Automatic dismounting mechanism and base station

Abstract

The utility model provides an automatic disassembly and assembly mechanism and a base station. The automatic disassembling and assembling mechanism comprises a support, a clamping piece, a driving assembly and a reset assembly which are assembled together. The clamping piece is provided with at least one clamping part and can move relative to the support, and the at least one clamping part can be in an extending state and a retracting state relative to the support along with the relative movement. The driving assembly is installed on the support and matched with the clamping piece so as to drive the clamping piece to achieve relative movement. The reset assembly is installed on the support or installed on the driving assembly, and the reset assembly always exerts acting force on the clamping piece to enable the at least one clamping part to be in the stretching-out state. In this way, the wet type cleaning assembly can be automatically disassembled and assembled while the wet type cleaning assembly of the self-moving cleaning equipment and the main machine are controllably connected and separated, and therefore the problems that due to manual disassembly and assembly of the wet type cleaning assembly, operation is tedious, and an operator is prone to being stained are solved.

Description

Technical Field

[0001] The present disclosure relates to an engagement / separation mechanism between a self - moving cleaning device and a base station, and particularly to an automatic disassembly and assembly mechanism for a wet cleaning assembly of a self - moving cleaning device and a base station including the automatic disassembly and assembly mechanism. Background Art

[0002] An autonomous mobile device refers to an intelligent mobile device that autonomously executes preset tasks, and the autonomous mobile device can autonomously move on a traveling surface according to the results sensed by its sensing components. Currently, autonomous mobile devices generally include, but are not limited to, self - moving cleaning devices (such as intelligent sweepers, intelligent mopping machines, window - cleaning robots), companion - type mobile robots (such as intelligent electronic pets, nanny robots), service - type mobile robots (such as reception robots in hotels, inns, meeting places), industrial inspection intelligent devices (such as power inspection robots, intelligent forklifts, etc.) and security robots (such as household or commercial intelligent guard robots).

[0003] For existing self - moving cleaning devices with wet cleaning components, in some application scenarios, it is necessary to disassemble the wet cleaning components, which is usually manually completed by an operator, resulting in problems such as cumbersome operation and the operator being easily soiled. Summary of the Utility Model

[0004] Based on the above problems of the prior art, the purpose of the present disclosure is to provide an automatic disassembly and assembly mechanism that can be controllably engaged or separated from the wet cleaning component of an autonomous mobile device, thereby realizing the automatic disassembly and assembly of the wet cleaning component. Another purpose of the present disclosure is to provide a base station including the above - mentioned automatic disassembly and assembly mechanism.

[0005] To achieve the above purpose, the present disclosure adopts the following technical solutions.

[0006] The present disclosure provides an automatic disassembly and assembly mechanism as follows, including:

[0007] A bracket;

[0008] A clamping member having at least one clamping portion and capable of relative movement with respect to the bracket, and the at least one clamping portion can be in an extended state and a retracted state with respect to the bracket along with the relative movement;

[0009] A driving assembly installed on the bracket and cooperating with the clamping member to drive the clamping member to achieve the relative movement; and

[0010] A reset assembly installed on the bracket or on the driving assembly, and the reset assembly always applies a force to the clamping member to make the at least one clamping portion in an extended state.

[0011] In an alternative solution, the snap member can perform a seesaw movement relative to the bracket. The at least one snap portion is disposed at one end of the snap member, and the driving assembly can drive the other end of the snap member to overcome the acting force so that the at least one snap portion is in the retracted state.

[0012] In another alternative solution, the driving assembly includes a motor and an eccentric wheel. The motor is mounted on the bracket, and the eccentric wheel is in transmission connection with the motor so that the eccentric wheel can rotate in one direction along with the motor.

[0013] The other end of the snap member is formed with a driven portion that is recessed away from the eccentric wheel, and the surface of the driven portion facing the eccentric wheel is formed as an arc surface.

[0014] In another alternative solution, the eccentric wheel includes a wheel main body portion and a stop projection. The stop projection is located on the end face of the wheel main body portion and protrudes relative to the end face. The stop projection is formed with a first stop plane, and the driven portion is formed with a second stop plane that cooperates with the first stop plane.

[0015] After the eccentric wheel drives the driven portion to tilt up and the motor stops running, the first stop plane and the second stop plane abut against each other to limit the rotation of the eccentric wheel in another direction opposite to the one direction.

[0016] In another alternative solution, the eccentric wheel is configured to have a segmental shape, and the arc segment of the outer contour of the segmental shape is formed as a major arc.

[0017] In another alternative solution, it further includes:

[0018] A first microswitch, which is disposed on the bracket and is in signal connection with the motor. The first microswitch has a first trigger portion, and the first trigger portion can be triggered by the snap member after the driven portion tilts up relative to the bracket to a predetermined position; and

[0019] A second microswitch, which is disposed on the bracket and is in signal connection with the motor. The second microswitch includes a second trigger portion, and the second trigger portion can be triggered by the snap member after the eccentric wheel is disengaged from the driven portion.

[0020] In another alternative solution, the reset assembly includes at least one helical spring. The helical spring is a compression spring and one end of the helical spring abuts against the other end of the snap member.

[0021] In another alternative solution, the clamping member includes a body portion and a plurality of arm portions. The plurality of arm portions extend from the body portion, and a clamping portion is formed at an end of each arm portion away from the body portion. An end of the body portion away from the arm portions is configured to be driven by the driving assembly.

[0022] In another alternative solution, the clamping member is capable of linear movement or seesaw movement relative to the bracket. The driving assembly includes a solenoid valve, and the clamping member is in transmission connection with the solenoid valve, so that the clamping member can be driven by the solenoid valve to overcome the acting force and make at least one clamping portion in the retracted state.

[0023] The present disclosure also provides a base station as follows, for a self - moving cleaning device to dock. It includes a housing and the automatic disassembly and assembly mechanism according to any one of the above - mentioned technical solutions. The bracket of the automatic disassembly and assembly mechanism is fixed to the housing, and the housing is formed with through - holes.

[0024] When at least one clamping portion of the clamping member of the automatic disassembly and assembly mechanism is in the extended state, each clamping portion extends at least partially out of the housing through the corresponding through - hole, and

[0025] When the at least one clamping portion is in the retracted state, each clamping portion retracts through the corresponding through - hole, so that the clamping portion does not extend out of the housing.

[0026] By adopting the above - mentioned technical solutions, the present disclosure provides an automatic disassembly and assembly mechanism and a base station including the automatic disassembly and assembly mechanism. The automatic disassembly and assembly mechanism includes a bracket, a clamping member, a driving assembly, and a reset assembly assembled together. The clamping member has at least one clamping portion and is capable of relative movement relative to the bracket. At least one clamping portion can be in an extended state and a retracted state relative to the bracket along with the relative movement. The driving assembly is installed on the bracket and cooperates with the clamping member to drive the clamping member to achieve relative movement. The reset assembly is installed on the bracket or on the driving assembly, and the reset assembly always applies a force to the clamping member to make at least one clamping portion in the extended state.

[0027] In this way, a solution in which the clamping member can perform relative movement relative to the bracket is realized with a relatively simple structure. Thus, without manual operation, at least one clamping portion can be automatically in an extended state for clamping with, for example, a wet cleaning component of a self - moving cleaning device and a retracted state for releasing the clamping with the wet cleaning component, so that the wet cleaning component can be automatically disassembled and assembled while being controllably engaged and separated from the main body of the self - moving cleaning device. This will avoid problems such as cumbersome operation caused by manual disassembly and assembly of the wet cleaning component and the operator being easily soiled. Description of the Drawings

[0028] Figure 1 is a perspective schematic view showing an automatic disassembly and assembly mechanism according to an embodiment of the present disclosure.

[0029] Figure 2 shows Figure 1 a perspective schematic view of the disassembled structure of the automatic disassembly and assembly mechanism in

[0030] Figure 3 is a perspective schematic view showing a base station according to an embodiment of the present disclosure, which is provided with Figure 1 the automatic disassembly and assembly mechanism shown in

[0031] Figure 4 and Figure 5 shows Figure 3 a cross-sectional schematic view of a partial structure of the base station in

[0032] Figure 6 and Figure 7 shows Figure 3 a cross-sectional schematic view of a partial structure of the base station in

[0033] Figure 8 and Figure 9 is an explanatory diagram showing the engaged state of the engaging portion of the engaging member of the automatic disassembly and assembly mechanism with the wet cleaning assembly of the self-moving cleaning device when the self-moving cleaning device is docked at the base station, where Figure 9 is Figure 8 an enlarged schematic view of area M1 in

[0034] Figure 10 and Figure 11 is an explanatory diagram showing the disengaged state of the engaging portion of the engaging member of the automatic disassembly and assembly mechanism from the wet cleaning assembly of the self-moving cleaning device when the self-moving cleaning device is docked at the base station, where Figure 11 is Figure 10 an enlarged schematic view of area M2 in

[0035] Figure 12 is a perspective schematic view showing an automatic disassembly and assembly mechanism according to a variant example of the present disclosure.

[0036] Explanation of reference numerals

[0037] AS - Automatic disassembly and assembly mechanism;

[0038] 1 - Bracket;

[0039] 2 - Clamping part; 21 - Clamping portion; 22 - Body portion; 221 - Driven portion; 221s1 - Arc surface; 221s2 - Second stop plane; 23 - Arm portion;

[0040] 3 - Driving assembly; 31 - Motor; 32 - Eccentric wheel; 321 - Wheel main body portion; 322 - Stop projection; 322s - First stop plane; 33 - Solenoid valve;

[0041] 4 - First micro switch; 41 - First trigger portion;

[0042] 5 - Second micro switch; 51 - Second trigger portion;

[0043] 6 - Helical spring;

[0044] CS - Base station;

[0045] 7 - Housing; 7h - Through hole;

[0046] AM - Self - moving cleaning device;

[0047] 8 - Main body;

[0048] 9 - Wet cleaning assembly. Detailed implementation manners

[0049] The embodiments of the present disclosure will be described below with reference to the accompanying drawings. For ease of understanding, among the elements shown in the respective drawings, there may be elements that are represented differently from the actual dimensions and scales, such as dimensions and scales.

[0050] The base station according to the first embodiment of the present disclosure will be described below with reference to the accompanying drawings of the specification.

[0051] As Figures 1 to 2 shown, the automatic disassembly and assembly mechanism AS according to the embodiment of the present disclosure includes a bracket 1, a clamping part 2, a driving assembly 3, a first micro switch 4, a second micro switch 5, and a reset assembly (helical spring 6) assembled together.

[0052] In this embodiment, as Figure 1 and Figure 2 shown, the bracket 1 is used to support other components, and thus can be made of materials such as hard plastic. The shape of the bracket 1 can be adjusted as needed and is not limited to any specific structure and shape.

[0053] In this embodiment, as Figure 1 and Figure 2As shown, the clamping member 2 has two clamping parts 21 and can move relative to the bracket 1. The two clamping parts 21 can be in an extended state and a retracted state relative to the bracket 1 at the same time as the relative movement. In this embodiment, the clamping member 2 can be in a seesaw motion relative to the bracket 1 within a predetermined range, which can be achieved by the clamping member 2 being rotatably connected to the bracket 1, or by the clamping member 2 being rotatably connected to other components relatively fixed to the bracket 1. In this way, the extended state of the two clamping parts 21 actually corresponds to the tilted state of the two clamping parts 21 (see Figure 4 ), and the retracted state of the two clamping parts 21 actually corresponds to the hanging state of the two clamping parts 21 (see Figure 6 ).

[0054] like Figure 1 and Figure 2 As shown, the clamping member 2 includes a clamping portion 21, a body portion 22 and two arms 23 fixed to each other by integral molding. The two arms 23 extend from the body portion 22 in approximately the same direction, and the end of each arm portion 23 away from the body portion 22 is formed with a clamping portion 21, so that the clamping portion 21 is arranged at one end of the clamping member 2. The end of the body portion 22 away from the arm portion 23 is used to be driven by the driving assembly 3. That is to say, the other end of the clamping member 2 can be driven by the driving assembly 3, thereby overcoming the force of the reset assembly so that the two clamping portions 21 are in a retracted state relative to the bracket 1. The other end of the clamping member 2 is formed with a driven portion 221 that is recessed toward the eccentric wheel 32 described below and is away from the driving assembly 3. The surface of the driven portion 221 that faces the eccentric wheel 32 is formed as an arcuate surface 221s1. The arcuate surface 221s1 is conducive to driving the driven portion 221 during the rotation of the eccentric wheel 32. During this process, the contour of the driven portion 221 will not hinder the rotation of the eccentric wheel 32, which is conducive to the smooth rotation of the driven portion 221 during the eccentric wheel 32 driving the driven portion 221. In this way, the structure of the clamping member 2 is simple, and the two clamping portions 21 are conducive to being connected with, for example, a wet cleaning assembly 9 (see Figure 8 and Figure 10 ) is reliably engaged, so that the wet cleaning assembly 9 can be surely disassembled. Moreover, the use of the engaging member 2 capable of seesaw motion to achieve the engaging portion 21 being in an extended state and a retracted state, this optional solution has a simple structure and is easy to implement.

[0055] In this embodiment, if Figure 1 and Figure 2As shown, the drive assembly 3 is mounted on the bracket 1 and cooperates with the clamping member 2 to drive the clamping member 2 to realize the seesaw motion of the bracket 1. Specifically, the drive assembly 3 includes a motor 31 and an eccentric wheel 32. The motor 31 is integrally mounted on the bracket 1 and the motor 31 includes a motor shaft that can rotate with the rotor of the motor 31. The eccentric wheel 32 is connected to the motor shaft of the motor 31, so that the torque from the motor 31 can be transmitted to the eccentric wheel 32, thereby the eccentric wheel 32 can rotate in one direction with the motor 31.

[0056] like Figure 1 and Figure 2 As shown, the eccentric wheel 32 includes a wheel body 321 and a stop protrusion 322 fixed to each other. The wheel body 321 of the eccentric wheel 32 is configured to have a circular segment shape, which is formed by removing part of the structure from a full circle. Further, the center of the circular segment shape is offset relative to the rotation axis of the rotor shaft, and the arc segment of the outer contour of the circular segment shape is formed as a major arc. In this way, in the case where the wheel body 321 of the eccentric wheel 32 is formed as a circular segment wheel whose outer contour includes a major arc, the clamping member 2 can be driven only after the eccentric wheel 32 rotates a predetermined angle from the initial position, thereby being applicable to more application scenarios as needed. In addition, the stop protrusion 322 is located on the end face of the wheel body 321 and is formed as a convex block structure protruding relative to the end face. The stop protrusion 322 is formed with a first stop plane 322s, and the driven part 221 is formed with a second stop plane 221s2 that cooperates with the first stop plane 322s. Reference Figure 6 and Figure 7 After the eccentric wheel 32 drives the driven part 221 to tilt up and the motor 31 stops running, the first stop plane 322s and the second stop plane 221s2 abut against each other to limit the eccentric wheel 32 from rotating in another direction opposite to one direction. After the eccentric wheel 32 drives the driven part 221 to tilt up and the motor 31 stops running, even if the reset assembly always applies a force to the clamping member 2, the mutual abutment of the two stop planes 322s and 221s2 can offset the force, thereby limiting the clamping member 2 to a position where the clamping member 21 is in a retracted state. In this way, in cooperation with the clamping member 2 capable of seesaw motion, a driving assembly 3 with low cost and reliable operation is provided.

[0057] In this embodiment, if Figure 1 and Figure 2As shown, the reset assembly includes two cylindrical helical springs 6. Each cylindrical helical spring 6 is a compression spring, and one end of the helical spring 6 abuts against the other end of the engaging member 2, thereby constantly applying a force to the other end of the engaging member 2 (the driven portion 221) that causes the plurality of engaging portions 21 to be in the extended state. The structure of the reset assembly using the helical spring 6 is simple and can reliably provide the force for reset. It can be understood that the reset assembly can be installed on the bracket 1 or on other components fixed to the bracket 1 (such as the housing 7 of the following base station CS), and the reset assembly can also be installed on the drive assembly 3. In other alternative solutions, the reset assembly can also adopt other forms to achieve the same effect.

[0058] In this embodiment, as Figure 1 and Figure 2 shown, the first microswitch 4 is disposed on the bracket 1 and is signal-connected to the motor 31. The first microswitch 4 has a first trigger portion 41. The first trigger portion 41 can be triggered by the engaging member 2 after the driven portion 221 is driven by the eccentric wheel 32 and tilts relative to the bracket 1 to a predetermined position. At this time, the other end of the engaging member 2 abuts against the first trigger portion 41, causing the first trigger portion 41 to be pressed and triggered. Once the first trigger portion 41 of the first microswitch 4 is triggered, the motor 31 can be controlled to stop running via the control unit, so that the engaging member 2 is held at a position where the engaging portions 21 are in the retracted state.

[0059] In this embodiment, as Figure 1 and Figure 2 shown, the second microswitch 5 is disposed on the bracket 1 and is signal-connected to the motor 31. The second microswitch 5 includes a second trigger portion 51. The second trigger portion 51 can be triggered by the engaging member 2 after the eccentric wheel 32 disengages from the driven portion 221 and the driven portion 221 droops. At this time, the other end of the engaging member 2 abuts against the second trigger portion 51, causing the second trigger portion 51 to be pressed and triggered. Once the second trigger portion 51 of the second microswitch 5 is triggered, the motor 31 can be controlled to stop running via the control unit, so that the engaging member 2 is held at a position where the engaging portions 21 are in the extended state.

[0060] Thus, different microswitches 4, 5 can be triggered according to the position of the driven portion 221, so that the motor 31 stops running, and further the engaging portions 21 are held in the desired extended state or retracted state.

[0061] The following describes the base station according to the embodiments of the present disclosure with reference to the accompanying drawings of the specification.

[0062] As Figure 3 , Figure 4 and Figure 6As shown, the bracket 1 of the automatic disassembly and assembly mechanism AS is fixed to the housing 7, and the housing 7 is formed with through holes 7h corresponding to the engaging portions 21. When the two engaging portions 21 of the engaging member 2 of the automatic disassembly and assembly mechanism AS are in the extended state relative to the bracket 1 and the housing 7 (as shown in Figure 4 and Figure 5 ), each engaging portion 21 extends from the housing 7 through the corresponding through hole 7h. When the two engaging portions 21 of the engaging member 2 of the automatic disassembly and assembly mechanism AS are in the retracted state relative to the bracket 1 and the housing 7 (as shown in Figure 6 and Figure 7 ), each engaging portion 21 retracts from the corresponding through hole 7h, so that the engaging portion 21 does not extend to the outside of the housing 7.

[0063] In this way, a typical application scenario of the automatic disassembly and assembly mechanism AS according to the present disclosure is provided. The engaging portion 21 can be in the extended state of engaging with, for example, the wet cleaning assembly 9 of the self - moving cleaning device AM and the retracted state of disengaging from the wet cleaning assembly 9. The state conversion of the engaging portion 21 is achieved automatically, so that the automatic disassembly of the wet cleaning assembly 9 to the base station CS and the reassembly to the self - moving cleaning device AM can be realized.

[0064] The structure of the self - moving cleaning device AM used in cooperation with the above - mentioned base station CS will be described below.

[0065] In the present disclosure, as shown in Figure 8 and Figure 10 , the self - moving cleaning device AM has a main body 8. The main body 8 has an overall circular shape in a top view. In other variant examples, the main body 8 can have various shapes such as a D - shape, an oval shape, etc. When the self - moving cleaning device AM is in a normal operating state, the bottom surface of the main body 8 faces the surface to be cleaned, and the bottom surface of the main body 8 is usually parallel to the surface to be cleaned. Here, "parallel" not only includes the geometric parallel relationship between the bottom surface of the main body 8 and the surface to be cleaned, but also includes the case where the two are approximately parallel. The above "approximately" means that within the reasonable error range recognized by those skilled in the art, the parallel relationship between the two can be determined to be established. In addition, for supporting and protecting other components, other components of the self - moving cleaning device AM are usually installed inside the main body 8 or have a connection relationship with the main body 8.

[0066] The self - moving cleaning device AM can move autonomously according to a preset control scheme in its processing unit. The surface to be cleaned where the self - moving cleaning device AM moves autonomously can be a flat surface or a curved surface with a relatively large radius of curvature. Typically, for example, it is the floor in each room of a building. The processing unit in this disclosure is a general term, and there are no restrictions on the type, quantity, and form of the processing unit. Specifically, the processing unit can be one or several of MCU, DSP, FPGA, GPU, or other various hardware chips, processors, or software algorithms with data processing and computing capabilities. Further, the processing unit can be the unified and unique processor of the self - moving cleaning device AM, or a collection of multiple processing units. The connection method, functions, and computing power allocation of multiple processing units can be adjusted as needed. For example, in an alternative solution, it can include a first processing unit and a second processing unit. In this case, the first processing unit and the second processing unit together implement various functions of the above - mentioned processing unit. In addition, the processing unit of the self - moving cleaning device AM according to this disclosure can receive parameters from the sensing component and can control the self - moving cleaning device AM through a preset program stored in the storage unit. In this disclosure, the data, information, and programs required by the processing unit during the processing process can all be stored in the storage unit and retrieved from the storage unit as needed. The processing unit can store the processed data, information, etc. in the storage unit again. The storage unit can be RAM, ROM, etc., or devices and / or equipment with storage functions such as cloud / servers / mobile terminals connected through wired / wireless networks.

[0067] In addition, in order to achieve autonomous movement of the self - moving cleaning device AM, the self - moving cleaning device AM according to the present disclosure may further include a wheel assembly. The wheel assembly can be mounted on the main body 8 and protrude relative to the bottom surface of the main body 8, and is used to drive the entire self - moving cleaning device AM to travel on the surface to be cleaned under the control of the processing unit. By rotating the wheels (drive wheels) of the two wheel assemblies at the same speed in the same direction (for example, rotating clockwise simultaneously or counter - rotating counter - clockwise simultaneously), the self - moving cleaning device AM can be driven to move linearly along the forward moving direction; by rotating the drive wheels of the two wheel assemblies at different speeds and / or in different directions (for example, one drive wheel rotates clockwise while the other drive wheel rotates counter - clockwise), the self - moving cleaning device AM can be driven to perform a steering movement along a direction different from the forward moving direction. The self - moving cleaning device AM may further include a caster wheel disposed on the main body 8, so that the caster wheel can support the entire self - moving cleaning device AM regardless of how the drive wheels roll on the surface to be cleaned. In addition, the self - moving cleaning device AM includes a wet cleaning assembly 9 and a dry cleaning assembly. The wet cleaning assembly 9 is disposed on the main body 8 and includes a bracket and wet cleaning parts such as a mop and a rag, etc. The dry cleaning assembly is disposed on the main body 8 and may include a main brush, a side brush (edge brush), and a suction device, etc. Thus, when the self - moving cleaning device AM travels on the surface to be cleaned, the surface to be cleaned can be cleaned by the dry cleaning assembly and / or the wet cleaning assembly 9. In different working modes, the cleaning operations achieved by the self - moving cleaning device AM include, but are not limited to, one or more of operations such as sweeping the floor, mopping the floor, and vacuuming.

[0068] The following refers to Figures 3 to 11 Describe the working process of the above - mentioned automatic disassembly and assembly mechanism AS.

[0069] In the state where the automatic disassembly and assembly mechanism AS is installed in place, the driven part 221 of the clamping member 2 is applied with a force by the reset assembly (helical spring 6), so that the clamping part 21 of the clamping member 2 is tilted up, and then the clamping part 21 partially protrudes through the through - hole 7h of the housing 7. Further, after the self - moving cleaning device AM is guided to dock at the base station CS, the clamped part of the wet cleaning assembly 9 of the self - moving cleaning device AM will be clamped with the clamping part 21 of the above - mentioned clamping member 2. In this state, once the main body 8 and the wet cleaning assembly 9 of the self - moving cleaning device AM are disassembled, the wet cleaning assembly 9 can be automatically disassembled to the base station CS.

[0070] When the wet cleaning component 9 of the self - moving cleaning device AM needs to be assembled to the main body 8, the control unit of the base station CS controls the motor 31 to rotate, driving the eccentric wheel 32 to rotate. When the eccentric wheel 32 rotates to make the wheel main body 321 abut against the driven part 221 of the engaging part 2, and further overcome the acting force of the reset component (helical spring 6), the driven part 221 tilts up, and the engaging part 21 of the engaging part 2 retracts relative to the housing 7 through the through - hole 7h. At this time, the engaging part 21 of the engaging part 2 disengages from the engaged part of the wet cleaning component 9. In this state, once the main body 8 of the self - moving cleaning device AM and the wet cleaning device return to the assembled state, the wet cleaning component 9 can be automatically assembled with the main body 8 of the self - moving cleaning device AM.

[0071] In this way, in the automatic disassembly and assembly mechanism AS according to the present disclosure, a solution in which the engaging part 2 can move relative to the bracket 1 is realized with a relatively simple structure. Thus, without manual operation, the engaging part 21 can be automatically in the extended state of engaging with, for example, the wet cleaning component 9 of the self - moving cleaning device AM and the retracted state of disengaging from the wet cleaning component 9. As a result, while the wet cleaning component 9 is controllably engaged and separated from the main body 8 of the self - moving cleaning device AM, automatic disassembly and assembly of the wet cleaning component can be achieved. This will avoid problems such as cumbersome operation caused by manual disassembly and assembly of the wet cleaning component 9 and the operator being easily soiled.

[0072] In addition, by using the tilting or dropping of the driven part 221, the engaging part 2 will trigger the first micro - switch 4 or the second micro - switch 5, thereby controlling the motor 31 to stop rotating via the control unit of the base station CS. Further, by the cooperation of the stop projection 322 and the driven part 221 with each other, the main body of the eccentric wheel 32 can be maintained in the state of tilting up the driven part 221.

[0073] It should be understood that the above - mentioned embodiments are merely exemplary and do not limit the present disclosure. Those skilled in the art can make various modifications and changes to the above - mentioned embodiments under the teaching of the present disclosure without departing from the scope of the present disclosure. The following supplementary explanations are made for the technical solutions of the present disclosure.

[0074] i. In the above - mentioned embodiments, it is illustrated that an engaging part 2 having two engaging parts 21 is provided, but the present disclosure is not limited thereto. For example, in other alternative solutions, the engaging part 2 can be provided with one engaging part 21 or more than two engaging parts 21. In addition, in other alternative solutions, multiple engaging parts 2 can also be provided.

[0075] ii. In the above - mentioned embodiments, it is illustrated that the motor 31 drives the eccentric wheel 32 to drive the engaging part 2 to perform a seesaw motion, thereby realizing the extension and retraction of the engaging part 21, but the present disclosure is not limited thereto. For example, as Figure 12As shown, in a variant of the above embodiment, the solenoid valve 33 can be used to replace the above-mentioned motor 31 and eccentric wheel 32.

[0076] In addition, in another embodiment, the clamping member can linearly move relative to the bracket within a predetermined range. The driving assembly 3 includes a solenoid valve, and the clamping member is in transmission connection with the solenoid valve, so that the clamping member can be driven by the solenoid valve to overcome the acting force to make at least one clamping portion in a retracted state. By using the clamping member capable of linear movement, the clamping portion can be in an extended state and a retracted state, and the structure of this alternative solution is simple and easy to implement.

[0077] iii. It can be understood that in the present disclosure, the base station CS can be fixedly arranged at any appropriate position on the surface to be cleaned. By using the signal generator of the base station CS and the receiver arranged on the self-moving cleaning device AM, the self-moving cleaning device AM can dock with the base station CS according to a preset program to automatically disassemble and assemble the wet cleaning assembly 9, replenish the cleaning liquid, charge, etc. Typically, the base station CS can adopt a charging stand or a charging pile with a liquid supply system.

Claims

1. An automatic disassembly and assembly mechanism, characterized in that, Comprising: A bracket; A clamping member having at least one clamping portion and capable of relative movement with respect to the bracket, and the at least one clamping portion can be in a protruding state and a retracted state with respect to the bracket along with the relative movement; A driving assembly mounted on the bracket and cooperating with the clamping member to drive the clamping member to achieve the relative movement; And A reset assembly mounted on the bracket or on the driving assembly, and the reset assembly always applies a force to the clamping member to make the at least one clamping portion in a protruding state.

2. The automatic disassembly and assembly mechanism according to claim 1, characterized in that, The clamping member can perform a seesaw movement with respect to the bracket, the at least one clamping portion is provided at one end of the clamping member, and the driving assembly can drive the other end of the clamping member to overcome the force so that the at least one clamping portion is in the retracted state.

3. The automatic disassembly and assembly mechanism according to claim 2, characterized in that, The driving assembly includes a motor and an eccentric wheel, the motor is mounted on the bracket, and the eccentric wheel is in transmission connection with the motor, so that the eccentric wheel can rotate in one direction along with the motor, A driven portion recessed away from the eccentric wheel is formed at the other end of the clamping member, and the surface of the driven portion facing the eccentric wheel is formed as an arc surface.

4. The automatic disassembly and assembly mechanism according to claim 3, characterized in that, The eccentric wheel includes a wheel main body portion and a stop projection, the stop projection is located on the end surface of the wheel main body portion and protrudes with respect to the end surface, the stop projection is formed with a first stop plane, and the driven portion is formed with a second stop plane cooperating with the first stop plane, After the eccentric wheel drives the driven portion to tilt up and the motor stops running, the first stop plane and the second stop plane abut against each other to limit the eccentric wheel from rotating in another direction opposite to the one direction.

5. The automatic disassembly and assembly mechanism according to claim 3, characterized in that The eccentric wheel is configured to have a segmental shape, and the arc segment of the outer contour of the segmental shape is formed as a major arc.

6. The automatic disassembly and assembly mechanism according to any one of claims 3 to 5, characterized in that, Further comprising: A first microswitch provided on the bracket and signal-connected to the motor, the first microswitch has a first trigger portion, and the first trigger portion can be triggered by the clamping member after the driven portion tilts up with respect to the bracket to a predetermined position; And A second microswitch provided on the bracket and signal-connected to the motor, the second microswitch includes a second trigger portion, and the second trigger portion can be triggered by the clamping member after the eccentric wheel is separated from contact with the driven portion.

7. The automatic disassembly and assembly mechanism according to any one of claims 2 to 5, characterized in that The reset assembly includes at least one helical spring, the helical spring is a compression spring and one end of the helical spring abuts against the other end of the clamping member.

8. The automatic disassembly and assembly mechanism according to any one of claims 2 to 5, characterized in that, The clamping member includes a body portion and a plurality of arm portions, the plurality of arm portions extend from the body portion, a clamping portion is formed at the end of each arm portion away from the body portion, and the end of the body portion away from the arm portions is used to be driven by the driving assembly.

9. The automatic disassembly and assembly mechanism according to claim 1, characterized in that The clamping member is capable of linear movement or seesaw movement relative to the bracket. The driving assembly includes a solenoid valve, and the clamping member is in transmission connection with the solenoid valve, so that the clamping member can be driven by the solenoid valve to overcome the acting force and enable at least one clamping portion to be in the retracted state.

10. A base station for a self - moving cleaning device to dock with, characterized in that, It includes a housing and the automatic disassembly and assembly mechanism according to any one of claims 1 to 9. The bracket of the automatic disassembly and assembly mechanism is fixed to the housing, and the housing is formed with through holes. When at least one clamping portion of the clamping member of the automatic disassembly and assembly mechanism is in the extended state, each clamping portion extends at least partially out of the housing through the corresponding through hole, and When the at least one clamping portion is in the retracted state, each clamping portion retracts through the corresponding through hole, so that the clamping portion does not extend to the outside of the housing.

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