Pipeline switching reversing mechanism and household robot system

Abstract

The invention relates to the technical field of cleaning accessories, and provides a pipeline switching and reversing mechanism and a domestic robot system.The pipeline switching and reversing mechanism comprises a pipeline assembly and a switching assembly, and the pipeline assembly comprises a first liquid inlet pipe, a second liquid inlet pipe, a first liquid discharging pipe and a second liquid discharging pipe; the switching assembly is provided with a first pressure applying part and a second pressure applying part, and the first pressure applying part is used for periodically extruding the first liquid inlet pipe and the first liquid outlet pipe so as to realize periodic alternate connection and disconnection of the first liquid inlet pipe and the first liquid outlet pipe; and the second pressure applying part is used for periodically extruding the second liquid inlet pipe and the second liquid outlet pipe so as to realize periodic alternate connection and disconnection of the second liquid inlet pipe and the second liquid outlet pipe. According to the pipeline switching reversing structure provided by the invention, the overall switching logic is simpler, the on-off of each pipe body of the pipeline assembly is realized by adopting an extrusion mode, and compared with the on-off of a traditional electromagnetic valve, the probability of valve body liquid leakage caused by high temperature and impurities is lower.

Description

Technical Field

[0001] This invention relates to the field of cleaning accessories technology, and in particular to a pipeline switching and reversing mechanism and a home robot system. Background Technology

[0002] The base station is a device used for charging and cleaning mobile robots. Specifically, during the cleaning process, the mobile robot first needs to be placed in the cleaning basin of the base station. Then, the wastewater in the mobile robot's wastewater tank is discharged into the cleaning basin of the base station through pipes. The base station also needs to replenish the clean water tank of the mobile robot, and it also needs to inject water and steam into the cleaning basin to clean it. Furthermore, the wastewater accumulated in the cleaning basin also needs to be discharged to the outside. Thus, completing the above pipeline switching requires multiple solenoid valves, the control logic is complex, and there are many impurities in the pipeline, which can easily lead to leakage of the solenoid valves. Summary of the Invention

[0003] The purpose of this invention is to provide a pipeline switching and reversing mechanism and a base station, which aims to solve the problems of complex and easily leaked waterway switching control logic between existing mobile robots and base stations.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, this application provides a pipeline switching and reversing mechanism for realizing waterway switching between a base station and a mobile robot, comprising: The pipeline assembly includes a first inlet pipe, a second inlet pipe, a first outlet pipe, and a second outlet pipe. The first inlet pipe and the second inlet pipe are both used to supply clean water, and the first outlet pipe and the second outlet pipe are both used to supply sewage. The switching assembly has a first pressure-applying part and a second pressure-applying part. The first pressure-applying part is used to periodically squeeze the first inlet pipe and the first outlet pipe to achieve periodic alternating opening and closing of the first inlet pipe and the first outlet pipe. The second pressure-applying part is used to periodically squeeze the second inlet pipe and the second outlet pipe to achieve periodic alternating opening and closing of the second inlet pipe and the second outlet pipe.

[0005] The beneficial effects of the present invention: In the pipeline switching and reversing mechanism of the present invention, when switching the water path between a base station and a mobile robot, both the first and second inlet pipes are used to supply clean water, and both the first and second outlet pipes are used to supply sewage. The first and second pressure-applying parts of the switching assembly periodically squeeze the pipeline assembly. Specifically, the first pressure-applying part is used to periodically squeeze the first inlet pipe and the first outlet pipe, and the second pressure-applying part is used to periodically squeeze the second inlet pipe and the second outlet pipe. For example, the first and second pressure-applying parts perform periodic squeezing under the drive of a rotary motor; or, the first and second pressure-applying parts perform periodic squeezing under the drive of a crank-connecting rod mechanism. Thus, the first inlet pipe and the first outlet pipe are periodically alternately opened and closed, and the second inlet pipe and the second outlet pipe are periodically alternately opened and closed. The pipeline switching and reversing structure provided in this application has a simpler overall switching logic. Furthermore, it uses a squeezing method to achieve the on / off state of each pipe in the pipeline assembly. Compared with the traditional solenoid valve, the probability of valve leakage due to high temperature and impurities is lower.

[0006] In some embodiments, the first inlet pipe and the second outlet pipe are switched on and off simultaneously.

[0007] By adopting the above technical solution, the connection and disconnection between the first liquid inlet pipe, the second liquid inlet pipe, the first liquid outlet pipe, and the second liquid outlet pipe are realized. That is, the first liquid inlet pipe and the second liquid outlet pipe are connected and disconnected at the same time, and the second liquid inlet pipe and the first liquid outlet pipe are connected and disconnected at the same time.

[0008] In some embodiments, the first pressure-applying portion has a first neutral period in a non-compression state, during which both the first inlet pipe and the first outlet pipe are in a passable state; and / or, The second pressure application section has a second neutral cycle in a non-compression state, during which both the second inlet pipe and the second outlet pipe are in a passable state.

[0009] By adopting the above technical solution, the first pressure-applying part is in the first neutral cycle to ensure that both the first liquid inlet pipe and the first liquid outlet pipe are in a passable state, and the second pressure-applying part is in the second neutral cycle to ensure that both the second liquid inlet pipe and the second liquid outlet pipe are in a passable state.

[0010] In some embodiments, the switching component includes a first cam, a second cam, and a driving member. The first cam has a first pressure-applying portion, the second cam has a second pressure-applying portion, and the first inlet pipe, the first outlet pipe, the second inlet pipe, and the second outlet pipe are all flexible. The driving member is used to drive the first cam to rotate around a first central axis and to drive the second cam to rotate around a second central axis.

[0011] By adopting the above technical solution, the driving component drives the first cam and the second cam to rotate periodically around the axis, so as to realize the periodic alternating opening and closing of the first liquid inlet pipe and the first liquid outlet pipe, and the periodic alternating opening and closing of the second liquid inlet pipe and the second liquid outlet pipe.

[0012] In some embodiments, the first central axis and the second central axis are arranged on the same axis.

[0013] By adopting the above technical solution, the first cam and the second cam can be driven by the same power source, making the overall switching component smaller and facilitating the miniaturization of pipeline switching and reversing mechanisms.

[0014] In some embodiments, the driving component includes a drive motor and a transmission shaft connected to the output end of the drive motor, wherein the first cam and the second cam are both sleeved on the transmission shaft.

[0015] By adopting the above technical solution, the drive motor provides the power for the two cams to rotate periodically around the axis, and the torque is transmitted to the two cams through the transmission shaft.

[0016] In some embodiments, the drive unit further includes a transmission mechanism, wherein the output end of the drive motor is connected to the drive shaft via the reduction mechanism, and the transmission mechanism is located on one side of the first cam or one side of the second cam; or, the transmission mechanism is located between the first cam and the second cam.

[0017] By adopting the above technical solution, the setting positions of the two cams are adjusted using a transmission mechanism, thereby meeting different usage scenarios.

[0018] In some embodiments, when the transmission mechanism is located between the first cam and the second cam, the transmission mechanism includes a worm gear disposed at the output end of the drive motor, a turbine gear meshing with the worm gear, a first gear coaxially disposed with the turbine gear, and a second gear meshing with the first gear, the second gear being connected to the transmission shaft.

[0019] By adopting the above technical solution, the torque is transmitted to the drive shaft using a turbine, worm gear, and various gears, and then transmitted from the drive shaft to the cams at opposite ends. In this way, the torque transmission stroke is relatively short and the transmission process is more stable.

[0020] In some embodiments, the switching assembly includes a housing, the housing including a base and a cover disposed on the base, the base and the cover enclosing a first mounting portion for accommodating the worm, the turbine, the first gear and the second gear.

[0021] By adopting the above technical solution, the base and cover of the outer shell are used to limit the movement of each transmission component, thereby ensuring stability during the transmission of lifting force.

[0022] In some embodiments, the base includes a first main body portion and a first cover plate portion covering the first main body portion. The first main body portion and the first cover plate portion enclose a second mounting portion for mounting the first cam. The first inlet pipe and the first outlet pipe are both located at the second mounting portion and are located on opposite sides of the first cam. The cover includes a second main body and a second cover plate covering the second main body. The second main body and the second cover plate together form a third mounting part for mounting the second cam. The second inlet pipe and the second outlet pipe are both located at the third mounting part and are located on opposite sides of the second cam. The two ends of the drive shaft pass through the first main body and the second main body respectively, and are connected to the first cam and the second cam.

[0023] By adopting the above technical solution, the second mounting part is used to limit the first cam, the first liquid inlet pipe and the first liquid outlet pipe, and the third mounting part is used to limit the second cam, the second liquid inlet pipe and the second liquid outlet pipe, so as to improve the stability of each cam during the rotation around the axis.

[0024] Secondly, this application also provides a pipeline switching and reversing mechanism for realizing waterway switching between a base station and a mobile robot, comprising: The pipeline assembly includes a first inlet pipe, a second inlet pipe, a first outlet pipe, and a second outlet pipe. The first inlet pipe and the second inlet pipe are both used to supply clean water, and the first outlet pipe and the second outlet pipe are both used to supply sewage. The switching assembly has a first pressure-applying part and a second pressure-applying part. The first pressure-applying part is used to periodically squeeze the first liquid inlet pipe and the second liquid outlet pipe to achieve periodic alternating opening and closing of the first liquid inlet pipe and the second liquid outlet pipe. The second pressure-applying part is used to periodically squeeze the second liquid inlet pipe and the second liquid outlet pipe to achieve periodic alternating opening and closing of the second liquid inlet pipe and the second liquid outlet pipe.

[0025] Thirdly, this application also provides a pipeline switching and reversing mechanism for realizing waterway switching between a base station and a mobile robot, comprising: The pipeline assembly includes a first inlet pipe, a second inlet pipe, a first outlet pipe, and a second outlet pipe. The first inlet pipe and the second inlet pipe are both used to supply clean water, and the first outlet pipe and the second outlet pipe are both used to supply sewage. The switching assembly has a first pressure-applying part and a second pressure-applying part. The first pressure-applying part is used to periodically squeeze the first liquid inlet pipe and the second liquid inlet pipe to realize the periodic alternating opening and closing of the first liquid inlet pipe and the second liquid inlet pipe. The second pressure-applying part is used to periodically squeeze the first liquid outlet pipe and the second liquid outlet pipe to realize the periodic alternating opening and closing of the first liquid outlet pipe and the second liquid outlet pipe.

[0026] Fourthly, this application provides a pipeline switching and reversing mechanism for realizing waterway switching between a base station and a mobile robot, comprising: A piping assembly, comprising an inlet pipe assembly and an outlet pipe assembly; A switching assembly includes a drive motor, a transmission shaft connected to the output end of the drive motor, and a first cam and a second cam connected to opposite ends of the transmission shaft, wherein the first cam and the second cam rotate coaxially. The driven motor drives the first cam and the second cam to periodically and alternately squeeze the inlet pipe group and the outlet pipe group, so as to realize the periodic alternating opening and closing of the inlet pipe group and the outlet pipe group.

[0027] Fifthly, this application provides a home robot system, including the aforementioned pipeline switching and reversing mechanism, base station, and mobile robot. The base station includes a first clean water tank, a first wastewater tank, and a cleaning tray. The mobile robot includes a second clean water tank and a second wastewater tank. The first inlet pipe of the pipeline switching and reversing mechanism is used to connect the first clean water tank and the second clean water tank. The second inlet pipe of the pipeline switching and reversing mechanism is used to connect the first clean water tank and the cleaning tray. The first drain pipe of the pipeline switching and reversing mechanism is used to connect the cleaning tray and the first wastewater tank. The second drain pipe of the pipeline switching and reversing mechanism is used to connect the first wastewater tank and the second wastewater tank. The second inlet pipe and the first drain pipe of the pipeline switching and reversing mechanism are switched on and off synchronously.

[0028] Understandably, the beneficial effects of the second, third, fourth, and fifth aspects can be referenced from the beneficial effects of the first aspect, and will not be elaborated here. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a cross-sectional view of the first inlet pipe and the second outlet pipe in the pipeline switching and reversing mechanism provided in Embodiment 1 of the present invention, in a passable state. Figure 2 This is a cross-sectional view of the second inlet pipe and the first outlet pipe in the pipeline switching and reversing mechanism provided in Embodiment 1 of the present invention, in a passable state. Figure 3 This is a cross-sectional view of the pipeline switching and reversing mechanism provided in Embodiment 1 of the present invention, in which the first inlet pipe, the second inlet pipe, the first outlet pipe, and the second outlet pipe are all in a passable state. Figure 4 This is an exploded view of the pipeline switching and reversing mechanism provided in Embodiment 1 of the present invention; Figure 5 This is an exploded view of the first cam of the pipeline switching and reversing mechanism provided in Embodiment 1 of the present invention; Figure 6 This is an exploded view of the pipeline switching and reversing mechanism provided in Embodiment 2 of the present invention; Figure 7 This is a cross-sectional view of the pipeline switching and reversing mechanism provided in Embodiment 2 of the present invention; Figure 8 This is a schematic diagram of the structure of a home robot system provided in an embodiment of the present invention.

[0031] The following are the labeling elements in the figure: 100. Pipeline switching and reversing mechanism; 10. Piping assembly; 11. First inlet pipe; 12. Second inlet pipe; 13. First drain pipe; 14. Second drain pipe; 20. Switching component; 20a. First pressure applying part; 20b. Second pressure applying part; 21. First cam; 22. Second cam; 23. Driving component; 231. Drive motor; 232. Transmission shaft; 233. Transmission mechanism; 2331. Worm gear; 2332. Turbine; 2333. First gear; 2334. Second gear; 24. Housing; 241. Base; 242. Cover; 24a. First mounting part; 2411. First main body part; 2412. First cover plate part; 24b. Second mounting part; 2421. Second main body part; 2422. Second cover plate part; 24c. Third mounting part; 211. Cam main body part; 212. Cylindrical component; 2111. Column; 2112. Fixing plate; O, First central axis; P, Second central axis; 200. Base station; 201. First clean water tank; 202. First wastewater tank; 203. Cleaning tray; 300. Mobile robot; 301. Second clean water tank; 302. Second sewage tank. Detailed Implementation

[0032] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0033] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In a home robot system, there are base stations and mobile robots. The base station supplies power to the mobile robot and performs tasks such as cleaning and water supply. The mobile robot performs cleaning, patrolling, and monitoring functions. Taking home cleaning as an example, the base station is used to charge and clean the mobile robot. During cleaning, the mobile robot first rests in the cleaning basin of the base station. Then, wastewater from the mobile robot's wastewater tank is discharged through pipes into the base station's cleaning basin. The base station also needs to replenish the mobile robot's clean water tank and inject water and steam into the cleaning basin for cleaning. Furthermore, the wastewater accumulated in the cleaning basin needs to be drained to the outside. This process requires multiple solenoid valves, and the control logic is relatively complex. Additionally, the pipeline contains many impurities, which can easily cause the solenoid valves to leak due to blockage.

[0037] In view of this, this application provides a pipeline switching and reversing mechanism, including a pipeline assembly and a switching assembly. The pipeline assembly includes four pipes: a first inlet pipe, a second inlet pipe, a first outlet pipe, and a second outlet pipe. Both the first and second inlet pipes are used for supplying clean water, and both the first and second outlet pipes are used for supplying wastewater. The switching assembly has a first pressure-applying part and a second pressure-applying part. These two pressure-applying parts move periodically to periodically squeeze the first inlet pipe and the first outlet pipe, thereby achieving periodic alternating on / off states for the first inlet pipe and the first outlet pipe. The second pressure-applying part periodically squeezes the second inlet pipe and the second outlet pipe, achieving periodic alternating on / off states for the second inlet pipe and the second outlet pipe. The pipeline switching and reversing structure provided by this application has a simpler overall switching logic. Furthermore, by using a squeezing method to achieve on / off states for each pipe of the pipeline assembly, the probability of valve leakage due to high temperature and impurities is lower compared to traditional solenoid valves.

[0038] Please refer to Figures 1 to 4This application provides a pipeline switching and reversing mechanism 100 for realizing waterway switching between a base station 200 and a mobile robot 300, including a pipeline assembly 10 and a switching assembly 20.

[0039] The pipeline assembly 10 includes a first inlet pipe 11, a second inlet pipe 12, a first outlet pipe 13, and a second outlet pipe 14. The first inlet pipe 11 and the second inlet pipe 12 are both used to supply clean water, and the first outlet pipe 13 and the second outlet pipe 14 are both used to supply sewage. The switching assembly 20 has a first pressure-applying part 20a and a second pressure-applying part 20b. The first pressure-applying part 20a is used to periodically squeeze the first inlet pipe 11 and the first outlet pipe 13 to achieve periodic alternating on and off of the first inlet pipe 11 and the first outlet pipe 13. The second pressure-applying part 20b is used to periodically squeeze the second inlet pipe 12 and the second outlet pipe 14 to achieve periodic alternating on and off of the second inlet pipe 12 and the second outlet pipe 14.

[0040] Understandably, the pipeline assembly 10 is the sum of all pipes used for water supply. Specifically, the inlet pipe is mainly used for supplying clean water. For example, the inlet pipe connects the clean water tank of the base station 200 and the clean water tank of the mobile robot 300, and can also connect the clean water tank of the base station 200 and the cleaning tray, so that the clean water in the clean water tank of the base station 200 flows to the clean water tank or cleaning tray of the robot. The sewage pipe is mainly used for supplying sewage. For example, the sewage pipe connects the sewage tank of the base station 200 and the cleaning tray, and can also connect the sewage tank of the base station 200 and the sewage tank of the mobile robot 300, so that the sewage in the cleaning tray of the base station 200 flows to the sewage tank of the base station 200, and the sewage in the sewage tank of the mobile robot 300 flows to the sewage tank of the base station 200.

[0041] The switching assembly 20 is a mechanism for periodically switching the pipes in the pipeline assembly 10 on and off. The first pressure-applying part 20a and the second pressure-applying part 20b are the execution parts of the switching assembly 20 that directly press against the pipeline assembly 10. Here, the switching assembly 20 can be a cam mechanism, with the pressure-applying part being the protrusion of the cam mechanism. For example, the cam mechanism can rotate periodically under the drive of a motor, and the protrusion of the cam mechanism can periodically press against the pipes in the pipeline assembly 10. Alternatively, the switching assembly can also be composed of multiple cylinders that alternately extend and retract, with the pressure-applying part being the extension of the cylinder. For example, each cylinder can be periodically driven, thereby pressing against the corresponding pipe by the extension of each cylinder.

[0042] For example, the switching component 20 may include two sets of cam mechanisms, which are driven to rotate around an axis by one or two power sources. For ease of explanation, the two sets of cam mechanisms are divided into a first cam mechanism and a second cam mechanism. The first cam mechanism has a first pressure application part 20a, and the second cam mechanism has a second pressure application part 20b. The first inlet pipe 11 and the first outlet pipe 13 are located around the first pressure application part 20a of the first cam mechanism. When the first pressure application part 20a rotates around the axis with the first cam mechanism, it periodically and alternately squeezes the first inlet pipe 11 and the first outlet pipe 13. Similarly, the second inlet pipe 12 and the second outlet pipe 14 are located around the second pressure application part 20b of the second cam mechanism. When the second pressure application part 20b rotates around the axis with the second cam mechanism, it periodically and alternately squeezes the second inlet pipe 12 and the second outlet pipe 14.

[0043] For example, the switching assembly 20 may include four sets of telescopic cylinders, two of which are first telescopic cylinders and the other two are second telescopic cylinders. The two first telescopic cylinders have two first pressure-applying parts 20a, which abut against the first liquid inlet pipe 11 and the first liquid outlet pipe 13 respectively, and periodically alternately squeeze the first liquid inlet pipe 11 and the first liquid outlet pipe 13. Similarly, the two second telescopic cylinders have two second pressure-applying parts 20b, which abut against the second liquid inlet pipe 12 and the second liquid outlet pipe 14 respectively, and periodically alternately squeeze the second liquid inlet pipe 12 and the second liquid outlet pipe 14.

[0044] It should be noted that the periodic on / off cycles of the first inlet pipe 11 and the first outlet pipe 13 may or may not be related to the periodic on / off cycles of the second inlet pipe 12 and the second outlet pipe 14. For example, their periodic frequencies may be synchronized, that is, the pressure application cycles of the first pressure application section 20a and the second pressure application section 20b may be synchronized. Alternatively, their periodic frequencies may be asynchronous, that is, the pressure application cycles of the first pressure application section 20a and the second pressure application section 20b may be asynchronous, and the two pressure application sections may apply pressure to the corresponding pipes at different speeds.

[0045] In the pipeline switching and reversing mechanism 100 of the present invention, when realizing the water circuit switching between the base station 200 and the mobile robot 300, the first liquid inlet pipe 11 and the second liquid inlet pipe 12 are both used to supply clean water, and the first liquid outlet pipe 13 and the second liquid outlet pipe 14 are both used to supply sewage. The first pressure-applying part 20a and the second pressure-applying part 20b of the switching component 20 periodically squeeze the pipeline assembly 10. Specifically, the first pressure-applying part 20a is used to periodically squeeze the first inlet pipe 11 and the first outlet pipe 13, and the second pressure-applying part 20b is used to periodically squeeze the second inlet pipe 12 and the second outlet pipe 14. For example, the first pressure-applying part 20a and the second pressure-applying part 20b are periodically squeezed under the drive of a rotary motor; or, the first pressure-applying part 20a and the second pressure-applying part 20b are periodically squeezed under the drive of a crank-connecting rod mechanism. In this way, the first inlet pipe 11 and the first outlet pipe 13 are periodically alternately opened and closed, and the second inlet pipe 12 and the second outlet pipe 14 are periodically alternately opened and closed. The pipeline switching and reversing structure provided in this application has a simpler overall switching logic. Moreover, by using a squeezing method to realize the opening and closing of each pipe of the pipeline assembly 10, the probability of valve leakage due to high temperature and impurities is lower compared with the traditional solenoid valve.

[0046] In some embodiments, the first inlet pipe 11 and the second outlet pipe 14 are switched on and off simultaneously, and the second inlet pipe 12 and the first outlet pipe 13 are switched on and off simultaneously.

[0047] Understandably, when the on / off cycles of the first inlet pipe 11 and the second outlet pipe 14 are synchronized, and when the on / off cycles of the second inlet pipe 12 and the first outlet pipe 13 are synchronized, then when the first pressure applying unit 20a applies pressure to the first inlet pipe 11, the second pressure applying unit 20b also simultaneously applies pressure to the second outlet pipe 14. At this time, the first outlet pipe 13 and the second inlet pipe 12 are in a non-pressurized closed state. Alternatively, when the first pressure applying unit 20a applies pressure to the second inlet pipe 12, the second pressure applying unit 20b also simultaneously applies pressure to the first outlet pipe 13. At this time, the second outlet pipe 14 and the first inlet pipe 11 are in a non-pressurized closed state.

[0048] In summary, the pressure application cycles of the first pressure application unit 20a and the second pressure application unit 20b are synchronized. For example, the two pressure application units can be powered by the same power source, or they can be powered by the same power supply.

[0049] In this way, the connection and disconnection between the first liquid inlet pipe 11, the second liquid inlet pipe 12, the first liquid outlet pipe 13, and the second liquid outlet pipe 14 are realized. That is, the first liquid inlet pipe 11 and the second liquid outlet pipe 14 are connected and disconnected at the same time, and the second liquid inlet pipe 12 and the first liquid outlet pipe 13 are connected and disconnected at the same time.

[0050] In some embodiments, the first pressure-applying part 20a has a first neutral period in a non-compression state, during which both the first inlet pipe 11 and the first outlet pipe 13 are in a passable state; and / or, The second pressure application section 20b has a second neutral cycle in a non-compression state, during which the second liquid inlet pipe 12 and the second liquid outlet pipe 14 are both in a passable state.

[0051] Understandably, the idle period refers to the period during which the pressurizing unit does not pressurize the pipes of the pipeline assembly 10. That is, during the idle period, the corresponding pipes of the pipeline assembly 10 are in a closed state. For example, when the first pressurizing unit 20a is in the first idle period, the first inlet pipe 11 and the first outlet pipe 13 are both in a closed state; similarly, when the second pressurizing unit 20b is in the second idle period, the second inlet pipe 12 and the second outlet pipe 14 are both in a closed state.

[0052] Meanwhile, the opposite cycle to the neutral cycle is the pressure cycle. Therefore, the pressure cycle and neutral cycle of each pressure-applying part should alternate or be carried out alternately. That is, the first pressure-applying part 20a can be in the pressure cycle and squeeze the first inlet pipe 11. At this time, the first outlet pipe 13 is in the open state. When the first pressure-applying part 20a is in the first neutral cycle, no pressure is applied to any pipe. At this time, both the first outlet pipe 13 and the first inlet pipe 11 are in the open state. Then, the first pressure-applying part 20a enters the pressure cycle again and squeezes the first outlet pipe 13. At this time, the first outlet pipe is in the open state. When the first pressure-applying part 20a is in the first neutral cycle again and no pressure is applied to any pipe, the first outlet pipe 13 and the first inlet pipe 11 are in the open state again. This cycle repeats. The above example illustrates the on / off process of the first inlet pipe 11 and the first outlet pipe 13. The on / off process of the second inlet pipe 12 and the second outlet pipe 14 can be used as a reference.

[0053] It should also be noted that the first and second neutral cycles can be at the same frequency. That is, when the first pressure-applying part 20a is in the first neutral cycle, the second pressure-applying part 20b is also in the second neutral cycle. At this time, the first inlet pipe 11, the first outlet pipe 13, the second inlet pipe 12, and the second outlet pipe 14 are all in the same path. Of course, the two neutral cycles can also be at different frequencies. That is, when the first inlet pipe 11 and the first outlet pipe 13 are both in the open state, the second inlet pipe 12 and the second outlet pipe 14 are still periodically alternating on and off. And, when the second inlet pipe 12 and the second outlet pipe 14 are both in the open state, the first inlet pipe 11 and the first outlet pipe 13 are still periodically alternating on and off.

[0054] Thus, by utilizing the first pressure-applying part 20a in the first neutral cycle, both the first liquid inlet pipe 11 and the first liquid outlet pipe 13 are in a passable state; and by utilizing the second pressure-applying part 20b in the second neutral cycle, both the second liquid inlet pipe 12 and the second liquid outlet pipe 14 are in a passable state.

[0055] Please refer to Figures 1 to 4 In some embodiments, the switching component 20 includes a first cam 21, a second cam 22, and a drive member 23. The first cam 21 has a first pressure application portion 20a, and the second cam 22 has a second pressure application portion 20b. The first inlet pipe 11, the first outlet pipe 13, the second inlet pipe 12, and the second outlet pipe 14 are all flexible. The drive member 23 is used to drive the first cam 21 to rotate around the first central axis O and to drive the second cam 22 to rotate around the second central axis P.

[0056] Understandably, each cam is a carrier of each pressure part, and the pressure part of the cam can change periodically when it rotates around the axis. The drive member 23 is used to provide the power required for the corresponding cam to rotate around the axis. The drive member 23 may include only the power source part, or it may include both the power source part and the transmission part.

[0057] In actual operation, the first cam 21 and the second cam 22 can be provided with corresponding driving forces by different driving members 23, so that they can rotate around their respective central axes. Alternatively, the first cam 21 and the second cam 22 can also be provided with the required driving forces by two sets of driving members 23 respectively.

[0058] For example, the first cam 21 is driven by a drive member 23 to rotate about a first central axis O. At this time, the first inlet pipe 11 and the first outlet pipe 13 are located on the periphery of the first cam 21, and the line connecting the shortest distance between the first inlet pipe 11 and the first outlet pipe 13 passes through the first central axis O of the first cam 21; and the second cam 22 is driven by another drive member 23 to rotate about a second central axis P. At this time, the second inlet pipe 12 and the second outlet pipe 14 are located on the periphery of the second cam 22, and the line connecting the shortest distance between the second inlet pipe 12 and the second outlet pipe 14 passes through the second central axis P of the second cam 22.

[0059] For example, the first cam 21 and the second cam 22 are driven to rotate by the same drive member 23. At this time, the first cam 21 and the second cam 22 can be selected to rotate coaxially or non-coaxially. When they rotate coaxially, the first cam 21 and the second cam 22 are stacked vertically along the central axis. The first inlet pipe 11 and the first outlet pipe 13 are located on the periphery of the first cam 21, and the second inlet pipe 12 and the second outlet pipe 14 are located on the periphery of the second cam 22. Furthermore, the first inlet pipe 11 and the second inlet pipe 12 can be stacked vertically in correspondence, and the first outlet pipe 13 and the second outlet pipe 14 can be stacked vertically in correspondence.

[0060] Thus, the driving component 23 drives the first cam 21 and the second cam 22 to rotate periodically around the axis, so as to realize the periodic alternating opening and closing of the first liquid inlet pipe 11 and the first liquid outlet pipe 13, and the periodic alternating opening and closing of the second liquid inlet pipe 12 and the second liquid outlet pipe 14.

[0061] Please refer to Figure 4 and Figure 5 In some embodiments, the first central axis O and the second central axis P are set on the same axis.

[0062] Understandably, when the first central axis O and the second central axis P are coaxially arranged, the first cam 21 and the second cam 22 are stacked in the axial direction of the common central axis, which can be stacked vertically or horizontally.

[0063] Furthermore, when the first cam 21 and the second cam 22 are stacked in the axial direction of a common central axis, the first inlet pipe 11 and the first outlet pipe 13 can be located on the periphery of the first cam 21, and the second inlet pipe 12 and the second outlet pipe 14 can be located on the periphery of the second cam 22. In addition, the first inlet pipe 11 and the second inlet pipe 12 can also be stacked accordingly, and the first outlet pipe 13 and the second outlet pipe 14 can also be stacked accordingly. In this way, the overall volume of the pipeline switching and reversing mechanism 100 provided in this embodiment is smaller.

[0064] Thus, the first cam 21 and the second cam 22 can be driven by the same power source, making the overall switching assembly 20 smaller and facilitating the miniaturization of the pipeline switching and reversing mechanism 100.

[0065] Please refer to Figure 1 and Figure 4 In some embodiments, the drive unit 23 includes a drive motor 231 and a transmission shaft 232 connected to the output end of the drive motor 231, and the first cam 21 and the second cam 22 are both sleeved on the transmission shaft 232.

[0066] Understandably, the drive motor 231 is the power source that enables the cams to rotate around their axes, while the transmission shaft 232 is the part that transmits torque. In this embodiment, a drive motor 231 and a transmission shaft 232 are used to simultaneously drive two cams to rotate around their axes.

[0067] For example, in the initial state, the first pressure-applying part 20a of the first cam 21 applies pressure to the first inlet pipe 11, and the first outlet pipe 13 is in a closed state. The second pressure-applying part 20b of the second cam 22 applies pressure to the second outlet pipe 14, and the second inlet pipe 12 is in a closed state. Since the two cams rotate coaxially, when the first pressure-applying part 20a of the first cam 21 applies pressure to the first outlet pipe 13, the second pressure-applying part 20b of the second cam 22 applies pressure to the second inlet pipe 12. In this way, based on the periodic alternation of the opening and closing of the first inlet pipe 11 and the first outlet pipe 13, and the periodic alternation of the opening and closing of the second inlet pipe 12 and the second outlet pipe 14, the first inlet pipe 11 and the second outlet pipe 14 can also be opened and closed synchronously, that is, the second inlet pipe 12 and the first outlet pipe 13 can be opened and closed synchronously.

[0068] Thus, the drive motor 231 provides the power for the two cams to rotate periodically around the axis, and the torque is transmitted to the two cams through the transmission shaft 232.

[0069] Please refer to Figure 1 and Figure 6 In some embodiments, the drive unit 23 further includes a transmission mechanism 233, the output end of the drive motor 231 is connected to the transmission shaft 232 through a reduction mechanism, and the transmission mechanism 233 is located on one side of the first cam 21 or one side of the second cam 22; or, the transmission mechanism 233 is located between the first cam 21 and the second cam 22.

[0070] Understandably, when the transmission distance is limited, a transmission mechanism 233 needs to be added to bridge the transmission distance between the drive motor 231 and the transmission shaft 232. Here, the transmission mechanism 233 may have a corresponding deceleration function, that is, the transmission mechanism 233 may be a gearbox, or the transmission mechanism 233 may not have a deceleration function.

[0071] Furthermore, when the first cam 21 and the second cam 22 are driven by the same drive shaft 232, the transmission mechanism 233 can be selectively located on one side of the two cams. For example, the transmission mechanism 233 can be located on one side of the first cam 21 or on one side of the second cam 22. In this case, it is suitable for applications with a long transmission distance. Alternatively, the transmission mechanism 233 can be located between the first cam 21 and the second cam 22. In this case, the transmission distance is relatively short, which is suitable for applications with high requirements for transmission stability.

[0072] In this way, the transmission mechanism 233 is used to adjust the setting position of the two cams, thereby meeting different usage scenarios.

[0073] Please refer to Figure 1 and Figure 4 In some embodiments, when the transmission mechanism 233 is located between the first cam 21 and the second cam 22, the transmission mechanism 233 includes a worm 2331 disposed at the output end of the drive motor 231, a turbine 2332 meshing with the worm 2331, a first gear 2333 coaxially disposed with the turbine 2332, and a second gear 2334 meshing with the first gear 2333. The second gear 2334 is connected to the transmission shaft 232.

[0074] Understandably, the torque transmission sequence is from the output end of the drive motor 231 to the worm 2331, then from the worm 2331 to the turbine 2332, the first gear 2333 and the turbine 2332 rotate coaxially, and then the torque is transmitted from the first gear 2333 to the second gear 2334, and finally the transmission shaft 232 and the second gear 2334 rotate coaxially.

[0075] In this way, the torque is transmitted to the drive shaft 232 by the turbine 2332, the worm gear 2331 and the gears, and then transmitted to the cams at opposite ends by the drive shaft 232. Thus, the torque transmission stroke is relatively short and the transmission process is more stable.

[0076] Please refer to Figure 6 and Figure 7 In some embodiments, when the transmission mechanism 233 is located on one side of the first cam 21 or on one side of the second cam 22, the transmission mechanism 233 is a reduction gearbox, which includes a plurality of meshing gears. The output end of the drive motor 231 is connected to the gear at the starting position, and then the transmission shaft 232 is connected to the gear at the ending position. One end of the transmission shaft 232 passes through the first cam 21 and the second cam 22 in sequence.

[0077] Understandably, the transmission mechanism 233 is located on one side of the first cam 21 or on one side of the second cam 22, and is suitable for application scenarios with long transmission distances and scenarios where the overall volume of the transmission structure 233 is large.

[0078] Please refer to Figure 4 In some embodiments, the switching assembly 20 includes a housing 24, which includes a base 241 and a cover 242 disposed on the base 241. The base 241 and the cover 242 enclose a first mounting portion 24a for accommodating the worm gear 2331, the turbine 2332, the first gear 2333, and the second gear 2334.

[0079] Understandably, the housing 24 is a housing mechanism for the switching assembly to carry various components. It includes two parts: a base 241 and a cover plate. The base 241 and the cover plate can be connected by screws, plugs, or snaps.

[0080] The first mounting part 24a is an accommodating space formed by the base 241 and the cover plate, which accommodates the worm gear 2331, the turbine 2332, the first gear 2333, and the second gear 2334 as shown.

[0081] In this way, the base 241 and cover 242 of the outer shell 24 are used to limit the movement of each transmission component to ensure stability during the transmission of lifting force.

[0082] Please refer to Figure 4 In some embodiments, the base 241 includes a first main body portion 2411 and a first cover plate portion 2412 covering the first main body portion 2411. The first main body portion 2411 and the first cover plate portion 2412 enclose a second mounting portion 24b for mounting the first cam 21. The first liquid inlet pipe 11 and the first liquid outlet pipe 13 are both located at the second mounting portion 24b and are located on opposite sides of the first cam 21. The cover 242 includes a second main body 2421 and a second cover plate 2422 covering the second main body 2421. The second main body 2421 and the second cover plate 2422 enclose each other to form a third mounting part 24c for mounting the second cam 22. The second liquid inlet pipe 12 and the second liquid outlet pipe 14 are both located at the third mounting part 24c and are located on opposite sides of the second cam 22. The two ends of the drive shaft 232 pass through the first main body 2411 and the second main body 2421 respectively, and are connected to the first cam 21 and the second cam 22.

[0083] Understandably, the second mounting portion 24b is an accommodating space formed by the first main body portion 2411 and the first cover plate portion 2412, for mounting the first cam 21, the first inlet pipe 11, and the first outlet pipe 13. Under the drive of the transmission shaft 232, the first cam 21 rotates around its axis within the second mounting portion 24b and periodically alternately squeezes and opens the first inlet pipe 11 and the first outlet pipe 13. Similarly, the third mounting portion 24c is an accommodating space formed by the second main body portion 2421 and the second cover plate portion 2422, for mounting the second cam 22, the second inlet pipe 12, and the second outlet pipe 14. Under the drive of the transmission shaft 232, the second cam 22 rotates around its axis within the third mounting portion 24c and periodically alternately squeezes and opens the second inlet pipe 12 and the second outlet pipe 14.

[0084] Thus, the second mounting part 24b is used to limit the first cam 21, the first inlet pipe 11 and the first outlet pipe 13, and the third mounting part 24c is used to limit the second cam 22, the second inlet pipe 12 and the second outlet pipe 14, so as to improve the stability of each cam during the rotation around the axis.

[0085] Please refer to Figure 5 In other embodiments, the first cam 21 and the second cam 22 have the same structure. Each cam includes a cam body 211 and a cylindrical member 212 disposed on the cam body 211. The cam body 211 includes a column 2111 and fixed plates 2112 disposed at opposite ends of the body. The cylindrical member 212 is detachably disposed between the two fixed plates 2112. The cylindrical member 212 is eccentrically disposed with respect to the column 2111. The drive shaft 232 is connected to the column 2111.

[0086] Understandably, with the positions and diameters of the inlet and outlet pipes fixed, the squeezing pressure of the inlet and outlet pipes can be adjusted by replacing the cylindrical parts 212 with different diameters.

[0087] This application also provides a pipeline switching and reversing mechanism 100 for realizing waterway switching between base station 200 and mobile robot 300, including pipeline component 10 and switching component 20.

[0088] The pipeline assembly 10 includes a first inlet pipe 11, a second inlet pipe 12, a first outlet pipe 13, and a second outlet pipe 14. The first inlet pipe 11 and the second inlet pipe 12 are both used to supply clean water, and the first outlet pipe 13 and the second outlet pipe 14 are both used to supply sewage. The switching assembly 20 has a first pressure-applying part 20a and a second pressure-applying part 20b. The first pressure-applying part 20a is used to periodically squeeze the first inlet pipe 11 and the second outlet pipe 14 to achieve periodic alternating on and off of the first inlet pipe 11 and the second outlet pipe 14. The second pressure-applying part 20b is used to periodically squeeze the second inlet pipe 12 and the second outlet pipe 14 to achieve periodic alternating on and off of the second inlet pipe 12 and the second outlet pipe 14.

[0089] Understandably, in this embodiment, the different pressure-applying parts of the switching component 20 act on different objects. That is, the first pressure-applying part 20a is used to periodically squeeze the first liquid inlet pipe 11 and the second liquid outlet pipe 14, and the second pressure-applying part 20b is used to periodically squeeze the second liquid inlet pipe 12 and the second liquid outlet pipe 14 to meet different usage requirements in different scenarios.

[0090] This application also provides a pipeline switching and reversing mechanism 100 for realizing waterway switching between base station 200 and mobile robot 300, including pipeline component 10 and switching component 20.

[0091] The pipeline assembly 10 includes a first inlet pipe 11, a second inlet pipe 12, a first outlet pipe 13, and a second outlet pipe 14. The first inlet pipe 11 and the second inlet pipe 12 are both used to supply clean water, and the first outlet pipe 13 and the second outlet pipe 14 are both used to supply sewage. The switching assembly 20 has a first pressure-applying part 20a and a second pressure-applying part 20b. The first pressure-applying part 20a is used to periodically squeeze the first inlet pipe 11 and the second inlet pipe 12 to achieve periodic alternating on and off of the first inlet pipe 11 and the second inlet pipe 12. The second pressure-applying part 20b is used to periodically squeeze the first outlet pipe 13 and the second outlet pipe 14 to achieve periodic alternating on and off of the first outlet pipe 13 and the second outlet pipe 14.

[0092] Understandably, in this embodiment, the different pressure-applying parts of the switching component 20 act on different objects. That is, the first pressure-applying part 20a is used to periodically squeeze the first liquid inlet pipe 11 and the second liquid inlet pipe 12, and the second pressure-applying part 20b is used to periodically squeeze the first liquid outlet pipe 13 and the second liquid outlet pipe 14 to meet different usage requirements in different scenarios.

[0093] This application provides a pipeline switching and reversing mechanism 100 for realizing waterway switching between a base station 200 and a mobile robot 300, including a pipeline component 10 and a switching component 20.

[0094] The pipeline assembly 10 includes an inlet pipe group and an outlet pipe group; the switching assembly 20 includes a drive motor 231, a transmission shaft 232 connected to the output end of the drive motor 231, and a first cam 21 and a second cam 22 connected to opposite ends of the transmission shaft 232, wherein the first cam 21 and the second cam 22 rotate coaxially. The driven motor 231 drives the first cam 21 and the second cam 22 to periodically and alternately squeeze the inlet pipe group and the outlet pipe group, so as to realize the periodic alternating opening and closing of the inlet pipe group and the outlet pipe group.

[0095] Understandably, in this embodiment, the number of inlet pipe assemblies may be one or more, and the number of outlet pipe assemblies may be one or more.

[0096] Optionally, the inlet pipe assembly is arranged around the periphery of the first cam 21, and the outlet pipe assembly is arranged around the periphery of the second cam 22. Then, driven by the drive motor 231 and the transmission shaft 232, the inlet pipe assembly and the outlet pipe assembly are periodically switched on and off.

[0097] Please refer to Figure 8This application provides a home robot system, including the aforementioned pipeline switching and reversing mechanism 100, base station 200, and mobile robot 300. The base station 200 includes a first clean water tank 201, a first wastewater tank 202, and a cleaning tray 203. The mobile robot 300 includes a second clean water tank 301 and a second wastewater tank 302. The first inlet pipe 11 of the pipeline switching and reversing mechanism 100 is used to connect the first clean water tank 201 and the second clean water tank 301. The second inlet pipe 12 of the pipeline switching and reversing mechanism 100 is used to connect the first clean water tank 201 and the cleaning tray 203. The first drain pipe 13 of the pipeline switching and reversing mechanism 100 is used to connect the cleaning tray 203 and the first wastewater tank 202. The second drain pipe 14 of the pipeline switching and reversing mechanism 100 is used to connect the first wastewater tank 202 and the second wastewater tank 302. The second inlet pipe 12 and the first drain pipe 13 of the pipeline switching and reversing mechanism 100 are switched on and off synchronously.

[0098] During use, when the mobile robot 300 returns to the cleaning tray of the base station 200 after completing a cleaning cycle, its second wastewater tank 302 contains a large amount of wastewater, its second clean water tank 301 needs to be replenished, and its cleaning components, such as the roller assembly and the mop tray, also need to be cleaned. Therefore, the pipeline switching and reversing mechanism 100 is in a state of flux. Figure 1 The operating state is as follows: the first inlet pipe 11 and the second outlet pipe 14 are simultaneously open, while the second inlet pipe 12 and the first outlet pipe 13 are simultaneously closed. The first clean water tank 201 of the base station 200 supplies liquid to the second clean water tank 301 through the first inlet pipe 11, and the second sewage tank 302 of the mobile robot 300 is connected to the first sewage tank 202 through the second outlet pipe 14 to discharge sewage into the first sewage tank 202. After the second clean water tank 301 is replenished and the sewage in the second sewage tank 301 is emptied, the pipeline switching and reversing mechanism 100 switches to the attached... Figure 2 In the working state, the second inlet pipe 12 and the first outlet pipe 13 are simultaneously open, while the first inlet pipe 11 and the second outlet pipe 14 are simultaneously closed. Therefore, the first clean water tank 201 of the base station 200 supplies liquid to the clean water tray 203 through the second inlet pipe 12 to clean the roller assembly and cleaning components such as the wiping cloth tray of the mobile robot 300 located on the clean water tray 203. Simultaneously, the wastewater collected in the clean water tray 203 is discharged into the first wastewater tank 202 for storage through the first outlet pipe 13. Also, when the pipeline switching and reversing mechanism 100 is in the attached... Figure 3When the mobile robot is in operation, the first inlet pipe 11 and the second outlet pipe 14 are simultaneously open, and the second inlet pipe 12 and the first outlet pipe 13 are simultaneously open. That is, all four pipes are open. Therefore, the replenishment of the second clean water tank 301, the emptying of the second wastewater tank 302, and the cleaning of the cleaning components such as the roller assembly and the wiping tray of the mobile robot 300 are carried out simultaneously, thereby greatly reducing the dwell time of the mobile robot on the cleaning tray 203 of the base station 200.

[0099] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pipe switching commutation mechanism for realizing water line switching between a base station and a mobile robot, characterized by, The utility model relates to a water supply and drainage system, comprising: a pipeline assembly including a first inlet pipe, a second inlet pipe, a first outlet pipe and a second outlet pipe, the first inlet pipe and the second inlet pipe are used for water flow, the first outlet pipe and the second outlet pipe are used for sewage flow; a switching assembly having a first pressure part and a second pressure part, the first pressure part is used to periodically extrude the first inlet pipe and the first outlet pipe to achieve the first inlet pipe and the first outlet pipe periodic alternating on-off, the second pressure part is used to periodically extrude the second inlet pipe and the second outlet pipe to achieve the second inlet pipe and the second outlet pipe periodic alternating on-off.

2. A line switching commutator mechanism according to claim 1, characterised in that: The first inlet pipe and the second outlet pipe are synchronous on-off, the second inlet pipe and the first outlet pipe are synchronous on-off.

3. A line switching commutator according to claim 1 or 2, characterised in that: The first pressure part has a first idle period in a non-extrusion state, in the first idle period, the first inlet pipe and the first outlet pipe are in a pass-through state; And / or, The second pressure part has a second idle period in a non-extrusion state, in the second idle period, the second inlet pipe and the second outlet pipe are in a pass-through state.

4. The line switching commutator mechanism according to claim 1, characterized in that: The switching assembly includes a first cam, a second cam and a driving member, the first cam has the first pressure part, the second cam has the second pressure part, the first inlet pipe, the first outlet pipe, the second inlet pipe and the second outlet pipe all have flexibility; the driving member is used to drive the first cam to rotate around a first center axis and drive the second cam to rotate around a second center axis.

5. A line switching commutator according to claim 4, characterised in that: The first center axis and the second center axis are coaxially arranged.

6. A line switching commutator mechanism according to claim 5, characterised in that: The driving member includes a driving motor and a transmission shaft connected to the output end of the driving motor, the first cam and the second cam are sleeved on the transmission shaft.

7. A line switching commutator according to claim 6, characterised in that: The driving member further includes a transmission mechanism, the output end of the driving motor is connected to the transmission shaft through the speed reduction mechanism, the transmission mechanism is located on one side of the first cam or one side of the second cam; or, the transmission mechanism is located between the first cam and the second cam.

8. A line switching commutator mechanism according to claim 7, characterised in that: When the transmission mechanism is located between the first cam and the second cam, the transmission mechanism includes a worm provided on the output end of the driving motor, a turbine meshingly connected to the worm, a first gear coaxially arranged with the turbine and a second gear meshingly connected to the first gear, the second gear is connected to the transmission shaft.

9. A line switching commutator mechanism according to claim 8, characterised in that: The switching assembly includes a housing, the housing includes a base and a cover body covered on the base, the base and the cover body enclose to form a first mounting portion for accommodating the worm, the turbine, the first gear and the second gear.

10. A line switching commutator mechanism according to claim 9, characterised in that: The base includes a first main body portion and a first cover plate portion covered on the first main body portion, the first main body portion and the first cover plate portion enclose to form a second mounting portion for mounting the first cam, the first inlet pipe and the first outlet pipe are located at the second mounting portion and on opposite sides of the first cam; The cover includes a second main body part and a second cover plate part provided on the second main body part, the second main body part and the second cover plate part enclosing a third mounting part for mounting the second cam, the second inlet pipe and the second outlet pipe being located at opposite sides of the second cam; The transmission shaft is respectively provided in the first main body part and the second main body part, and is connected to the first cam and the second cam.

11. A pipe switching commutating mechanism for realizing water line switching between a base station and a mobile robot, characterized by, Comprise: A pipeline assembly including a first inlet pipe, a second inlet pipe, a first outlet pipe and a second outlet pipe, the first inlet pipe and the second inlet pipe being used for clean water flow, the first outlet pipe and the second outlet pipe being used for sewage flow; A switching assembly having a first pressure applying part and a second pressure applying part, the first pressure applying part being used for periodically extruding the first inlet pipe and the second outlet pipe to realize periodic and alternating on-off of the first inlet pipe and the second outlet pipe; the second pressure applying part being used for periodically extruding the second inlet pipe and the second outlet pipe to realize periodic and alternating on-off of the second inlet pipe and the second outlet pipe.

12. A pipe switching commutating mechanism for realizing water line switching between a base station and a mobile robot, characterized by, Comprise: A pipeline assembly including a first inlet pipe, a second inlet pipe, a first outlet pipe and a second outlet pipe, the first inlet pipe and the second inlet pipe being used for clean water flow, the first outlet pipe and the second outlet pipe being used for sewage flow; A switching assembly having a first pressure applying part and a second pressure applying part, the first pressure applying part being used for periodically extruding the first inlet pipe and the second inlet pipe to realize periodic and alternating on-off of the first inlet pipe and the second inlet pipe; the second pressure applying part being used for periodically extruding the first outlet pipe and the second outlet pipe to realize periodic and alternating on-off of the first outlet pipe and the second outlet pipe.

13. A pipe switching commutating mechanism for realizing water line switching between a base station and a mobile robot, characterized by, Comprise: A pipeline assembly including an inlet pipe group and an outlet pipe group; A switching assembly including a drive motor, a transmission shaft connected to the output end of the drive motor, and a first cam and a second cam connected to opposite ends of the transmission shaft, the first cam and the second cam rotating coaxially; Wherein, the drive motor drives the first cam and the second cam to periodically and alternately extrude the inlet pipe group and the outlet pipe group to realize periodic and alternating on-off of the inlet pipe group and the outlet pipe group.

14. A home robot system characterized by: The pipeline switching mechanism, the base station and the mobile robot as claimed in any one of claims 1 to 10, the base station comprising a first clean water tank, a first sewage tank and a cleaning tray, the mobile robot comprising a second clean water tank and a second sewage tank, the first liquid inlet pipe of the pipeline switching mechanism being used to connect the first clean water tank and the second clean water tank, the second liquid inlet pipe of the pipeline switching mechanism being used to connect the first clean water tank and the cleaning tray, the first liquid outlet pipe of the pipeline switching mechanism being used to connect the cleaning tray and the first sewage tank, the second liquid outlet pipe of the pipeline switching mechanism being used to connect the first sewage tank and the second sewage tank, and the second liquid inlet pipe and the first liquid outlet pipe of the pipeline switching mechanism being synchronously turned on and off.

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