Self-propelled robots, cleaning systems and cleaning methods

Abstract

This application relates to the field of cleaning equipment technology, and discloses a self-moving robot, a cleaning system, and a cleaning method. The system includes a body comprising a wastewater tank, which includes a drain outlet and a drain valve. A drive mechanism has a first output shaft and a second output shaft. A transmission system is drivenly connected to the first output shaft and the drain valve, and is adapted to switch between an open state and an engaged state. In the engaged state, the transmission system engages the power connection between the first output shaft and the drain valve to open the drain outlet. In the open state, the transmission system disengages the power connection between the first output shaft and the drain valve to allow the drain outlet to be closed. A stirring assembly is disposed inside the wastewater tank, and is drivenly connected to the second output shaft in both the open and engaged states of the transmission system. The self-moving robot, cleaning system, and cleaning method disclosed in this application solve or improve the problems of large base station size, complex structure, high cost, and the inability of the wastewater tank to self-clean and poor cleaning effect.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to self-moving robots, cleaning systems, and cleaning methods. Background Technology

[0002] The cleaning system includes a base station and a cleaning robot. The cleaning robot is equipped with a wastewater tank with a drain outlet and a drain valve. After completing its cleaning work, the cleaning robot returns to the base station to discharge the wastewater.

[0003] In the prior art, the cleaning base station (CN223392409U) discloses a sewage discharge structure for a sewage tank. Specifically, the bottom of the sewage tank has a discharge port with a one-way valve at the discharge port, and a trigger rod is located on the lower wall of the base station's docking compartment. When the cleaning robot is inside the docking compartment, the trigger rod abuts against the one-way valve, opening the one-way valve and discharging sewage. The one-way valve cannot be controlled independently to open the discharge port.

[0004] In related technologies, a separate sewage discharge motor is installed inside the base station. A rotating arm is mounted on the output shaft of this motor, driving it to rotate. A squeezing block is mounted on the rotating arm, which compresses a drain valve, pushing it away from the sewage outlet and thus opening it. Because the sewage discharge motor is located inside the base station, the cleaning robot's sewage outlet needs to be aligned with it, and the motor's rotating arm needs to swing to open the outlet. This increases the space occupied by the motor, thus increasing its size, structural complexity, and cost. Furthermore, the sewage tank typically contains solid particle deposits, making direct discharge incomplete. Summary of the Invention

[0005] In view of this, this application provides a self-moving robot, a cleaning system, and a cleaning method to solve or improve the problems of large base station size, complex structure, high cost, and poor cleaning effect of wastewater tanks.

[0006] In a first aspect, this application provides a self-moving robot, comprising:

[0007] The body includes a sewage tank, the sewage tank including a sewage outlet and a drain valve for opening or closing the sewage outlet;

[0008] A drive mechanism having a first output shaft and a second output shaft, the drive mechanism being mounted on the machine body;

[0009] A transmission system is drivenly connected to the first output shaft and the drain valve, and is adapted to switch between a disconnected state and an engaged state. In the engaged state, the transmission system engages the power connection between the first output shaft and the drain valve to open the drain port; in the disconnected state, the transmission system disengages the power connection between the first output shaft and the drain valve.

[0010] A stirring assembly is installed inside the sewage tank. When the transmission system is in the disconnected state or the engaged state, the stirring assembly is connected to the second output shaft.

[0011] Beneficial Effects: After the self-propelled robot completes its cleaning work, the water in the sewage tank becomes turbid. The robot needs to return to the base station to drain the sewage. The second output shaft of the drive mechanism on the self-propelled robot drives the stirring component to rotate, stirring the sewage in the tank to prevent the sedimentation of solid particles. At this time, the transmission system is in a disconnected state, cutting off the power connection between the first output shaft and the drain valve, ensuring that the drain valve closes the drain outlet while stirring the sewage. When it is necessary to drain the sewage from the tank, the transmission system is in a engaged state, engaging the power connection between the first output shaft and the drain valve, driving the drain valve to open the drain outlet of the sewage tank, allowing the sewage to be discharged. One drive mechanism can control the stirring component to stir and control the opening and closing of the drain valve. The drain outlet can be opened through the drive mechanism on the robot body, eliminating the need for a separate sewage discharge motor in the base station. Opening the drain outlet through the drive mechanism on the robot body saves space in the base station, eliminating the need for a separate sewage discharge motor, reducing the size of the base station, reducing the complexity of the base station structure, and lowering costs.

[0012] In one optional embodiment, when the first output shaft rotates in a first direction, the power connection between the first output shaft and the drain valve can be disconnected; when the first output shaft rotates in a second direction, the power connection between the first output shaft and the drain valve can be engaged.

[0013] In one alternative embodiment, in the engaged state, the first output shaft can drive the drain valve to rise or fall to open or close the drain outlet.

[0014] In one alternative embodiment, the transmission system includes:

[0015] The first transmission component has its power output end connected to the drain valve.

[0016] The second transmission component has its power input end connected to the first output shaft via a transmission connection.

[0017] The clutch connects the power output end of the second transmission component to the power input end of the first transmission component.

[0018] The clutch is configured such that when the first output shaft rotates in the first direction, it disconnects the power connection between the second transmission assembly and the first transmission assembly, and when the first output shaft rotates in the second direction, it engages the power connection between the second transmission assembly and the first transmission assembly.

[0019] In one alternative implementation, the drive mechanism is configured to output rotational power;

[0020] The first transmission component is configured to convert the rotational power output by the drive mechanism into linear power to drive the drain valve to move in a straight line.

[0021] In one alternative implementation, the clutch includes:

[0022] A connecting shaft is rotatably mounted on the sewage tank;

[0023] The first transmission wheel is fixedly connected to the connecting shaft;

[0024] The second transmission wheel is clearance-fitted with the connecting shaft. On the opposing surfaces of the first transmission wheel and the second transmission wheel, one of them is provided with at least one pawl, and the other is provided with at least one snap-fit ​​groove adapted to the pawl.

[0025] In one alternative embodiment, the second transmission assembly includes a third transmission wheel mounted on the first output shaft and tractively connected to the second transmission wheel. The third transmission wheel is configured to drive the second transmission wheel away from the first transmission wheel to separate the pawl and the locking groove when the first output shaft rotates in the first direction, and to drive the second transmission wheel closer to the first transmission wheel to engage the pawl and the locking groove when the first output shaft rotates in the second direction.

[0026] In one optional implementation, the first transmission assembly includes:

[0027] A fixed base is connected to the sewage tank;

[0028] A power commutator is slidably connected to the fixed base. One end of the power commutator is drive-connected to the first output shaft. The power commutator is configured to be able to move axially along its rotational surface during relative rotation with respect to the fixed base.

[0029] A linkage assembly, one end of which is hinged to the end of the power reversing member away from the drive mechanism, and the other end of the linkage assembly is connected to the drain valve.

[0030] In one optional embodiment, the mounting base is provided with a through hole, and one of the inner wall of the through hole and the outer wall of the power reversing component is provided with at least one first guide groove, and the other is provided with a protrusion adapted to the first guide groove. The extension direction of the guide groove is configured to include a rotational branch direction and a axial branch direction.

[0031] In one optional embodiment, the first transmission assembly further includes:

[0032] A drive shaft is connected to the first output shaft. The power reversing component has a mounting hole. One of the outer wall of the drive shaft and the inner wall of the mounting hole is provided with at least one guide block, and the other is provided with a second guide groove adapted to the guide block. The extension direction of the second guide groove is parallel to the branch direction of the shaft.

[0033] In one optional embodiment, the first transmission assembly further includes:

[0034] The transmission wheel assembly has a transmission wheel at its input end that is connected to the first output shaft, and a transmission wheel at its output end that is connected to the transmission shaft.

[0035] In one optional embodiment, the first transmission assembly further includes:

[0036] The positioning bearing has its inner ring fixedly connected to the outer wall of the fixed seat, and its outer ring is fixedly connected to the transmission wheel at the output end of the transmission wheel assembly.

[0037] In one alternative implementation, the linkage assembly includes:

[0038] A first link has a first end and a second end, wherein the first end of the first link is hinged to the power commutator.

[0039] The second connecting rod has a first connecting section and a second connecting section arranged at an angle. The first connecting section is hinged to the second end of the first connecting rod, and the second connecting section is hinged to the drain valve. The connection between the first connecting section and the second connecting section is adapted to be hinged to the sewage tank.

[0040] In one alternative embodiment, a guide is further included, the guide being disposed on the sewage tank, and the drain valve is slidably disposed on the guide, the drain valve being configured to slide along the guide to close or open the sewage outlet.

[0041] In one optional embodiment, the drain valve includes:

[0042] The connecting rod is slidably mounted on the guide member;

[0043] A valve body is mounted on the connecting rod, and the valve body is capable of closing or opening the drain port;

[0044] A pressing head is disposed at the end of the connecting rod away from the guide member, and the pressing head is hinged to the end of the connecting rod assembly away from the power reversing member.

[0045] In one alternative embodiment, an elastic element is also included, which is configured to provide elastic force to the valve body, causing the valve body to tend to move in the direction of closing the drain outlet.

[0046] Secondly, this application also provides a cleaning system, including: a self-moving robot and a base station, the base station being used to fill the self-moving robot with water and charge it.

[0047] Thirdly, this application also provides a self-moving robot, comprising:

[0048] The machine body includes a sewage tank, on which a sewage outlet is provided, and a drain valve for opening or closing the sewage outlet is provided on the sewage outlet;

[0049] A drive mechanism, whose output shaft extends to both ends to form a first output shaft and a second output shaft, is mounted on the machine body;

[0050] A stirring assembly is disposed inside the wastewater tank and is tractably connected to the second output shaft;

[0051] The transmission system is connected to the first output shaft and the drain valve. When the first output shaft rotates in a first direction, it can disconnect the power connection between the first output shaft and the drain valve, and the drain valve closes the drain port. The second output shaft drives the stirring assembly to work. When the first output shaft rotates in a second direction, it can reconnect the power connection between the first output shaft and the drain valve, and drive the drain valve to open the drain port. When the drain port is open, the drive mechanism stops moving.

[0052] Fourthly, this application also provides a self-moving robot, comprising:

[0053] The body includes a sewage tank, the sewage tank including a sewage outlet and a drain valve for opening or closing the sewage outlet;

[0054] A drive mechanism having a first output shaft and a second output shaft, the drive mechanism being mounted on the machine body;

[0055] A transmission system is drivenly connected to the first output shaft and the drain valve, and is adapted to switch between an open state and an engaged state. In the engaged state, the transmission system engages the power connection between the first output shaft and the drain valve to open the drain port; in the open state, the transmission system disengages the power connection between the first output shaft and the drain valve to allow the drain port to be closed.

[0056] A stirring assembly is installed inside the sewage tank. The stirring assembly is connected to the second output shaft. When the transmission system is in the disconnected state, the second output shaft drives the stirring assembly to rotate. After the sewage outlet is opened, the drive mechanism stops outputting power.

[0057] Fifthly, this application also provides a cleaning method using a self-moving robot, comprising the steps of:

[0058] S1, fill the sewage tank with water;

[0059] S2, control the second output shaft of the drive mechanism to rotate in the first direction for a first preset time, so that the stirring assembly stirs the sewage in the sewage tank;

[0060] S3, control the first output shaft of the drive mechanism to rotate in the second direction until the drain valve opens the drain outlet;

[0061] S4, control the first output shaft of the drive mechanism to rotate in the first direction, so that the drain valve closes the drain outlet;

[0062] S5, repeat steps S1-S4. Attached Figure Description

[0063] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0064] Figure 1 This is a schematic diagram of the box and its internal structure in a self-moving robot with the drain outlet closed, according to an embodiment of this application.

[0065] Figure 2 for Figure 1 A magnified view of part A in the diagram;

[0066] Figure 3 This is a schematic diagram of the structure of a self-moving robot with its drain outlet open, according to an embodiment of this application.

[0067] Figure 4 This is an exploded view of a first transmission component, a drain valve, and an elastic element in a self-moving robot according to an embodiment of this application.

[0068] Figure 5 This is a schematic diagram of the structure of a fixed base, a power reversing component, and a transmission shaft in a self-moving robot with the drain outlet closed, according to an embodiment of this application.

[0069] Figure 6 This is a schematic diagram of the structure of a fixed base, a power reversing component, and a transmission shaft in a self-moving robot with its drain outlet open, according to an embodiment of this application.

[0070] Figure 7 This is a schematic diagram of the power reversing component in a self-moving robot according to an embodiment of this application;

[0071] Figure 8 This is an exploded view of the fixed base and the base in a self-moving robot according to an embodiment of this application;

[0072] Figure 9 This is a schematic diagram of a clutch disconnecting the power connection in a self-moving robot according to an embodiment of this application;

[0073] Figure 10 This is a schematic diagram of the clutch engagement power connection in a self-moving robot according to an embodiment of this application;

[0074] Figure 11 This is an exploded view of a drive mechanism, a second transmission component, and a stirring component in a self-moving robot according to an embodiment of this application.

[0075] Figure 12 This is a schematic diagram of the structure of a sewage tank in a self-moving robot according to an embodiment of this application;

[0076] Figure 13 This is an exploded view of a sewage tank in a self-moving robot according to an embodiment of this application.

[0077] Explanation of reference numerals in the attached figures:

[0078] 1. Wastewater tank; 11. Tank cover; 111. First receiving groove; 112. Second receiving groove; 12. Protective cover; 2. Drain valve; 21. Connecting rod; 22. Valve body; 23. Press head; 3. Drive mechanism; 31. First output shaft; 32. Second output shaft; 4. Transmission system; 41. First transmission assembly; 411. Fixing base; 4111. Through hole; 4112. First guide groove; 4113. Connecting plate; 4114. Limiting groove; 4115. Through hole; 412. Power reversing component; 4121. Protrusion; 4122. Mounting hole; 4123. Second guide groove; 413. Linkage assembly; 4131. First connecting rod; 4132. Second connecting rod ; 41321, First connecting section; 41322, Second connecting section; 4133, Shaft; 414, Drive shaft; 4141, Guide block; 415, Drive wheel set; 416, Base; 4161, Sealing block; 417, Positioning bearing; 42, Second transmission assembly; 421, Third transmission wheel; 43, Clutch; 431, Connecting shaft; 432, First transmission wheel; 4321, Pawl; 433, Second transmission wheel; 4331, Snap-fit ​​groove; 5, Water inlet pipe; 6, Guide component; 7, Elastic component; 8, Stirring assembly; 9, Ball joint; 10, Gearbox; X, Rotation branch direction; Y, Shaft branch direction; Z, First direction; M, Second direction. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0080] The cleaning system includes a base station and a self-propelled robot. The self-propelled robot is equipped with a wastewater tank with a drain outlet and a drain valve. After completing its cleaning work, the self-propelled robot returns to the base station to discharge the wastewater.

[0081] In related technologies, a separate sewage discharge motor is installed inside the base station. A rotating arm is installed on the output shaft of the sewage discharge motor. The sewage discharge motor drives the rotating arm to rotate. A squeezing block is installed on the rotating arm. The squeezing block can squeeze the drain valve, push the drain valve away from the sewage outlet, and thus open the sewage outlet.

[0082] The sewage discharge motor is located inside the base station, and the rotating arm needs to swing to open the sewage outlet, which increases the space occupied by the base station, thereby increasing the size of the base station, as well as the complexity and cost of the base station structure. In addition, the sewage tank usually has the sediment of solid particles, and direct discharge will not clean it completely. Therefore, this application provides a self-moving robot and cleaning system to solve or improve the problems of large base station size, complex structure and high cost, and the sewage tank's inability to self-clean and poor cleaning effect.

[0083] The following is combined with Figures 1 to 13 This describes an embodiment of the present application.

[0084] According to an embodiment of this application, in one aspect, a self-moving robot is provided, including: a body, a drive mechanism 3, a transmission system 4, and a stirring assembly 8.

[0085] Specifically, such as Figure 1 , Figure 12 and Figure 13 As shown, the machine body includes a sewage tank 1, which includes a sewage outlet and a drain valve 2 for opening or closing the sewage outlet; the drive mechanism 3 has a first output shaft 31 and a second output shaft 32, and the drive mechanism 3 is mounted on the machine body; the transmission system 4 is drivenly connected to the first output shaft 31 and the drain valve 2, and is adapted to switch between a disconnected state and a connected state. In the connected state, the transmission system 4 engages the power connection between the first output shaft 31 and the drain valve 2 to open the sewage outlet; in the disconnected state, the transmission system 4 disengages the power connection between the first output shaft 31 and the drain valve 2; the stirring assembly 8 is mounted inside the sewage tank 1, and when the transmission system 4 is in the disconnected or connected state, the stirring assembly 8 is drivenly connected to the second output shaft 32.

[0086] In this embodiment, such as Figure 1 and Figure 4As shown, after the self-propelled robot completes its cleaning work, the water in sewage tank 1 becomes turbid. The self-propelled robot needs to return to the base station to discharge the sewage in sewage tank 1. The second output shaft 32 of the drive mechanism 3 on the self-propelled robot drives the stirring assembly 8 to rotate, stirring the sewage in sewage tank 1 to prevent the sedimentation of solid particles in the sewage. At this time, the transmission system 4 is in the disconnected state, cutting off the power connection between the first output shaft 31 and the drain valve 2, ensuring that the drain valve 2 closes the drain outlet while stirring the sewage. When it is necessary to discharge the sewage in sewage tank 1, the transmission system 4 is in the engaged state, engaging the power connection between the first output shaft 31 and the drain valve 2, driving the drain valve 2 to open the drain outlet of sewage tank 1, discharging the sewage in sewage tank 1. One drive mechanism 3 can control the stirring assembly 8 to stir and control the opening and closing of the drain valve 2. The drain outlet can be opened by the drive mechanism 3 on the main body, eliminating the need to set up a separate drain motor in the base station. Opening the drain outlet by the drive mechanism 3 on the main body saves space in the base station, eliminates the need to set up a separate drain motor, reduces the size of the base station, reduces the complexity of the base station structure, and reduces costs.

[0087] In some embodiments not shown, the drain valve 2 can be opened in various ways, such as by rotation, movement, or flipping. The first transmission component 41 can drive the corresponding drain valve 2 to perform the corresponding opening action.

[0088] Specifically, such as Figure 1 , Figure 12 and Figure 13 As shown, the sewage tank 1 has a tank cover 11, on which a first receiving groove 111 and a second receiving groove 112 are provided. The drive mechanism 3 is disposed in the first receiving groove 111. The first receiving groove 111 has a through hole for the output shaft of the drive mechanism 3 to pass through. A sealing element, specifically a sealing ring, is provided between the output shaft and the through hole. The fixed seat 411 is disposed in the second receiving groove 112.

[0089] Furthermore, self-moving robots can include sweeping robots, lawnmower robots, window cleaning robots, and so on.

[0090] In one embodiment, when the first output shaft 31 rotates along the first direction Z, the power connection between the first output shaft 31 and the drain valve 2 can be cut off; when the first output shaft 31 rotates along the second direction M, the power connection between the first output shaft 31 and the drain valve 2 can be engaged.

[0091] In one embodiment, in the engaged state, the first output shaft 31 can drive the drain valve 2 to rise or fall to open or close the drain port.

[0092] In one embodiment, such as Figure 3 and Figure 11As shown, the transmission system 4 includes: a first transmission assembly 41, a second transmission assembly 42, and a clutch 43. Specifically, the power output end of the first transmission assembly 41 is connected to the drain valve 2; the power input end of the second transmission assembly 42 is connected to the first output shaft 31; and the power output end of the second transmission assembly 42 is connected to the power input end of the first transmission assembly 41 via the clutch 43. Figure 9 and Figure 10 As shown, the clutch 43 is configured to disconnect the power connection between the second transmission assembly 42 and the first transmission assembly 41 when the first output shaft 31 rotates in the first direction Z, and to engage the power connection between the second transmission assembly 42 and the first transmission assembly 41 when the first output shaft 31 rotates in the second direction M.

[0093] In this embodiment, such as Figure 3 as well as Figures 9 to 11 As shown, the drive mechanism 3 is a drive motor. The output shaft of the drive motor extends to both ends, namely the first output shaft 31 and the second output shaft 32. The second output shaft 32 extends into the sewage tank 1 and is connected to the stirring assembly 8. The second output shaft 32 drives the stirring assembly 8 to stir the sewage. The first output shaft 31 is connected to the clutch 43 via the second transmission assembly 42, and the clutch 43 is connected to the first transmission assembly 41. When the first output shaft 31 rotates in the first direction Z, the clutch 43 disconnects the power connection between the second transmission assembly 42 and the first transmission assembly 41, and the drive mechanism 3 cannot drive the drain valve 2 to open the sewage outlet. When the first output shaft 31 rotates in the second direction M, the clutch 43 engages the power connection between the second transmission assembly 42 and the first transmission assembly 41, and the drive mechanism 3 drives the drain valve 2 to open the sewage outlet.

[0094] like Figure 1 , Figure 9 and Figure 10 As shown, when the mobile robot is working, the first output shaft 31 of the drive mechanism 3 rotates along the first direction Z, which drives the stirring assembly 8 to stir the sewage in the sewage tank 1, preventing silt and particulate matter in the sewage from settling to the bottom. At the same time, the transmission system 4 disconnects the power connection between the drive mechanism 3 and the drain valve 2, and the drain valve 2 closes the drain outlet, preventing sewage from being discharged from the drain outlet. When it is necessary to discharge the sewage in the sewage tank 1, the first output shaft 31 of the drive mechanism 3 rotates along the second direction M. Subsequently, the transmission system 4 reconnects the power connection between the drive mechanism 3 and the drain valve 2, and the drive mechanism 3 drives the drain valve 2 to move, opening the drain outlet and discharging the sewage in the sewage tank 1.

[0095] It should be noted that when the drain outlet is opened, the drive mechanism 3 can continue to work to keep the drain outlet open, or it can stop working and lock the transmission system 4 through friction between the transmission structures to keep the drain valve 2 in the open state.

[0096] In some embodiments, such as Figure 3 and Figure 11 As shown, the drive mechanism 3 can be located either outside or inside the sewage tank 1. When the drive mechanism 3 is located outside the sewage tank 1, the second output shaft 32 extends into the sewage tank 1 and is located inside the sewage tank 1. When the drive mechanism 3 is located inside the sewage tank 1, the first output shaft 31 extends out of the sewage tank 1 and is located outside the sewage tank 1.

[0097] In one embodiment, the drive mechanism 3 is configured to output rotational power; the first transmission component 41 is configured to convert the rotational power output by the drive mechanism 3 into linear power to drive the drain valve 2 to move in a straight line.

[0098] In this embodiment, the drive mechanism 3 generally adopts a drive motor. The drive motor outputs rotational power and transmits the rotational power to the power input end of the first transmission component 41. The first transmission component 41 outputs linear power, which facilitates the linear movement of the drain valve 2. When the drain valve 2 is opened in the moving opening mode, the first transmission component 41 drives the drain valve 2 to move and open the drain outlet.

[0099] Furthermore, the first transmission component 41 outputs linear power, which makes it easier to connect with the drain valve 2. Driving the drain valve 2 to move in a straight line can reduce the swing range of the first transmission component 41, reduce the space occupied by the first transmission component 41, and thus reduce the size of the machine body.

[0100] In one embodiment, such as Figure 9 and Figure 10 As shown, the clutch 43 includes: a connecting shaft 431, a first transmission wheel 432, and a second transmission wheel 433. Specifically, the connecting shaft 431 is rotatably mounted on the sewage tank 1; the first transmission wheel 432 is fixedly connected to the connecting shaft 431; the second transmission wheel 433 is clearance-fitted to the connecting shaft 431. On the opposing surfaces of the first transmission wheel 432 and the second transmission wheel 433, one of them is provided with at least one pawl 4321, and the other is provided with at least one engaging groove 4331 adapted to the pawl 4321.

[0101] In one embodiment, such as Figure 9 and Figure 10 As shown, the second transmission assembly 42 includes a third transmission wheel 421, which is mounted on the first output shaft 31 and is connected to the second transmission wheel 433 in a transmission manner. The third transmission wheel 421 is configured such that when the first output shaft 31 rotates in the first direction Z, it drives the second transmission wheel 433 away from the first transmission wheel 432 to separate the pawl 4321 and the locking groove 4331, and when the first output shaft 31 rotates in the second direction M, it drives the second transmission wheel 433 closer to the first transmission wheel 432 to engage the pawl 4321 and the locking groove 4331.

[0102] In some embodiments, such as Figure 9 and Figure 10 As shown, both the third transmission wheel 421 and the second transmission wheel 433 are helical cylindrical gears. By setting the helix angle of the helical cylindrical gears, the axial force between the third transmission wheel 421 and the second transmission wheel 433 can be adjusted. The helix angle is directly proportional to the axial force; that is, the larger the helix angle, the greater the axial force. When the first output shaft 31 rotates along the first direction Z, the third drive wheel applies an axially downward force to the second transmission wheel 433, driving the second transmission wheel 433 to slide downward along the connecting shaft 431, moving away from the third transmission wheel 421, separating the pawl 4321 and the locking groove 4331, cutting off the power connection between the third transmission wheel 421 and the second transmission wheel 433, and keeping the drain valve 2 in the closed drain port state.

[0103] When the first output shaft 31 rotates along the second direction M, the third drive wheel applies an axial upward force to the second transmission wheel 433, driving the second transmission wheel 433 to slide upward along the connecting shaft 431 and approach the third transmission wheel 421. The pawl 4321 and the locking groove 4331 are inserted and connected, engaging the power connection between the third transmission wheel 421 and the second transmission wheel 433, driving the drain valve 2 to move and opening the drain port.

[0104] Specifically, when the first output shaft 31 switches from rotating along the second direction M to rotating along the first direction Z, the inclined surface on the pawl 4321 slides against the groove wall of the locking groove 4331. The inclined surface of the pawl 4321 can apply an axial downward force to the side wall of the locking groove 4331, which, together with the axial downward force applied by the third drive wheel to the second transmission wheel 433, drives the second transmission wheel 433 away from the third transmission wheel 421, thereby accelerating the speed at which the second transmission wheel 433 moves away from the third transmission wheel 421.

[0105] Specifically, lubricating oil can be provided between the second transmission wheel 433 and the connecting shaft 431.

[0106] In some embodiments, such as Figure 9 As shown, the second transmission wheel 433 is provided with multiple locking grooves 4331, and the first transmission wheel 432 is provided with multiple pawls 4321. The multiple locking grooves 4331 and the multiple pawls 4321 can be connected accordingly.

[0107] Unlike the previous embodiment, the second transmission wheel 433 is provided with multiple pawls 4321, and the first transmission wheel 432 is provided with multiple locking grooves 4331.

[0108] In one embodiment, such as Figures 4 to 6As shown, the first transmission assembly 41 includes: a fixed base 411, a power reversing member 412, and a connecting rod assembly 413. Specifically, the fixed base 411 is connected to the sewage tank 1; the power reversing member 412 is slidably connected to the fixed base 411, and one end of the power reversing member 412 is connected to the first output shaft 31 of the drive mechanism 3. The power reversing member 412 is configured to move axially along its rotational plane during relative rotation with the fixed base 411; one end of the connecting rod assembly 413 is hinged to the end of the power reversing member 412 away from the drive mechanism 3, and the other end of the connecting rod assembly 413 is connected to the drain valve 2.

[0109] In this embodiment, such as Figures 4 to 6 As shown, the drive mechanism 3 provides rotational power to the power reversing member 412, which can drive the power reversing member 412 to rotate. While rotating, the power reversing member 412 can move axially along its rotation surface, thus generating a linear force along the axial direction. This linear force is then transmitted to the input end of the connecting rod assembly 413. The output end of the connecting rod assembly 413 drives the drain valve 2 to move linearly, causing the drain valve 2 to open the drain port.

[0110] It should be noted that the direction of movement of the drain valve 2 is parallel to the axis of the drain outlet, and the drain valve 2 is set in the same direction as the drain outlet in the axial direction.

[0111] In some embodiments, a protective cover 12 is provided on the sewage tank 1, and the protective cover 12 covers the second connecting rod 4132.

[0112] In one embodiment, such as Figures 5 to 8 As shown, the fixed base 411 is provided with a through hole 4111, the inner wall of the through hole 4111 and the outer wall of the power reversing member 412 are provided with at least one first guide groove 4112, and the other is provided with a protrusion 4121 adapted to the first guide groove 4112. The extension direction of the guide groove is configured to include the rotational branch direction X and the axial branch direction Y.

[0113] In this embodiment, such as Figure 3 , Figures 5 to 8As shown, the power reversing member 412 is slidably connected to the through hole 4111. The axial direction of the through hole 4111 is parallel to the axial direction of the rotation surface of the power reversing member 412. When the driving mechanism 3 drives the power reversing member 412 to rotate, the protrusion 4121 rotates along the rotational branch direction X of the first guide groove 4112. At the same time, the protrusion 4121 moves along the axial branch direction Y of the first guide groove 4112. Therefore, it can drive the protrusion 4121 to move along the axial branch direction Y. One end of the connecting rod assembly 413 is hinged to the power reversing member 412. Specifically, the hinge is achieved through a ball valve. The connecting rod assembly 413 and the power reversing member 412 are connected through a ball joint 9. This enables the rotating connection between the connecting assembly and the power reversing member 412, so that the rotation of the power reversing member 412 does not affect the connecting rod assembly 413.

[0114] Specifically, such as Figure 5 and Figure 6 As shown, viewed from top to bottom, the power commutator 412 rotates clockwise along the rotational branch direction X, while simultaneously moving downwards along the axial branch direction Y. The power commutator 412 also rotates counterclockwise along the rotational branch direction X, while simultaneously moving upwards along the axial branch direction Y.

[0115] In some embodiments, such as Figure 5 , Figure 6 and Figure 8 As shown, a first guide groove 4112 is provided on the inner wall of the through hole 4111, and a protrusion 4121 is provided on the outer wall of the power reversing component 412. Specifically, the bottom of the first guide groove 4112 is connected to the through hole 4111.

[0116] In some embodiments, such as Figure 8 As shown, three first guide grooves 4112 are provided on the inner wall of the through hole 4111. The three first guide grooves 4112 are arranged at equal angular intervals. The outer wall of the power reversing component 412 is provided with three protrusions 4121. The three protrusions 4121 are arranged at equal angular intervals and are slidably connected to the three first guide grooves 4112.

[0117] It should be noted that the first guide groove 4112 can also be provided on the power reversing component 412, and the protrusion 4121 is provided on the inner wall of the through hole 4111.

[0118] In some embodiments, such as Figure 8 As shown, a connecting plate 4113 extends radially from the bottom edge of the fixed base 411 away from the power reversing member 412. A limiting groove 4114 is provided on the edge of the connecting plate 4113, and a limiting block is provided on the sewage tank 1 to engage with the limiting groove 4114. The limiting block is inserted into the limiting groove 4114, thus restricting the fixed base 411 from rotating along the rotational branch direction X.

[0119] In some embodiments, such as Figure 8 As shown, the connecting plate 4113 has a through hole 4115. One end of the first guide groove 4112 along its extension direction is connected to the through hole 4115. The protrusion 4121 can pass through the through hole 4115, which facilitates the installation of the power reversing component 412 from the bottom of the through hole 4111 into the through hole 4111.

[0120] Specifically, the number of limit slots 4114 and limit blocks can be set to any number, as long as the limit slots 4114 and limit blocks correspond one-to-one.

[0121] In some embodiments, there are three limiting grooves 4114 and three limiting blocks, with the three limiting grooves 4114 and the three limiting blocks being equally spaced at angles.

[0122] In some embodiments, such as Figure 8 As shown, it also includes a base 416, on which a sealing block 4161 is provided. The sealing block 4161 is inserted into the through hole 4115 to limit the protrusion 4121 and prevent the protrusion 4121 from detaching from the fixed base 411. The base 416 is fixed on the sewage tank 1.

[0123] In one embodiment, such as Figures 5 to 7 As shown, the first transmission assembly 41 also includes a transmission shaft 414, which is connected to the first output shaft 31. The power reversing component 412 has a mounting hole 4122. The outer wall of the transmission shaft 414 and the inner wall of the mounting hole 4122 are provided with at least one guide block 4141, and the other is provided with a second guide groove 4123 that is adapted to the guide block 4141. The extension direction of the second guide groove 4123 is parallel to the shaft branch direction Y.

[0124] In this embodiment, such as Figures 5 to 7 As shown, the drive shaft 414 is connected to the power reversing member 412. The drive shaft 414 transmits the rotational power of the drive mechanism 3 to the power reversing member 412. The drive shaft 414 only rotates and does not have relative displacement with respect to the position of the sewage tank 1. The power reversing member 412 converts part of the rotational power into linear power. Therefore, the power reversing member 412 moves relative to the drive shaft 414 along the axial direction of the drive shaft 414, while remaining relatively stationary with respect to the drive shaft 414 in the rotational direction. Therefore, the structure of setting the guide block 4141 and the second guide groove 4123 can ensure that the drive shaft 414 and the power reversing member 412 are relatively stationary in the rotational direction, while the power reversing member 412 moves relative to the drive shaft 414 in the axial direction of the drive shaft 414, that is, in the shaft branch direction Y.

[0125] It should be noted that the outer wall of the drive shaft 414 is provided with a guide block 4141, and the inner wall of the mounting hole 4122 is provided with a second guide groove 4123, which has the same effect as the outer wall of the drive shaft 414 being provided with a second guide groove 4123 and the inner wall of the mounting hole 4122 being provided with a guide block 4141.

[0126] Specifically, the drive shaft 414 can be a splined shaft.

[0127] In one embodiment, such as Figure 1 and Figure 3 As shown, the first transmission assembly 41 also includes a transmission wheel set 415. The transmission wheel at the input end of the transmission wheel set 415 is connected to the first output shaft 31, and the transmission wheel at the output end of the transmission wheel set 415 is connected to the transmission shaft 414.

[0128] In this embodiment, the rotational power of the drive mechanism 3 is transmitted to the drive shaft 414 through the transmission wheel set 415, which makes the transmission efficiency more stable. Furthermore, the transmission wheel set 415 can adjust the speed of the drive shaft 414, reduce the speed of the drive shaft 414, and prevent the drive shaft 414 from rotating too fast, which would cause excessive instantaneous pressure between the fixed seat 411 and the power reversing component 412 and damage the components.

[0129] In one embodiment, such as Figure 4 As shown, the first transmission assembly 41 also includes a positioning bearing 417. The inner ring of the positioning bearing 417 is fixedly connected to the outer wall of the fixed seat 411, and the outer ring of the positioning bearing 417 is fixedly connected to the transmission wheel at the output end of the transmission wheel assembly 415.

[0130] In this embodiment, such as Figure 4 As shown, the inner ring of the positioning bearing 417 is fixedly connected to the outer wall of the fixed seat 411, which can position the positioning bearing 417. The outer ring of the positioning bearing 417 is fixedly connected to the transmission wheel at the end of the transmission wheel assembly 415, which can prevent the transmission wheel at the end of the transmission wheel assembly 415 from shaking, thereby ensuring the stability of the rotation of the transmission shaft 414.

[0131] Furthermore, the positioning bearing 417 also has an axial limiting effect, which can limit the axial displacement of the drive shaft 414.

[0132] In one embodiment, such as Figure 1 and Figure 4As shown, the linkage assembly 413 includes: a first linkage 4131 and a second linkage 4132. Specifically, the first linkage 4131 has a first end and a second end, and the first end of the first linkage 4131 is hinged to the power reversing member 412; the second linkage 4132 has a first connecting section 41321 and a second connecting section 41322 arranged at an angle, the first connecting section 41321 is hinged to the second end of the first linkage 4131, the second connecting section 41322 is hinged to the drain valve 2, and the connection between the first connecting section 41321 and the second connecting section 41322 is adapted to be hinged to the sewage tank 1.

[0133] In this embodiment, such as Figure 3 and Figure 4 As shown, the first connecting rod 4131 is connected to the power reversing component 412 via a ball joint 9, which can transmit the linear power transmitted by the power reversing component 412 without affecting the relative rotation between the power reversing component 412 and the first connecting rod 4131. The first connecting section 41321 and the second connecting section 41322 of the second connecting rod 4132 are arranged at an angle, which allows the drain valve 2 to be driven to open the drain port with a shorter first connecting rod 4131. A shaft 4133 is provided at the connection between the first connecting section 41321 and the second connecting section 41322, and the first connecting section 41321 and the second connecting section 41322 can rotate around the shaft 4133.

[0134] In one embodiment, such as Figure 1 As shown, it also includes a guide 6, which is disposed on the sewage tank 1, and a drain valve 2 is slidably disposed on the guide 6. The drain valve 2 is configured to slide along the guide 6 to close or open the sewage outlet.

[0135] In this embodiment, the drain valve 2 can close or open the drain port by moving along the guide member 6, which improves the accuracy of closing and opening the drain port of the drain valve 2.

[0136] In one embodiment, such as Figure 1 As shown, the drain valve 2 includes a connecting rod 21, a valve body 22, and a push head 23. Specifically, the connecting rod 21 is slidably connected to the guide member 6; the valve body 22 is mounted on the connecting rod 21 and can close or open the drain port; the push head 23 is located at the end of the connecting rod 21 away from the guide member 6, and the push head 23 is hinged to the end of the connecting rod assembly 413 away from the power reversing member 412. Specifically, the push head 23 is hinged to the second connecting section 41322.

[0137] In this embodiment, such as Figure 1 As shown, the second connecting section 41322 drives the pressing head 23 to move, the pressing head 23 drives the connecting rod 21 to slide along the guide member 6, and at the same time, the valve body 22 moves along the guiding direction of the guide member 6, thereby opening or closing the drain port.

[0138] In one embodiment, such as Figure 1 and Figure 3 As shown, it also includes an elastic element 7, which is configured to provide elastic force to the valve body 22, giving the valve body 22 a tendency to move in the direction of closing the drain outlet.

[0139] In this embodiment, after the sewage in the sewage tank 1 is discharged, the drive mechanism 3 outputs power, and under the action of the elastic element 7, drives the valve body 22 to move toward the sewage outlet and closes the sewage outlet.

[0140] Specifically, the elastic element 7 can be a spring, which is sleeved on the connecting rod 21, with one end connected to the sewage tank 1 and the other end connected to the valve body 22. The spring is in a compressed state.

[0141] According to an embodiment of this application, another aspect provides a cleaning system, including: a self-moving robot and a base station, the base station being used to fill the self-moving robot with water and charge it.

[0142] In some embodiments, the base station is provided with a water storage box, the water storage box is provided with an overflow port, the sewage tank 1 is provided with a water inlet, and the overflow port is adapted to communicate with the water inlet.

[0143] Specifically, the inlet is connected to an inlet pipe 5, which is connected to the overflow outlet.

[0144] According to an embodiment of this application, another aspect provides a self-moving robot, including: a body, a drive mechanism 3, a stirring assembly 8, and a transmission system 4. Specifically, the body includes a sewage tank 1, with a sewage outlet on the sewage tank 1, and a drain valve 2 for opening or closing the sewage outlet. The output shaft of the drive mechanism 3 extends to both ends to form a first output shaft 31 and a second output shaft 32, and the drive mechanism 3 is mounted on the body. The stirring assembly 8 is mounted inside the sewage tank 1 and is tractably connected to the second output shaft 32. The transmission system 4 is tractively connected to the first output shaft 31 and the drain valve 2. When the first output shaft 31 rotates in the first direction Z, it can disconnect the power connection between the first output shaft 31 and the drain valve 2, and the drain valve 2 closes the sewage outlet, while the second output shaft 32 drives the stirring assembly 8 to work. When the first output shaft 31 rotates in the second direction M, it can engage the power connection between the first output shaft 31 and the drain valve 2, driving the drain valve 2 to open the sewage outlet. When the sewage outlet is open, the drive mechanism 3 stops moving.

[0145] like Figures 1 to 11As shown, the output shaft of the drive motor extends from both ends of the drive motor, namely the first output shaft 31 and the second output shaft 32. The second output shaft 32 extends into the sewage tank 1. The first output shaft 31 and the second output shaft 32 rotate in the first direction Z. The second output shaft 32 drives the stirring assembly 8 to rotate, preventing the silt and particles in the sewage from settling to the bottom and being unable to be discharged from the sewage outlet. At the same time, when the first output shaft 31 rotates in the first direction Z, the third transmission wheel 421 exerts an axial downward force on the second transmission wheel 433, driving the second transmission wheel 433 away from the first transmission wheel 432, disconnecting the connection between the pawl 4321 and the locking groove 4331, thereby cutting off the power connection between the drive mechanism 3 and the drain valve 2, preventing the drive mechanism 3 from driving the drain valve 2 to open the sewage outlet.

[0146] After the mobile robot returns to the base station, the drive motor rotates along the second direction M, which is opposite to the first direction Z. The third transmission wheel 421 exerts an axial upward force on the second transmission wheel 433, driving the second transmission wheel 433 to approach the first transmission wheel 432. The pawl 4321 is inserted into the locking groove 4331, thereby connecting the drive mechanism 3 with the power connection of the drain valve 2. Specifically, the third transmission wheel 421 drives the first transmission wheel 432 to rotate via the second transmission wheel 433. The first transmission wheel 432 is the transmission wheel at the head end of the transmission wheel set 415. The first transmission wheel 432 drives the transmission shaft 414 to rotate. The transmission shaft 414 drives the power reversing component 412 to rotate. While the power reversing component 412 rotates, it moves downward along the axial direction of the transmission shaft 414. During the downward movement, it drives the first connecting rod 4131 to move downward. The first connecting rod 4131 and the power reversing component 412 are connected through the ball joint 9. The rotation of the power reversing component 412 does not affect the movement of the first connecting rod 4131. The first connecting rod 4131 drives the first connecting section 41321 to rotate along the hinge point of the second connecting rod 4132. The second connecting section 41322 drives the pressing head 23 to move upward. The drain valve 2 is installed inside the sewage tank 1. When the pressing head 23 moves upward, it drives the connecting rod 21 to move along the guide hole, thereby driving the valve body 22 to move, so that the valve body 22 opens the sewage outlet.

[0147] After the sewage discharge is completed, the drive mechanism 3 stops, and the valve body 22 can move downward under the action of the spring, which in turn acts on the power reversing component 412. The power reversing component 412 moves upward and rotates at the same time, driving the first transmission wheel 432 to rotate through the transmission shaft 414 and the transmission wheel set 415. The inclined surface of the pawl 4321 on the first transmission wheel 432 slides and abuts against the groove wall of the locking groove 4331, driving the second transmission wheel 433 to move downward, disconnecting from the first transmission wheel 432, and the valve body 22 closes the sewage outlet.

[0148] Fourthly, this application also provides a self-moving robot, including: a body, a drive mechanism 3, a transmission system 4, and a stirring assembly 8. Specifically, the body includes a sewage tank 1, which includes a sewage outlet and a drain valve 2 for opening or closing the sewage outlet; the drive mechanism 3 has a first output shaft 31 and a second output shaft 32, and the drive mechanism 3 is mounted on the body; the transmission system 4 is drivenly connected to the first output shaft 31 and the drain valve 2, and is adapted to switch between a disconnected state and an engaged state. In the engaged state, the transmission system 4 engages the power connection between the first output shaft 31 and the drain valve 2 to open the sewage outlet; in the disconnected state, the transmission system 4 disconnects the power connection between the first output shaft 31 and the drain valve 2 to allow the sewage outlet to be closed; the stirring assembly 8 is mounted inside the sewage tank 1 and is drivenly connected to the second output shaft 32. When the transmission system 4 is in the disconnected state, the second output shaft 32 drives the stirring assembly 8 to rotate. After the sewage outlet is opened, the drive mechanism 3 stops outputting power.

[0149] In some embodiments, the first output shaft 31 rotates along the second direction M, and drives the drain valve 2 to open the drain port through the transmission system 4. After the drain port is opened, the drain valve 2 is in the open position, which makes the first output shaft 31 stuck and unable to rotate. At this time, the stirring assembly 8 stops rotating.

[0150] In other embodiments, the first output shaft 31 rotates along the second direction M, driving the drain valve 2 to open the drain port through the transmission system 4. After the drain port is opened, the drain valve 2 is in the open position, the first output shaft 31 continues to rotate, and at the same time, the second output shaft 32 also continues to rotate, driving the stirring assembly 8 to rotate continuously.

[0151] Specifically, the second output shaft 32 rotates along the first direction Z, driving the stirring assembly 8 to stir, so that the residue in the sewage in the sewage tank 1 is evenly distributed. Then, the second output shaft 32 rotates along the second direction M, that is, in reverse, and the first output shaft 31 rotates along the second direction M. The transmission system 4 is engaged, transmitting the power of the first output shaft 31 to the drain valve 2, opening the drain outlet. After opening the drain outlet, as... Figure 6 As shown, the guide block 4141 on the drive shaft 414 disengages from the second guide groove 4123 on the power reversing component 412. At this time, the first output shaft 31 is disconnected from the power reversing component 412. Therefore, the first output shaft 31 can continue to rotate without being restricted by the drain valve 2, thereby ensuring that the second output shaft 32 can continue to rotate. Even when the drain outlet is open, it can still drive the stirring assembly 8 to stir the sewage and prevent the sedimentation of particles in the sewage.

[0152] According to an embodiment of this application, another aspect provides a cleaning method for a self-moving robot, comprising the steps of:

[0153] S1, fill the sewage tank 1 with water.

[0154] S2, the second output shaft 32 of the control drive mechanism 3 rotates along the first direction Z for a first preset time, so that the stirring assembly 8 stirs the sewage in the sewage tank 1.

[0155] S3, control the first output shaft 31 of the drive mechanism 3 to rotate in the second direction M until the drain valve 2 opens the drain port.

[0156] S4, the first output shaft 31 of the control drive mechanism 3 rotates along the first direction Z, causing the drain valve 2 to close the drain port.

[0157] S5, repeat steps S1-S4.

[0158] Specifically, after the mobile robot returns to the base station, the clean water in the water storage box is transported to the sewage tank 1 through the overflow port and the inlet port. This controls the rotation of the second output shaft 32 of the drive mechanism 3 for a first preset time, which can be between 10 and 30 seconds, and can be selected as 20 seconds. The stirring component 8 stirs the sewage to prevent the sedimentation of solid particles in the sewage. After the second output shaft 32 rotates for 20 seconds, the drive mechanism 3 drives the first output shaft 31 to rotate in the second direction M. The first output shaft 31 is connected to the power of the drain valve 2, driving the drain valve 2 to rise until the drain valve 2 fully opens the sewage outlet, and the sewage in the sewage tank 1 is discharged, cleaning the sewage tank 1. Specifically, the stirring component 8 can be a stirring blade or a spiral blade. After the sewage is discharged, the first output shaft 31 rotates in the first direction Z, closing the drain valve 2, and then the above steps are repeated until the sewage tank 1 is cleaned, achieving maintenance-free self-cleaning of the sewage tank 1.

[0159] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by the appended application.

Claims

1. A self-moving robot, characterized in that, include: The body includes a sewage tank (1), the sewage tank (1) including a sewage outlet and a drain valve (2) for opening or closing the sewage outlet; The drive mechanism (3) has a first output shaft (31) and a second output shaft (32), and the drive mechanism (3) is disposed on the body; The transmission system (4) is connected to the first output shaft (31) and the drain valve (2) and is adapted to switch between a disconnected state and an engaged state. In the engaged state, the transmission system (4) engages the power connection between the first output shaft (31) and the drain valve (2) to open the drain port. In the disconnected state, the transmission system (4) disconnects the power connection between the first output shaft (31) and the drain valve (2). A stirring assembly (8) is disposed inside the sewage tank (1), and the stirring assembly (8) is connected to the second output shaft (32) via a transmission connection. The transmission system (4) includes: a first transmission assembly (41), the first transmission assembly (41) including: A fixed base (411) is connected to the sewage tank (1); A power commutator (412) is slidably connected to the fixed base (411). One end of the power commutator (412) is connected to the first output shaft (31) in a transmission manner. The power commutator (412) is configured to be able to move axially along its rotational surface during the relative rotation with respect to the fixed base (411). The connecting rod assembly (413) has one end hinged to the end of the power reversing member (412) away from the drive mechanism (3), and the other end of the connecting rod assembly (413) is connected to the drain valve (2). A drive shaft (414) is connected to the first output shaft (31) for transmission. The power reversing component (412) is provided with a mounting hole (4122). One of the outer wall of the drive shaft (414) and the inner wall of the mounting hole (4122) is provided with at least one guide block (4141), and the other is provided with a second guide groove (4123) that is adapted to the guide block (4141). The extension direction of the second guide groove (4123) is parallel to the axial direction of the drive shaft (414). After the drain port is opened, the guide block (4141) disengages from the second guide groove (4123). The drain valve (2) includes an elastic element (7) and a valve body (22). The elastic element (7) is configured to provide elastic force to the valve body (22), causing the valve body (22) to tend to move in the direction of closing the drain outlet. The valve body (22) is capable of closing or opening the drain outlet.

2. The self-moving robot according to claim 1, characterized in that, When the first output shaft (31) rotates in the first direction (Z), it can disconnect the power connection between the first output shaft (31) and the drain valve (2). When the first output shaft (31) rotates in the second direction (M), it can connect the power connection between the first output shaft (31) and the drain valve (2).

3. The self-moving robot according to claim 2, characterized in that, In the engaged state, the first output shaft (31) can drive the drain valve (2) to rise or fall to open or close the drain port.

4. The self-moving robot according to claim 2, characterized in that, The transmission system (4) includes: The first transmission assembly (41) has its power output end connected to the drain valve (2) in a transmission connection; The second transmission assembly (42) has its power input end connected to the first output shaft (31) in a transmission connection; The clutch (43) is used to drive the power output end of the second transmission assembly (42) to the power input end of the first transmission assembly (41). The clutch (43) is configured such that when the first output shaft (31) rotates in the first direction (Z), it disconnects the power connection between the second transmission assembly (42) and the first transmission assembly (41), and when the first output shaft (31) rotates in the second direction (M), it engages the power connection between the second transmission assembly (42) and the first transmission assembly (41).

5. The self-moving robot according to claim 4, characterized in that, The drive mechanism (3) is configured to output rotational power; The first transmission assembly (41) is configured to convert the rotational power output by the drive mechanism (3) into linear power to drive the drain valve (2) to move in a straight line.

6. The self-moving robot according to claim 4, characterized in that, The clutch (43) includes: The connecting shaft (431) is rotatably mounted on the sewage tank (1); The first transmission wheel (432) is fixedly connected to the connecting shaft (431); The second transmission wheel (433) is clearance-fitted with the connecting shaft (431). On the opposite surfaces of the first transmission wheel (432) and the second transmission wheel (433), one of them is provided with at least one pawl (4321), and the other is provided with at least one snap-fit ​​groove (4331) adapted to the pawl (4321).

7. The self-moving robot according to claim 6, characterized in that, The second transmission assembly (42) includes a third transmission wheel (421) mounted on the first output shaft (31) and connected to the second transmission wheel (433). The third transmission wheel (421) is configured such that when the first output shaft (31) rotates in the first direction (Z), it drives the second transmission wheel (433) away from the first transmission wheel (432) to separate the pawl (4321) and the locking groove (4331), and when the first output shaft (31) rotates in the second direction (M), it drives the second transmission wheel (433) closer to the first transmission wheel (432) to engage the pawl (4321) and the locking groove (4331).

8. The self-moving robot according to claim 1, characterized in that, The mounting base (411) is provided with a through hole (4111). The inner wall of the through hole (4111) and the outer wall of the power reversing member (412) are provided with at least one first guide groove (4112) and the other is provided with a protrusion (4121) adapted to the first guide groove (4112). The extension direction of the first guide groove (4112) is configured to include a rotational branch direction (X) and a axial branch direction (Y).

9. The self-moving robot according to claim 1, characterized in that, The first transmission assembly (41) further includes: The transmission wheel assembly (415) has a transmission wheel at its input end that is connected to the first output shaft (31), and a transmission wheel at the output end of the transmission wheel assembly (415) that is connected to the transmission shaft (414).

10. The self-moving robot according to claim 9, characterized in that, The first transmission assembly (41) further includes: The positioning bearing (417) has its inner ring fixedly connected to the outer wall of the fixed seat (411), and the outer ring of the positioning bearing (417) is fixedly connected to the transmission wheel at the output end of the transmission wheel set (415).

11. The self-moving robot according to claim 1, characterized in that, The link assembly (413) includes: The first link (4131) has a first end and a second end, and the first end of the first link (4131) is hinged to the power reversing member (412); The second connecting rod (4132) has a first connecting section (41321) and a second connecting section (41322) arranged at an angle. The first connecting section (41321) is hinged to the second end of the first connecting rod (4131), and the second connecting section (41322) is hinged to the drain valve (2). The connection between the first connecting section (41321) and the second connecting section (41322) is adapted to be hinged to the sewage tank (1).

12. The self-moving robot according to claim 1, characterized in that, It also includes a guide (6) disposed on the sewage tank (1), and a drain valve (2) slidably disposed on the guide (6), the drain valve (2) being configured to slide along the guide (6) to close or open the sewage outlet.

13. The self-moving robot according to claim 12, characterized in that, The drain valve (2) includes: The connecting rod (21) is slidably disposed on the guide (6), and the valve body (22) is disposed on the connecting rod (21); The pressing head (23) is located at the end of the connecting rod (21) away from the guide (6), and the pressing head (23) is hinged to the end of the connecting rod assembly (413) away from the power reversing member (412).

14. A cleaning system, characterized in that, Includes the self-moving robot and base station as described in any one of claims 1 to 13, wherein the base station is used to fill the self-moving robot with water and charge it.

15. A self-moving robot, characterized in that, include: The body includes a sewage tank (1), the sewage tank (1) is provided with a sewage outlet, and the sewage outlet is provided with a drain valve (2) for opening or closing the sewage outlet. The drive mechanism (3) extends at both ends of its output axis to form a first output shaft (31) and a second output shaft (32), and the drive mechanism (3) is disposed on the body; A stirring assembly (8) is disposed inside the sewage tank (1) and is tractably connected to the second output shaft (32); The transmission system (4) is connected to the first output shaft (31) and the drain valve (2). When the first output shaft (31) rotates in the first direction (Z), it can disconnect the power connection between the first output shaft (31) and the drain valve (2), and the drain valve (2) closes the drain port. The second output shaft (32) drives the stirring assembly (8) to work. When the first output shaft (31) rotates in the second direction (M), it can connect the power connection between the first output shaft (31) and the drain valve (2), and drive the drain valve (2) to open the drain port. When the drain port is open, the drive mechanism (3) stops moving. The transmission system (4) includes: a first transmission assembly (41), the first transmission assembly (41) including: A fixed base (411) is connected to the sewage tank (1); A power commutator (412) is slidably connected to the fixed base (411). One end of the power commutator (412) is connected to the first output shaft (31) in a transmission manner. The power commutator (412) is configured to be able to move axially along its rotational surface during the relative rotation with respect to the fixed base (411). The connecting rod assembly (413) has one end hinged to the end of the power reversing member (412) away from the drive mechanism (3), and the other end of the connecting rod assembly (413) is connected to the drain valve (2). A drive shaft (414) is connected to the first output shaft (31) for transmission. The power reversing component (412) is provided with a mounting hole (4122). One of the outer wall of the drive shaft (414) and the inner wall of the mounting hole (4122) is provided with at least one guide block (4141), and the other is provided with a second guide groove (4123) that is adapted to the guide block (4141). The extension direction of the second guide groove (4123) is parallel to the axial direction of the drive shaft (414). After the drain port is opened, the guide block (4141) disengages from the second guide groove (4123). The drain valve (2) includes an elastic element (7) and a valve body (22). The elastic element (7) is configured to provide elastic force to the valve body (22), causing the valve body (22) to tend to move in the direction of closing the drain outlet. The valve body (22) is capable of closing or opening the drain outlet.

16. A self-moving robot, characterized in that, include: The body includes a sewage tank (1), the sewage tank (1) including a sewage outlet and a drain valve (2) for opening or closing the sewage outlet; The drive mechanism (3) has a first output shaft (31) and a second output shaft (32), and the drive mechanism (3) is disposed on the body; The transmission system (4) is connected to the first output shaft (31) and the drain valve (2) and is adapted to switch between an open state and an engaged state. In the engaged state, the transmission system (4) engages the power connection between the first output shaft (31) and the drain valve (2) to open the drain port. In the open state, the transmission system (4) disconnects the power connection between the first output shaft (31) and the drain valve (2) to allow the drain port to be closed. A stirring assembly (8) is installed inside the sewage tank (1). The stirring assembly (8) is connected to the second output shaft (32) in a transmission connection. The transmission system (4) is in the disconnected state. The second output shaft (32) drives the stirring assembly (8) to rotate. After the sewage outlet is opened, the drive mechanism (3) stops outputting power. The transmission system (4) includes: a first transmission assembly (41), the first transmission assembly (41) including: A fixed base (411) is connected to the sewage tank (1); A power commutator (412) is slidably connected to the fixed base (411). One end of the power commutator (412) is connected to the first output shaft (31) in a transmission manner. The power commutator (412) is configured to be able to move axially along its rotational surface during the relative rotation with respect to the fixed base (411). The connecting rod assembly (413) has one end hinged to the end of the power reversing member (412) away from the drive mechanism (3), and the other end of the connecting rod assembly (413) is connected to the drain valve (2). A drive shaft (414) is connected to the first output shaft (31) for transmission. The power reversing component (412) is provided with a mounting hole (4122). One of the outer wall of the drive shaft (414) and the inner wall of the mounting hole (4122) is provided with at least one guide block (4141), and the other is provided with a second guide groove (4123) that is adapted to the guide block (4141). The extension direction of the second guide groove (4123) is parallel to the axial direction of the drive shaft (414). After the drain port is opened, the guide block (4141) disengages from the second guide groove (4123). The drain valve (2) includes an elastic element (7) and a valve body (22). The elastic element (7) is configured to provide elastic force to the valve body (22), causing the valve body (22) to tend to move in the direction of closing the drain outlet. The valve body (22) is capable of closing or opening the drain outlet.

17. A cleaning method using a self-moving robot, characterized in that, The cleaning method, applied to the self-moving robot of claim 1, claim 15, or claim 16, comprises the following steps: S1, fill the sewage tank (1) with water; S2, the second output shaft (32) of the control drive mechanism (3) rotates along the first direction (Z) for a first preset time so that the stirring assembly (8) stirs the sewage in the sewage tank (1); S3, the first output shaft (31) of the control drive mechanism (3) rotates in the second direction (M) until the drain valve (2) opens the drain port; S4, the first output shaft (31) of the control drive mechanism (3) rotates in the first direction (Z) to close the drain valve (2) at the drain port; S5, repeat steps S1-S4.

Images