Walking wheel cleaning device, base station and automatic cleaning system

Abstract

The utility model discloses a walking wheel cleaning device, a base station and an automatic cleaning system, the walking wheel cleaning device comprises a scraping piece, at least one part of the scraping piece is located on a moving track of a walking wheel to and from the base station, and the scraping piece is used for abutting against a walking face of the walking wheel. The scraping piece is arranged on the moving track of the cleaning robot moving back and forth to the base station, when the cleaning robot returns to the base station every time, the scraping piece cleans the walking wheels of the cleaning robot and cleans dirt on the walking wheels, the friction coefficient of the walking faces of the walking wheels is guaranteed, and the cleaning effect is improved. The scraping piece can stretch into the groove of the traveling wheel tire to effectively clean accumulated dust on the wall of the groove of the tire, the cleaning effect is good, the abrasion degree of the traveling wheel tire is small, the service life of the tire and the scraping piece is long, and the exposed scraping piece is convenient to independently clean.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning equipment, in particular to a walking wheel cleaning device, a base station and an automatic cleaning system. Background Art

[0002] During long-term use, dust easily accumulates on the surface of the wheel tires of current cleaning robots, especially in the tire grooves, which reduces the friction coefficient of the wheel tires and may cause the cleaning robot to fail to overcome obstacles and return to the base station. For the problem of dust accumulation on the tire surface, it is usually necessary to clean it manually, which is extremely inconvenient to use. Some cleaning robots are equipped with scraper bars inside the machine. During the rotation of the wheel, the scraper bars are in real-time contact with the wheel, which increases the wear of the tire, affects the service life of the tire and the scraper bars, and increases the load of the drive motor. The scraper bars set inside the machine are also difficult to clean. The utility model proposes a new solution to the above problems. Utility Model Content

[0003] In order to overcome at least one of the above-mentioned disadvantages, the present invention provides a walking wheel cleaning device, a base station and an automatic cleaning system. The purpose of the present invention can be achieved by adopting the following technical solutions:

[0004] The first aspect of the utility model provides a walking wheel cleaning device, which is applied to an automatic cleaning system. The automatic cleaning system includes a cleaning robot and a base station. The cleaning robot includes a walking wheel. The walking wheel cleaning device includes a scraper, which is arranged on the base station. At least a portion of the scraper is located on the moving trajectory of the walking wheel on the base station, and is used to abut against the walking surface of the walking wheel.

[0005] In one possible implementation manner, a tire groove is provided on the walking surface of the walking wheel, and at least a portion of the scraper is inserted into the tire groove and abuts against a groove wall of the tire groove.

[0006] In one possible implementation manner, the scraping member is elastic, and the traveling wheel abuts against the scraping member and drives at least a portion of the scraping member to deform.

[0007] In one possible implementation manner, the fixed end of the scraper is connected to the base station, and the free end of the scraper extends toward the walking wheel.

[0008] In one embodiment, the tire groove includes an advancing surface and / or a receding surface.

[0009] The scraping member comprises a first scraping unit, wherein a free end of the first scraping unit is inclined toward a direction in which the cleaning robot moves out of the base station so as to abut against a retreating surface of the tire groove; and / or,

[0010] The scraping member includes a second scraping unit, and a free end of the second scraping unit is inclined toward a direction in which the cleaning robot approaches the base station so as to abut against a forward surface of the tire groove.

[0011] In one possible implementation, when the scraping member comprises a first scraping unit and a second scraping unit, the first scraping unit and the second scraping unit are arranged at an angle.

[0012] In one possible implementation, when the scraping member includes a first scraping unit and a second scraping unit, the first scraping unit and the second scraping unit are arranged alternately in the moving track direction of the walking wheel of the base station.

[0013] In one embodiment, when the scraping member includes a first scraping unit and a second scraping unit,

[0014] The first contact point when the walking wheel moves to contact with the first scraping unit is the first pile contact point, and the angle formed by the tangent of the walking wheel at the first pile contact point extending in the direction in which the robot enters the base station and the first scraping unit is 45° to 90°; and / or,

[0015] The first contact point when the walking wheel moves to contact with the second scraping unit is the first pile contact point, and the angle formed by the tangent of the walking wheel at the first pile contact point extending toward the direction in which the robot moves out of the base station and the first scraping unit is 45° to 90°.

[0016] In one possible implementation manner, the scraping members are arranged in one-to-one correspondence with the running wheels, and the width of the scraping members is not less than the width of the corresponding running wheels.

[0017] In one possible implementation, when the width of the scraping member is greater than the width of the corresponding running wheel, the free ends of the scraping members located on both sides of the running wheel are inclined toward the running wheel.

[0018] In one possible implementation manner, the scraping member is selected from at least one of a scraper, a brush, and a wiping cloth.

[0019] In one possible implementation manner, the scraper is made of at least one of nylon, PET, plastic, rubber, animal hair, and plant hair.

[0020] In one possible implementation manner, the scraping member is disposed on the base station; or, the scraping member is located on a side where the cleaning robot enters the base station and is separated from the base station.

[0021] In one possible implementation, when the scraping member is disposed on the base station, the scraping member and the base station are fixedly connected / detachably connected.

[0022] A second aspect of the utility model provides a base station, comprising the base station and any one of the above-mentioned walking wheel cleaning devices.

[0023] In one possible implementation manner, the base station further comprises a guide rail, a wheel groove for accommodating the travel wheel is provided on the guide rail, and the scraper is arranged in the wheel groove.

[0024] In one possible implementation, the base station further includes a carrying platform, the carrying platform includes a ramp plate, and the scraper is arranged on the slope surface of the ramp plate; or the scraper is passed through the ramp plate.

[0025] In one possible implementation, the travel wheel comprises a tire groove; in the scraper, the height of the portion located above the slope is greater than the groove depth of the tire groove.

[0026] In one possible implementation manner, a dust collecting groove is provided on the guide track for collecting dirt dropped during the abutment between the traveling wheel and the scraping member.

[0027] A third aspect of the utility model provides an automatic cleaning system, comprising any one of the above-mentioned walking wheel cleaning devices, or any one of the above-mentioned base stations, wherein the automatic cleaning system comprises a cleaning robot.

[0028] The beneficial technical effects of the utility model are as follows: According to the contents of the present disclosure, the walking wheel cleaning device arranges a scraping member on the moving trajectory of the cleaning robot to and from the base station. Each time the cleaning robot returns to the base station after cleaning, the scraping member cleans the walking wheel of the cleaning robot, cleans the dirt stuck on the walking wheel, ensures the friction coefficient of the walking surface of the walking wheel, and improves the pile-mounting rate of the walking wheel to and from the base station; at the same time, the scraping member can extend into the groove of the walking wheel tire to effectively clean the dust accumulated on the groove wall of the tire groove, with good cleaning effect, less wear on the walking wheel tire, long service life of the tire and the scraping member, and the exposed scraping member is easy to clean separately. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In the accompanying drawings, the following are given by way of example and not limitation:

[0030] Figure 1 A top view of the bearing platform structure is shown;

[0031] Figure 2 A front view showing the position of the scraper and the travel wheel;

[0032] Figure 3 A front view of the first scraping unit and the travel wheel structure is shown;

[0033] Figure 4 A front view of the second scraping unit and the travel wheel structure is shown;

[0034] Figure 5 A perspective view of a first scraping member structure is shown;

[0035] Figure 6 Shows Figure 5 A front view of the scraping member structure;

[0036] Figure 7 A perspective view of a second scraper structure is shown;

[0037] Figure 8 Shows Figure 7 A structural front view of the scraping member and the travel wheel;

[0038] Fig. 9 A structural stereogram of a third type of scraping member is shown;

[0039] Fig.10 A schematic diagram of the structure of a base station and a cleaning robot is shown;

[0040] Fig.11 A schematic diagram showing the positions of the guide rail and the scraper;

[0041] Fig.12 A schematic diagram of the structure of the slot is shown;

[0042] Fig.13 A schematic structural diagram of a dust collecting tank is shown.

[0043] In the figure:

[0044] 100, base station; 110, cleaning robot; 200, automatic cleaning system;

[0045] 1. Carrying platform; 11. Ramp plate; 12. Guide track; 13. Wheel groove; 14. Slot; 15. Dust collecting trough;

[0046] 2. scraping member; 21. first scraping unit; 22. second scraping unit;

[0047] 3. Traveling wheels; 31. Tire grooves. DETAILED DESCRIPTION

[0048] In the following detailed disclosure, these embodiments are fully described with reference to the drawings. In order to make the technical scheme of the utility model more clear and specific to those skilled in the art, the implementation methods described below are not limited to this. The utility model is further described in detail below in combination with the embodiments and drawings.

[0049] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0050] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as "up", "down", "left", "right", "front" and "back" are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0051] An optional embodiment of the utility model provides a cleaning system, the cleaning system includes a base station and a movable cleaning device, and the movable cleaning device is communicatively connected to the base station. Specifically, the movable cleaning device includes a self-moving cleaning device or a manual cleaning device, such as the movable cleaning device includes a floor washing robot, a sweeping robot, a mopping robot, a sweeping and mopping robot, a floor polishing robot or a weeding robot. For ease of description, this embodiment takes the cleaning robot 110 as an example to describe the technical solution of the present disclosure.

[0052] The first aspect of the utility model is as follows Figure 1-Figure 11 As shown, a walking wheel cleaning device is provided, which is applied to an automatic cleaning system 200. The automatic cleaning system 200 includes a cleaning robot 110 and a base station 100. The cleaning robot 110 includes a walking wheel 3. The walking wheel cleaning device includes a scraper 2. At least a portion of the scraper 2 is located on the moving trajectory of the walking wheel 3 on the base station 100, and is used to abut against the walking surface of the walking wheel 3.

[0053] When the cleaning robot 110 starts working, the cleaning robot 110 starts from the base station 100 to perform the cleaning task. When the cleaning robot 110 completes the cleaning task or other situations require the cleaning task to be terminated, the cleaning robot 110 can return to the base station 100 for charging or other operations. However, after long-term use, dust accumulates on the running wheels 3 of the cleaning robot 110, which will affect the friction coefficient of the running surface of the running wheels 3, and affect the obstacle crossing ability of the cleaning robot 110 and the pile-up ability of returning to the base station 100. The pile-up ability is the uphill ability of the cleaning robot 110 to drive on the ramp plate 11 during the process of returning to the base station 100.

[0054] The walking wheel cleaning device is provided with a scraper 2 on the moving track of the cleaning robot 110 going back and forth to the base station 100. When the cleaning robot 110 returns to the base station 100, the scraper 2 abuts against the walking surface of the walking wheel 3 of the cleaning robot 110. The walking surface is the arc surface of the walking wheel 3 that contacts the surface to be cleaned in the circumferential direction. The scraper 2 cleans the dust accumulated on the walking wheel 3, ensures the friction coefficient of the walking surface of the walking wheel 3, and improves the pile-up rate and obstacle-crossing success rate of the walking wheel 3 going back and forth to the base station 100. At the same time, the free end of the scraper 2 can extend into the tire groove 31 of the walking wheel 3 and abut against the groove wall, thereby effectively cleaning the dust accumulated on the groove wall of the tire groove 31, with good cleaning effect, less wear on the tire of the walking wheel 3, and long service life of the tire and the scraper 2. At the same time, the scraper 2 is exposed and arranged on the base station 100, which is convenient for separate cleaning to avoid secondary pollution to the main body of the cleaning robot 110.

[0055] In one possible implementation, Figure 2 , Figure 3 , Figure 4 and Figure 8 As shown, a tire groove 31 is provided on the walking surface of the walking wheel 3 , and at least a portion of the scraper 2 is inserted into the tire groove 31 and abuts against the groove wall of the tire groove 31 .

[0056] It can be understood that the walking surface, that is, the surface that the walking wheel 3 contacts with the surface to be cleaned when walking. In order to ensure the friction coefficient of the walking wheel 3, a tire groove 31 is provided on the walking wheel 3, which can greatly improve the friction between the walking wheel 3 and the surface to be cleaned, thereby improving the walking stability, pile-carrying ability and obstacle-crossing ability of the walking wheel 3.

[0057] Regarding the dust accumulated in the tire groove 31, when the running wheel 3 moves to the base station 100, the running wheel 3 abuts against the scraper 2 on the base station 100. During the abutment between the running wheel 3 and the base station 100, at least a portion of the scraper 2 is inserted into the tire groove 31, and the scraper 2 abuts against the groove wall of the tire groove 31, thereby achieving the effect of cleaning the dust accumulated in the tire groove 31.

[0058] Furthermore, the scraping member 2 is elastic, and the traveling wheel 3 abuts against the scraping member 2 and drives at least a portion of the scraping member 2 to deform, and causes the abutment portion between the scraping member 2 and the surface of the traveling wheel 3 to displace.

[0059] It is understandable that, during the process of the walking wheel 3 abutting against the base station 100, at least a portion of the scraper 2 is inserted into the tire groove 31, and the scraper 2 abuts against the groove wall of the tire groove 31. During the process of the walking wheel 3 entering or moving out of the base station 100, the walking wheel 3 applies pressure to the elastic scraper 2 to deform at least a portion of the scraper 2, thereby causing the scraper 2 to abut against the walking wheel 3 and the scraper 2 to abut against the groove wall of the tire groove 31. During this process, the scraper 2 always abuts against the walking surface of the walking wheel 3 or the groove wall of the tire groove 31, thereby cleaning away the dust accumulated on the walking surface of the walking wheel 3 and the tire groove 31, and the cleaning effect is more thorough, so as to meet the dust cleaning needs of walking wheels 3 with different structures.

[0060] In one possible implementation, Figure 1 , Figure 2 and Fig.11 As shown, the fixed end of the scraper 2 is connected to the base station 100 , and the free end of the scraper 2 extends toward the traveling wheel 3 .

[0061] It can be understood that the fixed end of the scraper 2 is connected to the base station 100, the scraper 3 can be connected to the base station 100 by embedding, bolting, bonding, etc., and the free end of the scraper 2 extends toward the walking wheel 3, so that when the cleaning robot 110 enters or moves out of the base station 100, the scraper 2 abuts against the walking wheel 3 to achieve the effect of cleaning the walking wheel.

[0062] When the base station 100 includes a carrier platform 1, the upper surface of the carrier platform 1 can be a plane or a slope, and the scraper 3 can be arranged on the plane and extend upward, or be arranged on the slope and extend obliquely upward, that is, arranged along the angle direction of the slope. When the cleaning robot 110 enters or moves out of the base station 100, the running wheel 3 is located above the scraper 3, and the scraper 3 is deformed by the rotation of the running wheel 3 and the weight of the cleaning robot 110, thereby scraping off the dust and adhering impurities on the running wheel 3.

[0063] When the base station 100 includes a docking station, the surface of the docking station can be a vertical surface, a vertical inclined surface or a vertical arc surface, and the scraper 3 can be arranged on the docking station and extend in the direction of the running wheel 3. When the cleaning robot 110 is connected to the charging stand, the running wheel 3 abuts against the scraper 3. When the cleaning robot 110 enters or moves out of the base station 100, the scraper 3 faces the running surface of the running wheel 3, and the cleaning robot 110 is moved closer to or away from the base station 100 by rotating the running wheel 3, and a force is applied to the scraper 3 to deform the scraper 3, thereby scraping off the dust and adhering impurities on the running wheel 3.

[0064] When the base station 100 includes a carrier platform 1 and a docking platform, the scraper 3 can be arranged on the carrier platform 1 and the docking platform, and both extend toward the direction of the running wheel 3. When the cleaning robot 110 enters or moves out of the base station 100, the running wheel 3 is located on one side and above the scraper 3. The running wheel 3 rotates and the weight of the cleaning robot 110 applies force to the scraper 3, causing the scraper 3 to deform. The scraper 3 covers a larger area, scrapes away the dust and adhering impurities on the running wheel 3, and cleans a larger area with a better cleaning effect.

[0065] In one possible implementation, Figure 2-Figure 4 As shown, the tire groove 31 includes an advancing surface and / or a receding surface.

[0066] Among them, Figure 2 and Figure 3 As shown, the tire groove 31 includes a receding surface, the scraper 2 includes a first scraper unit 21, and the free end of the first scraper unit 21 is inclined toward the direction in which the cleaning robot 110 moves out of the base station 100, so that the walking wheel 3 abuts against the scraper 2 and during the movement toward the direction close to the base station 100, the first scraper unit 21 can abut against the receding surface of the tire groove 31.

[0067] It can be understood that the free end of the first scraping unit 21 is inclined in the direction in which the cleaning robot 110 moves out of the base station 100. When the running wheel 3 enters the base station 100 and abuts against the first scraping unit 21, the first scraping unit 21 abuts against the running surface / groove wall of the tire groove 31 of the running wheel 3. When the first scraping unit 21 first abuts against the running surface of the running wheel 3, the first scraping unit 21 is squeezed and deformed during the continuous rotation of the running wheel 3, and then abuts against the groove wall of the tire groove 31. The first scraping unit 21 can abut against the receding surface of the tire groove 31 to scrape off the dust and adhering impurities on the receding surface.

[0068] Among them, Figure 2-Figure 4As shown, the tire groove 31 includes a forward surface, the scraper 2 includes a second scraper unit 22, and the free end of the second scraper unit 22 is inclined toward the direction in which the cleaning robot 110 approaches the base station 100, so that the walking wheel 3 abuts against the scraper 2 and during the movement in the direction away from the base station 100, the second scraper unit 22 can abut against the forward surface of the tire groove 31.

[0069] It can be understood that the free end of the second scraping unit 22 is inclined toward the direction in which the cleaning robot 110 approaches the base station 100. When the walking wheel 3 moves out of the base station 100 and abuts against the second scraping unit 22, the second scraping unit 22 abuts against the walking surface / groove wall of the tire groove 31 of the walking wheel 3. When the second scraping unit 22 first abuts against the walking surface of the walking wheel 3, the second scraping unit 22 is squeezed and deformed during the continuous rotation of the walking wheel 3, and then abuts against the groove wall of the tire groove 31. The second scraping unit 22 can abut against the forward surface of the tire groove 31 to scrape off the dust and adhering impurities on the backward surface.

[0070] Among them, Figure 2-Figure 4 As shown, the tire groove 31 includes a forward surface and a backward surface, and the scraper 2 includes a first scraping unit 21 and a second scraping unit 22. The free end of the first scraping unit 21 is inclined toward the direction in which the cleaning robot 110 moves out of the base station 100, so as to abut against the backward surface of the tire groove 31, and the free end of the second scraping unit 22 is inclined toward the direction in which the cleaning robot 110 approaches the base station 100, so as to abut against the forward surface of the tire groove 31.

[0071] Further, such as Figure 2-Figure 4 As shown, when the scraping member 2 includes a first scraping unit 21 and a second scraping unit 22 , the first scraping unit 21 and the second scraping unit 22 are arranged at an angle.

[0072] When the cleaning robot 110 enters or moves out of the base station 100, the first scraping unit 21 and the second scraping unit 22 set at an angle can improve the contact effect with the forward surface and the backward surface of the tire groove 31, and clean the groove wall of the tire groove 31, thereby greatly improving the cleaning effect and cleaning efficiency.

[0073] In one possible implementation, Figure 5-Figure 9 As shown, when the scraper 2 includes the first scraper unit 21 and the second scraper unit 22 , in the moving track direction of the traveling wheel 3 in the base station 100 , the first scraper unit 21 and the second scraper unit 22 are arranged alternately.

[0074] It can be understood that the alternately arranged first scraping units 21 and second scraping units 22 can effectively clean the forward and backward surfaces of the tire groove 31 when the cleaning robot 110 enters or moves out of the base station 100 .

[0075] At the same time, when the cleaning robot 110 enters the base station 100, the walking wheel 3 moves to the top of the second scraping unit 22 to deform downward, reserving a deformable area of ​​the first scraping unit 21 adjacent to the second scraping unit 22, reducing the impact on the first scraping unit 21, and ensuring the cleaning effect. When the cleaning robot 110 moves out of the base station 100, the walking wheel 3 moves to the top of the first scraping unit 21 to deform downward, reserving a deformable area of ​​the second scraping unit 22 adjacent to the first scraping unit 21, reducing the impact on the second scraping unit 22, and ensuring the cleaning effect.

[0076] In one possible implementation, Figure 3 As shown, when the scraper 2 includes a first scraper unit 21 and a second scraper unit 22, the first contact point when the walking wheel 3 moves to contact with the first scraper unit 21 is the first upper pile contact point, and the angle formed by the tangent of the walking wheel 3 at the first upper pile contact point extending toward the direction in which the robot enters the base station 100 and the first scraper unit 21 is 45° to 90°.

[0077] It is understandable that, in order to ensure that the first scraping unit 21 can extend into the tire groove 31 and abut against the groove wall during the movement of the running wheel 3, the first scraping unit 21 needs to be located at the first upper pile contact point of the running wheel 3 along the non-tangential direction extending toward the direction in which the robot enters the base station 100. Preferably, when the angle formed by the tangent extending toward the direction in which the robot enters the base station 100 at the first upper pile contact point of the running wheel 3 and the first scraping unit 21 is 45° to 90°, that is, α is 45° to 90°, the first scraping unit 21 is more likely to extend into the tire groove 31 and abut against the groove wall, and due to the setting of the installation angle, under the force of the running wheel 3, the first scraping unit 21 can deform in the direction opposite to the travel direction of the running wheel 3, so as to better clean the retreating surface.

[0078] In one possible implementation, Figure 4 As shown, the first contact point when the walking wheel 3 moves to contact with the second scraping unit 22 is the first pile contact point, and the angle formed by the tangent extending toward the direction of the robot moving out of the base station 100 at the first pile contact point and the first scraping unit 21 is 45° to 90°.

[0079] It is understandable that, in order to ensure that the second scraping unit 22 can extend into the tire groove 31 and abut against the groove wall during the movement of the walking wheel 3, the second scraping unit 22 needs to be located at the first pile contact point of the walking wheel 3 along the non-tangential direction extending in the direction of the robot moving out of the base station 100. Preferably, when the angle between the tangent extending in the direction of the robot moving out of the base station 100 at the first pile contact point of the walking wheel 3 and the first scraping unit 21 is 45° to 90°, that is, β is 45° to 90°, the second scraping unit 22 is more likely to extend into the tire groove 31 and abut against the groove wall, and due to the setting of the installation angle, under the force of the walking wheel 3, the second scraping unit 22 can deform in the direction opposite to the travel direction of the walking wheel 3, so as to better clean the forward surface.

[0080] In one possible implementation, Figure 1 As shown, the scraping member 2 and the running wheel 3 are arranged in a one-to-one correspondence, and the width of the scraping member 2 is not less than the width of the corresponding running wheel 3.

[0081] It is understandable that if Figure 1 As shown, the coverage area of ​​the scraper 2 is set corresponding to the size of the running wheel 3, the number of the scraper 2 is set corresponding to the number of the running wheels 3, and the position of the scraper 2 is set corresponding to the position of the running wheel 3. Fig.10 As shown, the width of the scraper 2 is not less than the width of the corresponding running wheel 3 , that is, when the running wheel 3 moves to the scraper 2 , the scraper 2 can at least cover the running surface of the running wheel 3 .

[0082] When the width of the scraper 2 is greater than that of the running wheel 3, the scraper 2 can clean the running surface of the running wheel 3 and the tire groove 31 while also cleaning the side of the running wheel 3, thereby preventing dust from falling from the side of the running wheel 3 and causing secondary contamination to the surface to be cleaned.

[0083] In one possible implementation, Figure 7 and Figure 8 As shown, when the width of the scraper 2 is greater than the width of the corresponding running wheel 3 , the free ends of the scraper 2 located on both sides of the running wheel 3 are inclined toward the running wheel 3 .

[0084] It can be understood that, in the scraper 2, the parts located on both sides of the traveling wheel 3 are inclined toward the traveling wheel 3, so that during the abutment between the traveling wheel 3 and the scraper 2, parts of the scraper 2 on both sides of the traveling wheel 3 can abut against the side of the traveling wheel 3, thereby improving the cleaning effect on the side of the traveling wheel 3.

[0085] It is understandable that the scraper 2 can be made of at least one of a scraper, bristles, and a wiping cloth, and can be made of at least one of nylon, PET, plastic, rubber, animal hair, plant hair and other materials. It has elasticity, can be deformed by being squeezed, and can return to its original shape when no force is applied.

[0086] Among them, Figure 5-Figure 8 As shown, the scraping member 2 may be made of bristles, and each scraping unit includes a plurality of groups of bristles arranged at intervals, such as Figure 5 and Figure 7 As shown, the bristles of the first scraping unit 21 and the second scraping unit 22 are arranged in a staggered manner, and the bristles have good deformation ability. After contacting with the running wheel 3, the free ends thereof are squeezed and can expand outward, thereby increasing the contact area with the running wheel 3 and achieving good cleaning effect. At the same time, the bristles are more easily deformed when squeezed by the running wheel 3, which has less hindrance to the movement of the running wheel 3 on the scraping member 3, and has little effect on the pile-mounting rate of the running wheel 3 entering the base station 100.

[0087] Among them, Fig. 9 As shown, the scraper 2 can be a scraper, which has good recovery ability and long service life, and is suitable for the walking wheel 3 with a relatively flat walking surface or a shallow tire groove 31.

[0088] The scraping member 2 can be a wiping cloth, which is sleeved on the elastic material and cleaned by the wiping cloth and the running wheel 3, so it is easy to clean and replace.

[0089] It is understandable that the scraping member 2 may also be a structure other than a scraper, a brush, or a wiping cloth, or a combination of multiple structures to achieve different cleaning effects.

[0090] In one embodiment, the scraper 2 is disposed on the base station 100 , and the scraper 2 can be disposed on the docking station and / or the supporting platform 1 of the base station 100 . When the cleaning robot 110 enters or leaves the base station 100 , the scraper 2 contacts the walking wheel 3 .

[0091] Further, when the scraping member 2 is disposed on the base station 100 , the scraping member 2 and the base station 100 may be fixedly connected or detachably connected.

[0092] Among them, when the scraping member 2 and the base station 100 are detachably connected, this embodiment takes the scraping member 2 using bristles as an example. The scraping member 2 also includes a base, one end of the bristles is implanted in the base, and the positions of multiple groups of bristles are fixed by the base. The base and the base station 100 are detachably connected, so that the base and the bristles can be easily removed for cleaning.

[0093] Among them, when the scraper 2 and the base station 100 are detachably connected, this embodiment takes the scraper 2 using a wiping cloth as an example, and the scraper 2 also includes a base, and the wiping cloth is sleeved on the elastic material of the base, and the position of the elastic material is fixed by the base, or the base itself is an elastic material, and the base and the base station 100 are detachably connected, so that the base and the wiping cloth can be removed for cleaning, or the wiping cloth can be directly removed from the elastic material for cleaning.

[0094] Specifically, when the scraper 2 and the base station 100 are detachably connected, the scraper 3 can be connected to the base station 100 by embedding, snapping, bolts, etc., so that the scraper 3 can be disassembled and assembled multiple times, which is convenient for disassembly, cleaning and replacement.

[0095] When the scraper 2 and the base station 100 can be fixedly connected, the scraper 3 can be connected to the base station 100 by welding, riveting, bonding, etc., and the two have good stability, and the scraper 2 is not easy to fall off from the base station 100.

[0096] In one possible implementation, the scraping member 2 is located at a side where the cleaning robot 110 enters the base station 100 , and is separated from the base station 100 .

[0097] Specifically, the scraper 2 is located on the moving track of the traveling wheel 3 to and from the base station 100. The scraper 2 can be set on the surface to be cleaned and connected to the surface to be cleaned by a detachable method such as gluing, a suction cup, etc.

[0098] The second aspect of the utility model is as follows Figure 1-Figure 11 As shown, a base station 100 is provided, and the base station 100 includes a base station body and any one of the above-mentioned walking wheel cleaning devices.

[0099] It can be understood that the base station 100 can also include a supporting platform 1, the supporting platform 1 includes a ramp plate 11 and a guide track 12, the ramp plate 11 includes a slope surface set at a certain angle to the surface to be cleaned, and the scraper 2 is set on the slope surface; the guide track 12 is set on the slope surface so that the walking wheel 3 moves toward / away from the base station 100 through the guide track 12.

[0100] It is understandable that when the base station 100 has other functions besides charging, such as dust collection function, mop cleaning function, mop drying function, etc., it is generally necessary to set a supporting platform 1 to enable the cleaning robot 110 to leave the ground and enter the base station 100 for operation. The supporting platform 1 usually uses a ramp plate 11.

[0101] When the support platform 1 includes a ramp plate 11, the cleaning robot 110 is connected to the charging seat of the base station 100 via the ramp plate 11, and the running wheel 3 moves to the ramp plate 11 and connects to the charging seat. The scraper 2 can be arranged on the ramp plate 11, and at least a part of the scraper 2 is located on the moving track of the running wheel 3 on the ramp plate 11, that is, on the guide track 12. When the cleaning robot 110 enters or moves out of the base station 100, the running wheel 3 moves along the guide track 12, and the scraper 2 abuts against the running wheel 3.

[0102] In one possible implementation, Fig.10 and Fig.11 As shown, the base station body further includes a guide track 12 , on which a wheel groove 13 for accommodating the running wheel 3 is provided, and the scraping member 2 is arranged in the wheel groove 13 .

[0103] It is understandable that the guide track 12 may be provided with a wheel groove 13, and the wheel groove 13 is provided in a one-to-one correspondence with the running wheel 3, and the running wheel 3 of the cleaning robot 110 connected to the charging station is located in the wheel groove 13, thereby improving the stability of the cleaning robot 110. Furthermore, at least part of the scraping member 2 may be provided in the wheel groove 13, thereby increasing the contact area with the running wheel 3 and improving the cleaning effect.

[0104] A track groove may be provided on the guide track 12 to increase the friction between the guide track 12 and the walking wheel 3 , thereby increasing the pile-mounting rate of the cleaning robot 110 when returning to the base station 100 .

[0105] In one possible implementation, Fig.12 As shown, the scraper 2 is penetrated through the ramp plate 11, and the fixed end of the scraper 2 is connected to the ramp plate 11 below the slope. A groove 14 is provided on the slope for the scraper 2 to pass through. A portion of the scraper 2 is located above the slope, and a portion is located below the slope. The groove 14 cooperates with the scraper 2 with a small gap, which can limit the deformation degree of the scraper 2 to a certain extent and meet the cleaning needs of the walking wheel 3, thereby improving the structural stability of the scraper 2, improving the recovery effect of the scraper 2, and improving the service life of the scraper 2.

[0106] In one possible implementation, Fig.13 As shown, the scraper 2 is arranged on the slope of the ramp plate 11, and the fixed end of the scraper 2 is directly arranged on the slope.

[0107] In one possible implementation, Figure 2 As shown, the running wheel 3 comprises a tire groove 31 , and the height of the portion of the scraper 2 located above the slope is greater than the groove depth of the tire groove 31 .

[0108] It can be understood that the height of the portion of the scraper 2 located above the slope is slightly greater than the depth of the tire groove 31. The height of this portion is preferably greater than 1.5 of the depth of the tire groove 31 and less than the width of the tire groove 31, so that the portion of the scraper 2 located above the slope can abut against the groove wall of the tire groove 31 under the extrusion of the walking wheel 3.

[0109] In one possible implementation, Fig.13 As shown, a dust collecting groove 15 is provided on the guide rail 12 for collecting dirt dropped during the contact between the travel wheel and the scraper. The dust collecting groove 15 can be provided below the scraper 2. When the travel wheel 3 contacts the scraper 2, dirt swept away by the scraper 2 falls into the dust collecting groove 15, so that the dirt in the dust collecting groove 15 does not contact the travel wheel 3 again, thus avoiding secondary contamination. At the same time, cleaning the dust collecting groove 15 is more convenient and quick.

[0110] The third aspect of the utility model is as follows: Figure 1-Figure 11 As shown, an automatic cleaning system is provided, the automatic cleaning system includes any one of the above-mentioned walking wheel cleaning devices, or includes any one of the above-mentioned base stations 100 , and the automatic cleaning system 200 includes a cleaning robot 110 .

[0111] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0112] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0113] In view of the above detailed description, these and other changes can be made to these embodiments, and this written description includes the best mode embodiments to disclose the utility model. The scope of the patent obtained by the utility model is defined by the claims, and the claims are not limited by the content of the present disclosure. The protection scope of the utility model is not limited thereto. Any technician familiar with the technical field within the scope disclosed by the utility model, according to the technical solution and its concept of the utility model, makes equivalent replacement or change, which is within the protection scope of the utility model.

Claims

1. A walking wheel cleaning device, characterized in that: Applicable to an automatic cleaning system (200), the automatic cleaning system (200) comprising a cleaning robot (110) and a base station (100), the cleaning robot (110) comprising a walking wheel (3), the walking wheel cleaning device comprising a scraper (2), at least a portion of the scraper (2) being located on a moving track of the walking wheel (3) moving to and from the base station (100) and being used for abutting against a walking surface of the walking wheel (3).

2. The travel wheel cleaning device according to claim 1, characterized in that: A tire groove (31) is provided on the walking surface of the walking wheel (3), and at least a portion of the scraping member (2) is inserted into the tire groove (31) and abuts against the groove wall of the tire groove (31).

3. The travel wheel cleaning device according to claim 1, characterized in that: The scraping member (2) is elastic, and the walking wheel (3) abuts against the scraping member (2) and drives at least a part of the scraping member (2) to deform.

4. The travel wheel cleaning device according to claim 1, characterized in that: The fixed end of the scraping member (2) is connected to the base station (100), and the free end of the scraping member (2) extends in the direction of the walking wheel (3).

5. The travel wheel cleaning device according to claim 2, characterized in that: The tire groove (31) comprises an advancing surface and / or a receding surface. The scraping member (2) comprises a first scraping unit (21), wherein a free end of the first scraping unit (21) is inclined in a direction in which the cleaning robot (110) moves out of the base station (100) so as to abut against a rearward surface of the tire groove (31); and / or, The scraping member (2) comprises a second scraping unit (22), the free end of the second scraping unit (22) being inclined in the direction of the cleaning robot (110) approaching the base station (100) so as to abut against the forward surface of the tire groove (31).

6. The traveling wheel cleaning device according to claim 5, characterized in that: When the scraping member (2) comprises a first scraping unit (21) and a second scraping unit (22), the first scraping unit (21) and the second scraping unit (22) are arranged at an angle.

7. The travel wheel cleaning device according to claim 5, characterized in that: When the scraping member (2) comprises a first scraping unit (21) and a second scraping unit (22), the first scraping unit (21) and the second scraping unit (22) are arranged alternately in the direction of the moving track of the walking wheel (3) of the base station (100).

8. The travel wheel cleaning device according to claim 6, characterized in that: When the scraping member (2) comprises a first scraping unit (21) and a second scraping unit (22), The first contact point when the walking wheel (3) moves to contact the first scraping unit (21) is the first pile contact point, and the angle formed by the tangent of the walking wheel (3) at the first pile contact point extending in the direction of the robot entering the base station (100) and the first scraping unit (21) is 45° to 90°; and / or, The first contact point when the walking wheel (3) moves to contact the second scraping unit (22) is the first pile contact point, and the angle formed by the tangent of the walking wheel (3) at the first pile contact point extending in the direction of the robot moving out of the base station (100) and the first scraping unit (21) is 45° to 90°.

9. The travel wheel cleaning device according to claim 1, characterized in that: The scraping members (2) are arranged in one-to-one correspondence with the running wheels (3), and the width of the scraping members (2) is not less than the width of the corresponding running wheels (3).

10. The travel wheel cleaning device according to claim 9, characterized in that: When the width of the scraping member (2) is greater than the width of the corresponding running wheel (3), the free ends of the scraping member (2) located on both sides of the running wheel (3) are inclined toward the running wheel (3).

11. The walking wheel cleaning device according to any one of claims 1 to 10, characterized in that: The scraping member (2) is selected from at least one of a scraper, a brush, and a wiping cloth.

12. The travel wheel cleaning device according to claim 11, characterized in that: The scraping element (2) is made of at least one of nylon, PET, plastic, rubber, animal hair and plant hair.

13. The travel wheel cleaning device according to claim 1, characterized in that: The scraping member (2) is arranged on the base station (100); or, The scraping member (2) is located on the side where the cleaning robot (110) enters the base station (100), and is separated from the base station (100).

14. The travel wheel cleaning device according to claim 13, characterized in that: When the scraping member (2) is arranged on the base station (100), the scraping member (2) and the base station (100) are fixedly connected / detachably connected.

15. A base station, characterized in that: The base station (100) comprises a base station body and a walking wheel cleaning device as described in any one of claims 1 to 14.

16. The base station according to claim 15, characterized in that: The base station (100) further comprises a guide track (12), the guide track (12) being provided with a wheel groove (13) for accommodating the running wheel (3), and the scraping member (2) being arranged in the wheel groove (13).

17. The base station according to claim 15, characterized in that: The base station (100) further comprises a carrying platform (1), the carrying platform (1) comprises a ramp plate (11), the scraper (2) is arranged on the slope of the ramp plate (11); or the scraper (2) is passed through the ramp plate (11).

18. The base station according to claim 17, characterized in that: The traveling wheel (3) comprises a tire groove (31); in the scraping member (2), the height of the portion located above the slope surface is greater than the groove depth of the tire groove (31).

19. The base station according to claim 16, characterized in that: The guide track (12) is provided with a dust collecting groove (15) for collecting dirt dropped during the contact between the walking wheel (3) and the scraping member (2).

20. An automatic cleaning system, characterized in that: The automatic cleaning system (200) comprises a walking wheel cleaning device as described in any one of claims 1 to 14, or comprises a base station as described in any one of claims 15 to 19, and comprises a cleaning robot (110).

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