direction (corresponding to the vertical direction Z), and the opposite ends of the second friction component 56 in the module length direction Y (corresponding to the second horizontal direction Y) can be an upward inclined end and a downward inclined end having a height difference in the module thickness direction (corresponding to the vertical direction Z) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the sewage discharge groove 120, respectively. The upward inclined end of the second friction component 56 is used to receive clean water supplied by the base station, and the clean water is used to flow through the second friction component 56 from the upward inclined end to the downward inclined end of the second friction component 56.

[0256] Exemplarily, in an embodiment of the present application, the second movable base 55 may have an inclined top surface 500, and the opposite ends of the inclined top surface 500 of the second movable base 55 in the module length direction (corresponding to the second horizontal direction Y) are respectively a high end and a low end having a height difference in the module thickness direction (corresponding to the vertical direction Z) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the sewage discharge groove 120.

[0257] Illustratively, in the embodiment of the present application, the second friction assembly 56 may be mounted on the inclined top surface 500 of the second moving base 55 , and the second friction assembly 56 may cover the inclined top surface 500 .

[0258] Fig.21 This is a schematic diagram of the structure of the open water channel when the base station in the embodiment of the present application uses another cleaning and maintenance module. Fig.21 In the embodiment of the present application, the second water storage rib 565 may be located in the second friction assembly 56, and the second water storage rib 565 is arranged at intervals from the upper inclined end of the second friction assembly 56 close to the motion drainage module 60 (for example, the water supply port 620) to the lower inclined end, and the second friction assembly 56 may have: from the upper inclined end close to the motion drainage module 60 (for example, the water supply port 620), through the second water storage rib 565 arranged at intervals to the lower inclined end, the clean water open flow area. Thus, the water open flow area can slow down the flow speed of the clean water in the inclined second friction assembly 56, so that the clean water can be temporarily stored in the second friction assembly 56, and then the self-cleaning efficiency of the clean water on the second friction assembly 56 can be improved. Furthermore, the clean water nozzle 70 located outside the sewage groove 120 can be used as the supply starting point to form an open water path that flows through the cleaning and maintenance module 50 with the water storage tank 62 at the top of the motion drainage module 60 as the relay node.

[0259] Fig. 22 FIG. 1 is a schematic diagram of another clamping structure of a cleaning and maintenance module of a base station in an embodiment of the present application. Fig. 22 In an embodiment of the present application, the second friction assembly 56 may include a second cleaning wiper 561 , and the second cleaning wiper 561 may be tiltedly mounted on the second movable base 55 with the tilted top surface 500 as a positioning reference surface.

[0260] Illustratively, in an embodiment of the present application, the second cleaning wipe plate 561 is continuously disposed between the upwardly inclined end and the downwardly inclined end of the second friction assembly 56 , and the second cleaning wipe plate 561 may cover the inclined top surface 500 of the second movable base 55 .

[0261] Illustratively, in an embodiment of the present application, the second cleaning wipe plate 561 may have a wipe plate buckle 568, the inclined top surface 500 of the second movable base 55 has a base slot 558, and the second cleaning wipe plate 561 utilizes the snap-fitting cooperation between the wipe plate buckle 568 and the base slot 558 to achieve an inclined installation on the second movable base 55 with the inclined top surface 500 of the second movable base 55 as a positioning reference plane.

[0262] For example, in an embodiment of the present application, the second water storage retaining ribs 565 may be arranged on the second cleaning wipe plate 561 at intervals between the upwardly inclined end and the downwardly inclined end of the second friction assembly 56 .

[0263] Illustratively, in an embodiment of the present application, the second cleaning wipe board 561 may have wipe board protrusions 5611 , and the second water storage retaining ribs 565 are disposed between adjacent wipe board protrusions 5611 .

[0264] Illustratively, in the embodiment of the present application, the protrusion height of the second water storage retaining rib 565 on the second cleaning wipe plate 561 may be lower than the protrusion height of the wipe plate protrusion 5611 on the second cleaning wipe plate 561 .

[0265] For example, in the embodiment of the present application, the second friction assembly 56 may further include a second cleaning strip 562 , and the second cleaning strip 562 is continuously disposed between the upwardly inclined end and the downwardly inclined end of the second friction assembly 56 .

[0266] For example, in the embodiment of the present application, the second cleaning scraper bar 562 may be close to one side of the second cleaning wiper plate 561 in the module width direction (corresponding to the first horizontal direction X). For example, preferably, the second cleaning scraper bar 562 may be located on one side of the second movable base 55 away from the drain pipe 128 (or the connecting sink 129) in the module width direction (the first horizontal direction X or the groove length direction).

[0267] Fig.23 2 is a cross-sectional view of another cleaning and maintenance module of a base station in an embodiment of the present application. Fig.23 In an embodiment of the present application, the second movable base 55 may further have a lateral sinker 556, which may be located outside the side of the inclined top surface 500 in the module width direction (corresponding to the first horizontal direction X), and the height of the lateral sinker 556 in the module height direction (corresponding to the vertical direction Z) is lower than the inclined top surface 500 of the second movable base 55, and the lateral sinker 556 may not be inclined like the inclined top surface 500 (that is, not parallel to the inclined top surface and perpendicular to the module thickness direction), and the second cleaning scraper 562 may be installed on the second movable base 55 at an angle with the lateral sinker 556 as a positioning reference plane.

[0268] Exemplarily, in an embodiment of the present application, the second cleaning scraper 562 is arranged on one side of the inclined top surface 500 of the second movable base 55 in the module width direction (corresponding to the first horizontal direction X), and is obliquely suspended and supported above the inclined top surface 500 of the second movable base 55 by the second elastic support component 564 of the lateral sinker 556 on the side.

[0269] Illustratively, in the embodiment of the present application, the second friction assembly 56 may further include a third cleaning strip 563 , and the third cleaning strip 563 is discretely distributed between the upwardly inclined end and the downwardly inclined end of the second friction assembly 56 .

[0270] Exemplarily, in an embodiment of the present application, the second cleaning scraper bar 562 and the third cleaning scraper bar 563 may be respectively close to opposite sides of the second cleaning wiper plate 561 in the module width direction (corresponding to the first horizontal direction X). For example, preferably, the second cleaning scraper bar 562 may be located on one side of the second movable base 55 away from the drain pipe 128 (or the connecting sink 129) in the module width direction (the first horizontal direction X or the groove length direction), and the third cleaning scraper bar 563 may be located on the other side of the second movable base 55 close to the drain pipe 128 (or the connecting sink 129) in the module width direction (the first horizontal direction X or the groove length direction).

[0271] Illustratively, in an embodiment of the present application, the lateral sinkers 556 can be arranged in pairs outside the side edges of the inclined top surface 500 of the second movable base 55 on opposite sides in the module width direction (corresponding to the first horizontal direction X), and the second cleaning scraper 562 and the third cleaning scraper 563 can be installed on the second movable base 55 at an angle with the lateral sinkers 556 on opposite sides as positioning reference surfaces.

[0272] Exemplarily, in an embodiment of the present application, the second cleaning scraper 562 and the third cleaning scraper 563 can be supported in an oblique suspension above the inclined top surface 500 by the second elastic support components 564 of the lateral sinkers 556 respectively arranged on the corresponding sides, in addition to the opposite sides of the inclined top surface 500 of the second movable base 55 in the module width direction (corresponding to the first horizontal direction X).

[0273] For example, in the embodiment of the present application, the top edge heights of the second cleaning scraper bar 562 and the third cleaning scraper bar 563 supported in suspension may be higher than the top point height of the wiper plate protrusion 5611 .

[0274] For example, in an embodiment of the present application, the second elastic support assembly 564 may include a support strip and a plurality of springs arranged at intervals along the extension direction of the support strip, wherein the heights of the plurality of springs may vary monotonically in the arrangement direction (i.e., the extension direction of the support strip). Thus, when the support strip is fixed to the lateral sink 556 perpendicular to the thickness direction of the module (corresponding to the vertical direction Z) by means such as welding, a fixed connection using screw connection, or a clamping connection, the plurality of springs with monotonically varying heights may form an inclined suspension support for the second cleaning strip 562 or the third cleaning strip 563.

[0275] For example, in the embodiment of the present application, the wiper side edge regions on the opposite sides of the second cleaning wiper 561 in the module width direction (corresponding to the first horizontal direction X) can also extend out of the side edges of the inclined top surface 500 of the second movable base 55 in the module width direction (corresponding to the first horizontal direction X) on both sides, and are respectively suspended above the lateral sinking platforms 556 on both sides. In this case, the second cleaning wiper 561 can also have side skirts 566 extending downward from the wiper side edge regions on both sides, and the side skirts 566 on both sides can be respectively located on the outside of the second elastic support components 564 arranged on the lateral sinking platforms 556 on the corresponding sides in the module width direction (corresponding to the first horizontal direction X). Therefore, the second elastic support components 564 arranged on the lateral sinking platforms 556 can be shielded and protected by the side skirts 566 of the second cleaning wiper 561.

[0276] Exemplarily, in an embodiment of the present application, if the wiper side area of ​​the second cleaning wiper 561 is suspended above the lateral sinkers 556 on both sides, the second cleaning wiper 561 may also have a wiper insertion slit 5612 and a wiper break slit 5613, the wiper insertion slit 5612 extends continuously between the inclined end and the downward inclined end of the second friction component 56, the wiper break slit 5613 is discretely distributed between the inclined end and the downward inclined end of the second friction component 56, the wiper insertion slit 5612 and the wiper break slit 5613 are respectively deployed on the wiper edge areas on opposite sides of the second cleaning wiper 561 in the module width direction (corresponding to the first horizontal direction X), and the wiper insertion slit 5612 and the wiper break slit 5613 are located on the inner side of the side skirt 566 on the corresponding side in the module width direction (corresponding to the first horizontal direction X). Thus, the second cleaning scraper bar 562 can be supported in a slanted suspension manner based on the second elastic support component 564 on the corresponding side, and can extend through the wiper plate insertion slot 5612 to be above the slanted top surface 500 of the second movable base 55 and above the second cleaning wiper plate 561. Similarly, the third cleaning scraper bar 563 can be supported in a slanted suspension manner based on the second elastic support component 564 on the corresponding side, and can extend through the wiper plate slit 5613 to be above the slanted top surface 500 of the second movable base 55 and above the second cleaning wiper plate 561.

[0277] Fig.24 Schematic diagram of another self-cleaning example of a cleaning and maintenance module of a base station in an embodiment of the present application. Fig.24 In each reciprocating cycle of the reciprocating movement of the cleaning and maintenance module 50 driven by the motion drainage module 60, it includes the sewage discharge movement process of the cleaning and maintenance module 50 driven by the motion drainage module 60 toward the sewage pipe 128, and the return movement process of the cleaning and maintenance module 50 driven by the motion drainage module 60 away from the sewage pipe 128.

[0278] Illustratively, in an embodiment of the present application, during the sewage discharge movement process, clean water flowing from the water storage tank 62 of the motion drainage module 60 into the second friction assembly 56 through the water supply port 620 can clean the second cleaning wiper 561, the second cleaning scraper 562 and the third cleaning scraper 563, thereby achieving self-cleaning of the second friction assembly 56.

[0279] Exemplarily, in an embodiment of the present application, during the sewage discharge movement process, the clean water flowing into the second friction assembly 56 from the water storage tank 62 of the motion drainage module 60 through the water supply port 620 can also be accumulated at the second water storage barrier 565 (that is, the clean water accumulation at the second water storage barrier 565 reaches or approaches the saturated water volume that the second water storage barrier 565 can accumulate), and while the clean water accumulates at the second water storage barrier 565, the clean water is also allowed to flow into the sewage discharge groove 120 from the side of the cleaning and maintenance module 50 close to the sewage pipe 128 through the drainage breaks between the discretely distributed third cleaning scrapers 563 (or the open area retained when the third cleaning scraper 563 is not set).

[0280] For example, in an embodiment of the present application, at the turning switching node from the sewage discharge movement process to the return movement process, the motion drainage module 60 drives the cleaning and maintenance module 50 to switch the movement direction. At this time, the clean water accumulated at the second water storage retaining rib 565 (or the sewage generated by the clean water cleaning the second friction component 56) can be discharged from the side of the cleaning and maintenance module 50 close to the sewage pipe 128 under the action of inertia, and the surge discharge can produce a strong flushing on the second cleaning wiper 561, thereby achieving secondary self-cleaning of the second cleaning wiper 561. Moreover, the sewage discharged in a surge from the side of the cleaning and maintenance module 50 close to the sewage pipe 128 can directly flow into the area of ​​the sewage discharge groove 120 close to the sewage pipe 128 (for example, the connecting sink 129), thereby improving the sewage discharge efficiency of the surge sewage for self-cleaning of the first cleaning wiper 521.

[0281] Illustratively, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a second bottom cleaning component 59 . For example, the second bottom cleaning component 59 may include a sheet of a flexible material such as rubber.

[0282] Exemplarily, in an embodiment of the present application, the second friction assembly 56 may also be mounted with a second bottom cleaning assembly 59, which may extend below the bottom surface of the second movable base 55, and the second bottom cleaning assembly 59 may be used to interfere with the bottom of the sewage discharge groove 120 when the second movable base 55 is suspended above the bottom of the sewage discharge groove 120.

[0283] Illustratively, in an embodiment of the present application, the second bottom cleaning assembly 59 may be mounted on the side skirt 566 of the second cleaning wipe plate 561 of the second friction assembly 56 .

[0284] Exemplarily, in an embodiment of the present application, the side skirt 566 of the second cleaning wipe plate 561 of the second friction assembly 56 can be drooped to the lateral sinking platform 556, and the side skirt 566 can also have a skirt side wing 567 protruding to the outside of the lateral sinking platform 556 in the module width direction (corresponding to the first horizontal direction X), and the second bottom cleaning assembly 59 is fixedly installed below the skirt side wing 567.

[0285] Exemplarily, in an embodiment of the present application, the second bottom cleaning assembly 59 can be fixedly mounted below the skirt board side wing 567 using a second mounting side frame 590, and the second mounting side frame 590 can be fixedly connected to the skirt board side wing 567 using a mounting screw assembly 595 passing through the second bottom cleaning assembly 59.

[0286] As can be seen above, the cleaning and maintenance module 50 in the embodiment of the present application may include a module moving base (e.g., a first moving base 51 or a second moving base 55) and a friction cleaning component (e.g., a first friction component 52 or a second friction component 56). The module moving base is used to reciprocate in the drainage groove 120 of the base station, and the friction cleaning component may be installed on the top of the module moving base (i.e., the top of the cleaning and maintenance module 50). Thus, in the embodiment of the present application, a friction cleaning component (e.g., a first friction component 52 or a second friction component 56) may be installed on the top of the cleaning and maintenance module 50, and the module moving base drives the cleaning and maintenance module 50 to reciprocate as a whole in the drainage groove 120 parallel to the first horizontal direction, so that: the friction cleaning component repeatedly interferes with the floor cleaning component of the cleaning robot parked on the base assembly 10, thereby causing the dirt attached to the floor cleaning component to separate from the floor cleaning component and fall off, and to mix with clean water to become sewage and flow into the drainage groove 120.

[0287] Exemplarily, in an embodiment of the present application, the clean water injected by the clean water nozzle 70 into the water storage tank 62 of the motion drainage module 60 can be supplied to the cleaning maintenance module 50 through the water supply port 620. Therefore, the interference friction between the friction cleaning component and the floor cleaning component of the cleaning robot stationed on the base assembly 10 can be wet friction.

[0288] In order to enable the cleaning and maintenance module 50 to have a self-cleaning function, the friction cleaning component (for example, the first friction component 52 or the second friction component 56) can be arranged obliquely above the top surface of the module movable base (for example, the first movable base 51 or the second movable base 55) in the module thickness direction (corresponding to the vertical direction Z), so that the opposite ends of the friction cleaning component in the module length direction (corresponding to the second horizontal direction Y) are respectively: an upward inclined end and a downward inclined end with a height difference in the module thickness direction (corresponding to the vertical direction Z) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the sewage discharge groove 120.

[0289] Exemplarily, in an embodiment of the present application, the upward inclined end of the friction cleaning assembly of the cleaning and maintenance module 50 can be used to receive clean water supplied by the base station (for example, from the clean water nozzle 70 and supplied through the motion drainage module 60), and the clean water is used to flow through the friction cleaning assembly from the upward inclined end to the downward inclined end of the friction cleaning assembly of the cleaning and maintenance module 50.

[0290] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 of the base station may further include a water storage rib assembly (for example, a first water storage rib 512 or a second water storage rib 565), the water storage rib assembly may be located in the flow path of the clean water, and the water storage rib assembly may be used to cause hysteresis in the flow of clean water supplied by the base station through the friction cleaning assembly.

[0291] Based on the embodiment of the present application, the dirt stored in various parts of the friction cleaning assembly of the cleaning and maintenance module 50 can be fully dissolved or mixed into the clean water with hysteresis flow, and the sewage after the clean water is dissolved or mixed into the dirt can be discharged laterally into the sewage discharge groove 120 of the base station during the reciprocating movement of the friction cleaning assembly with the cleaning and maintenance module 50, for example, discharged into the sewage discharge groove of the base station by inertia at the turning moment of the reciprocating movement, thereby, the self-cleaning ability of the cleaning and maintenance module 50 can be improved by the clean water supply of the base station. Furthermore, the self-cleaning of the cleaning and maintenance module 50 based on the hysteresis flow of clean water can help improve the cleaning and maintenance effect of the base station on the floor cleaning components of the cleaning robot.

[0292] Exemplarily, in an embodiment of the present application, the top surface of the module movable base (e.g., the first movable base 51 or the second movable base 55) of the cleaning and maintenance module 50 can be an inclined top surface 500, and the friction cleaning component (e.g., the first friction component 52 or the second friction component 56) can be obliquely installed on the module movable base based on the inclined support of the inclined top surface; wherein, the opposite ends of the inclined top surface of the module movable base in the module length direction (corresponding to the second horizontal direction Y) can be a high end and a low end having a height difference in the module thickness direction (corresponding to the vertical direction Z) or in the gravity direction when the cleaning and maintenance module 50 is accommodated in the sewage discharge groove 120; the upward inclined end of the friction cleaning component is located above the high end of the inclined top surface of the module movable base, and the downward inclined end of the friction cleaning component is located above the low end of the inclined top surface of the module movable base.

[0293] Exemplarily, in an embodiment of the present application, the friction cleaning assembly of the cleaning and maintenance module 50 may include a cleaning wiper and a cleaning strip; wherein the cleaning wiper may be fixedly mounted on the top surface (e.g., an inclined top surface) of the module movable base, and the cleaning strip may be floatingly mounted on the top surface (e.g., an inclined top surface) of the module movable base or floatingly mounted at other positions of the module movable base.

[0294] Exemplarily, in an embodiment of the present application, the water storage rib assembly (e.g., the first water storage rib 512) of the cleaning and maintenance module 50 can be located on the top surface (e.g., the inclined top surface 500) of the module movable base, or, the water storage rib assembly (e.g., the second water storage rib 565) of the cleaning and maintenance module 50 can also be located in the friction cleaning assembly (e.g., the second friction assembly 56), and can be specifically located on the cleaning wipe plate (e.g., the second cleaning wipe plate 561) of the friction cleaning assembly.

[0295] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a base suspension wheel group 53, which may be used to movably mount the module mobile base (e.g., the first mobile base 51 or the second mobile base 55) in the drainage groove 120 of the base station, and the base suspension wheel group 53 may also be used to suspend the module mobile base (e.g., the first mobile base 51 or the second mobile base 55) in the drainage groove 120 above the bottom of the drainage groove 120.

[0296] Exemplarily, in an embodiment of the present application, the cleaning and maintenance module 50 may further include a bottom cleaning component, which is fixedly mounted on a module movable base or a friction cleaning component, and the bottom cleaning component extends below the bottom surface of the module movable base in the module thickness direction (corresponding to the vertical direction Z), and when the bottom cleaning component is suspended above the bottom of the sewage discharge groove 120 by the module movable base, it interferes with the bottom of the sewage discharge groove 120.

[0297] For example, in an embodiment of the present application, the module movable base of the cleaning and maintenance module 50 has a base end boss at one end in the module length direction (corresponding to the second horizontal direction Y), and the base end boss is used to fix the module movable base with the motion drainage module 60 of the base station. As described above, the motion drainage module 60 is used to drive the module movable base to reciprocate in the sewage discharge groove 120, and the clean water supplied by the clean water nozzle 70 can come from the motion drainage module 60, and the upward inclined end of the friction cleaning assembly is close to the base end boss in the module length direction (corresponding to the second horizontal direction Y). For example, the base end boss can be detachably fixedly connected to the motion drainage module 60 by screwing the locking rod.

[0298] In another embodiment of the present application, a cleaning system is provided, including a cleaning robot and a base station as described in the above embodiment. The cleaning robot may have a floor cleaning component, and when the cleaning robot is parked on the base assembly 10 (e.g., the base pedestal 12) of the base station, the first friction assembly 52 of the cleaning and maintenance module 50 of the base station may utilize the clean water received from the water supply port 620 of the water storage tank 62 of the motion drainage module 60 (i.e., the clean water provided by the clean water nozzle 70) to perform interference friction (i.e., wet friction) with the floor cleaning component of the cleaning robot to achieve cleaning and maintenance of the floor cleaning component of the cleaning robot; at the same time, the cleaning and maintenance module 50 of the base station may also utilize the clean water received from the water supply port 620 of the water storage tank 62 of the motion drainage module 60 (i.e., the clean water provided by the clean water nozzle 70) to perform self-cleaning.

[0299] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A base station of a cleaning robot, characterized in that: include: A base assembly (10), wherein the base assembly (10) has a drainage groove (120); A cleaning and maintenance module (50), the cleaning and maintenance module (50) being movably arranged in the sewage discharge groove (120), and a friction cleaning component being installed on the top of the cleaning and maintenance module (50); a motion drainage module (60), the motion drainage module (60) being movably mounted on the base assembly (10), the motion drainage module (60) being fixedly connected to the cleaning and maintenance module (50), and the motion drainage module (60) being used to drive the cleaning and maintenance module (50) to reciprocate in the sewage discharge groove (120) parallel to a first horizontal direction under the drive of the driving assembly (20); A clean water nozzle (70), the clean water nozzle (70) being used for synchronously reciprocating with the motion drainage module (60) outside the sewage discharge groove (120) under the drive of the driving assembly (20); in: The top of the motion drainage module (60) is provided with a water storage tank (62), the clean water nozzle (70) is also used to inject water into the water storage tank (62), and the water storage tank (62) has a water supply port (620) on one side close to the cleaning and maintenance module (50); One end of the friction cleaning component in the second horizontal direction is located in the water supply range of the water supply port (620), and the other end of the friction cleaning component in the second horizontal direction away from the water supply port (620) is inclined downward toward the bottom of the sewage discharge groove (120).

2. The base station according to claim 1, characterized in that The water storage tank (62) comprises an inner area and an outer area, the inner area is located between the water supply port (620) and the outer area, the inner area and the water supply port (620) are located on the inner side of the edge of the sewage discharge groove (120) in the second horizontal direction, the outer area is located on the outer side of the edge of the sewage discharge groove (120) in the second horizontal direction, and the water outlet end of the clean water nozzle (70) is limited in the outer area in the second horizontal direction.

3. The base station according to claim 2, characterized in that The guide assembly (30) further comprises a first shaft seat (31) and a second shaft seat (32), wherein the first shaft seat (31) and the second shaft seat (32) are respectively fixedly mounted on the base assembly (10) outside the opposite ends of the sewage discharge groove (120) in the first horizontal direction, and the guide assembly (30) further comprises a guide shaft rod (33) mounted between the first shaft seat (31) and the second shaft seat (32) along the first horizontal direction, and the motion drainage module (60) is slidably mounted on the guide shaft rod (33) to realize a movable installation on the base assembly (10); The first shaft seat (31) and the second shaft seat (32) have an installation position offset relative to the sewage discharge groove (120) in the second horizontal direction, and the installation position offset enables the motion drainage module (60) to cross the edge of the sewage discharge groove (120) in the second horizontal direction, so that the water storage tank (62) includes the inner area and the outer area.

4. The base station according to claim 2, characterized in that The water storage tank (62) also has a limiting rib (627) protruding upward, and the limiting rib (627) is located at the boundary between the inner area and the outer area; The clean water nozzle (70) is located above the top of the motion drainage module (60), and the water outlet end of the clean water nozzle (70) extends into the outer area from the side of the motion drainage module (60) facing away from the sewage discharge groove (120) in the second horizontal direction, and the water outlet end of the clean water nozzle (70) is limited and blocked in the outer area by the limiting rib (627) in the second horizontal direction.

5. The base station according to claim 4, characterized in that The driving assembly (20) is mounted on the base assembly (10) outside the sewage discharge groove (120), the driving assembly (20) comprises a driving motor (21), a transmission mechanism (22) and a driving slider (23), and the driving slider (23) is connected to the driving motor (21) by transmission through the transmission mechanism (22); The driving slider (23) is adjacent to the motion drainage module (60) on a side of the motion drainage module (60) facing away from the sewage discharge groove (120) in the second horizontal direction, and the clean water nozzle (70) is adjustably mounted on the top of the driving slider (23), and the driving slider (23) is used to drive the motion drainage module (60) and the clean water nozzle (70) to synchronously reciprocate parallel to the first horizontal direction based on the power output of the driving motor (21); A nozzle holder (27) is fixedly mounted on the top of the driving slider (23), and the clean water nozzle (70) is clamped on the nozzle holder (27). The position of the clean water nozzle (70) relative to the nozzle holder (27) in the second horizontal direction is adjustable, and the clean water nozzle (70) utilizes the adjustable installation on the top of the driving slider (23) to keep the water outlet end within the outer area.

6. The base station according to claim 1, characterized in that The cleaning and maintenance module (50) comprises: A module movable base, the module movable base being used to reciprocate in a sewage discharge groove (120) of a base station; A friction cleaning assembly, wherein the friction cleaning assembly is arranged obliquely above the top surface of the mobile base in the thickness direction of the module, and the opposite ends of the friction cleaning assembly in the length direction of the module are an upward inclined end and a downward inclined end with a height difference, respectively, and the upward inclined end of the friction cleaning assembly is used to receive clean water supplied by the base station, and the clean water is used to flow through the friction cleaning assembly from the upward inclined end to the downward inclined end of the friction cleaning assembly; A water storage rib assembly is located in the flow path of the clean water, and is used to delay the flow of the clean water.

7. The base station according to claim 6, characterized in that The module movable base comprises a first movable base (51), the first movable base (51) is movably accommodated in the sewage discharge groove (120), the first movable base (51) is fixedly connected to the motion drainage module (60), the first movable base (51) has an inclined top surface (500), and opposite ends of the inclined top surface (500) in the second horizontal direction are respectively a high end and a low end with a height difference, the high end of the inclined top surface (500) is close to the motion drainage module (60), and the low end of the inclined top surface (500) is far away from the motion drainage module (60); The water storage rib assembly comprises a first water storage rib (512), the first water storage rib (512) being located on the inclined top surface (500), and the first water storage rib (512) being arranged at intervals from the high end to the low end of the inclined top surface (500); The friction cleaning assembly comprises a first friction assembly (52), wherein the first friction assembly (52) is mounted on the first movable base (51) with the inclined top surface (500) as a positioning reference surface; The first movable base (51) further comprises a first water-storage retaining rib (512) disposed on the inclined top surface (500); the first friction assembly (52) is mounted on the inclined top surface (500); and the first friction assembly (52) avoids the first water-storage retaining rib (512) on the inclined top surface (500), so as to form a hysteresis flow channel (511) on the inclined top surface (500) for the clean water to flow from the high end through the first water-storage retaining rib (512) to the low end.

8. The base station according to claim 7, characterized in that: The first movable base (51) is detachably fixedly connected to the motion drainage module (60) by screwing a locking rod (67); The first movable base (51) has a base end boss (57), and the base end boss (57) is located below the motion drainage module (60); The screwing lock rod (67) passes through the motion drainage module (60) and the base end boss (57); an operating space of the screwing lock rod (67) is located at the top of the motion drainage module (60); and the screwing lock rod (67) is used to form an anti-detachment lock or release the anti-detachment lock for the motion drainage module (60) and the base end boss (57) in response to a screwing operation occurring in the operating space.

9. The base station according to claim 7, characterized in that: The first friction assembly (52) comprises a first cleaning wipe plate (521) and a first cleaning scraper (522), wherein the first cleaning wipe plate (521) and the first cleaning scraper (522) are disposed continuously between the high end and the low end of the inclined top surface (500), and the first cleaning wipe plate (521) and the first cleaning scraper (522) are separated by the first water storage retaining rib (512) on opposite sides of the hysteresis flow channel (511) in the first horizontal direction.

10. The base station according to claim 9, characterized in that: One end of the sewage discharge groove (120) in the first horizontal direction is connected to the sewage discharge pipe (128), the first cleaning wiper (521) is located on the side of the hysteresis flow channel (511) close to the sewage discharge pipe (128) in the first horizontal direction, and the first cleaning scraper (522) is located on the other side of the hysteresis flow channel (511) in the first horizontal direction away from the sewage discharge pipe (128).

11. The base station according to claim 10, characterized in that: The first movable base (51) has a first side flange (515) and a second side flange (516) on opposite sides in the first horizontal direction, and the first water storage retaining rib (512) is located between the first side flange (515) and the second side flange (516); wherein: The first cleaning wiper (521) is detachably clamped between the first side flange (515) and the first water storage retaining rib (512), and the first side flange (515) is discretely distributed between the high end and the low end of the inclined top surface (500); The first cleaning scraper (522) is detachably clamped between the second side flange (516) and the first water storage barrier rib (512), and the first cleaning scraper (522) is also suspended and supported by a first elastic support component (523) arranged between the second side flange (516) and the first water storage barrier rib (512), and the maximum height of the suspended first cleaning scraper (522) is higher than the first cleaning wipe plate (521).

12. The base station according to claim 6, characterized in that The module movable base comprises a second movable base (55), the second movable base (55) being fixedly connected to the motion drainage module (60), the second movable base (55) being used to be movably accommodated in the sewage discharge groove (120), the second movable base (55) having an inclined top surface (500), and the inclined top surface (500) having opposite ends in the length direction of the module respectively being a high end and a low end having a height difference; The friction cleaning assembly comprises a second friction assembly (56), wherein the second friction assembly (56) is mounted on the inclined top surface (500), and the second friction assembly (56) covers the inclined top surface (500); The water storage rib assembly comprises a second water storage rib (565), and the second water storage rib (565) is located on the second friction assembly (56), and the second water storage rib (565) is arranged at intervals from the upper inclined end to the lower inclined end of the second friction assembly (56).

13. The base station according to claim 12, characterized in that: The second friction component (56) comprises a second cleaning wipe plate (561), the second cleaning wipe plate (561) being continuously arranged between the upward inclined end and the downward inclined end of the second friction component (56), and the second water storage retaining ribs (565) being arranged at intervals on the second cleaning wipe plate (561) between the upward inclined end and the downward inclined end of the second friction component (56).

14. The base station according to claim 13, characterized in that: The second friction component (56) also includes a second cleaning scraper bar (562) and a third cleaning scraper bar (563), wherein the second cleaning scraper bar (562) and the third cleaning scraper bar (563) are respectively close to the second cleaning wiper plate (561) on opposite sides in the width direction of the module, and the second cleaning scraper bar (562) is continuously deployed between the upward inclined end and the downward inclined end of the second friction component (56), and the third cleaning scraper bar (563) is discretely distributed between the upward inclined end and the downward inclined end of the second friction component (56).

15. The base station according to claim 14, characterized in that: The second movable base (55) further comprises lateral sinking platforms (556), which are arranged in pairs outside the side edges of the inclined top surface (500) on opposite sides in the module width direction, and the height of the lateral sinking platforms (556) in the module height direction is lower than that of the inclined top surface (500); The second cleaning scraper (562) and the third cleaning scraper (563) are respectively installed on the second movable base (55) at an angle using the lateral sinking platforms (556) on opposite sides as positioning reference surfaces.

16. The base station according to claim 1, characterized in that The base assembly (10) comprises a base frame (11) and a base platform (12); the drive assembly (20) is mounted on the base frame (11); the sewage discharge groove (120) is located on the base platform (12); and the base platform (12) is detachably spliced ​​and assembled with the base frame (11) along the second horizontal direction.

17. The base station according to claim 16, characterized in that: The driving assembly (20) comprises a driving slider (23), the driving slider (23) being used to drive the motion drainage module (60) and the clean water nozzle (70) to synchronously reciprocate parallel to the first horizontal direction, the clean water nozzle (70) being mounted on the driving assembly (20), the motion drainage module (60) being movably mounted on the base pedestal (12), and when the base pedestal (12) is detachably spliced ​​and mounted on the base frame (11) along the second horizontal direction, the motion drainage module (60) is detachably fixedly docked with the driving slider (23).

18. The base station according to claim 17, characterized in that: The motion drainage module (60) has a plug-in boss (63), and when the base pedestal (12) is detachably spliced ​​and installed on the base frame (11) along the second horizontal direction, the plug-in boss (63) is inserted into the driving slider (23) along the second horizontal direction. The motion drainage module (60) uses the plug-in fit formed by the plug-in boss (63) and the driving slider (23) to lock the relative position between the motion drainage module (60) and the driving slider (23) in the first horizontal direction.

19. The base station according to claim 1, characterized in that: The cleaning and maintenance module (50) further comprises a tank bottom cleaning member (58), and the tank bottom cleaning member (58) is in interference contact with the sewage discharge groove (120); and / or, One end of the sewage discharge groove (120) in the first horizontal direction is connected to a sewage discharge pipe (128), and a detachable filter assembly (80) is installed at the sewage discharge groove (120) at the connection point with the sewage discharge pipe (128).

20. A cleaning system, characterized in that: The invention comprises a cleaning robot and a base station as claimed in any one of claims 1 to 19.

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