Cleaning base station

Abstract

The embodiment of the utility model provides a cleaning base station for a cleaning robot, the cleaning robot comprises a roller, a scraping strip assembly and a dirt collecting box, the scraping strip assembly scrapes and cleans the roller, and the cleaning base station comprises a cleaning tank and a water inlet channel. When the cleaning robot is in butt joint with the cleaning base station, the roller abuts against the cleaning tank, and when the cleaning base station conducts self-cleaning on the cleaning robot through the cleaning tank, in the rotating direction of the cleaning roller, cleaning fluid makes contact with the cleaning roller through the water inlet channel so as to wet the cleaning roller, and the cleaning fluid on the cleaning roller is scraped into the dirt collecting box by the scraping strip assembly; therefore, the dirt collecting box is cleaned. In the self-cleaning process of the cleaning roller, the base station provides the cleaning fluid for the cleaning roller through the water inlet channel, so that the cleaning water consumption of the cleaning roller in the self-cleaning process is guaranteed, and the cleaning effect on the roller is guaranteed.

Description

[0001] Cross-references

[0002] This application cites the Chinese patent applications in the table below, which are incorporated herein by reference in their entirety.

[0003] Application date Application number Patent Name 2024-08-05 202411067381.5 Cleaning base stations and cleaning systems Technical Field

[0004] The present application relates to the technical field of cleaning equipment, and in particular to a cleaning base station. Background Art

[0005] The cleaning robot is provided with a rotatable roller assembly that abuts against the surface to be cleaned. After completing the cleaning task and returning to the cleaning base station, the cleaning robot needs to clean the roller assembly to avoid the growth of bacteria and odor on the roller assembly, and to ensure that the cleaning robot can perform a good cleaning work on the surface to be cleaned when performing the cleaning task next time.

[0006] Currently, some robots use their own water tanks to clean themselves when returning to their base station. Because the amount of water in the robot's water tank is limited, and the roller brush requires a relatively large amount of water, using only the liquid in the tank is insufficient to achieve a good cleaning effect. Furthermore, the robot's water circuit is designed to accommodate the roller brush's cleaning requirements. While it can spray evenly, the amount is limited to ensure a long battery life, and therefore cannot effectively clean the roller assembly. Utility Model Content

[0007] In view of the above problems, an embodiment of the present application is proposed. One purpose of the embodiment of the present application is to provide a cleaning base station in which the drum can be well cleaned after the cleaning robot completes cleaning and returns to the base station.

[0008] To achieve this goal, the present invention adopts the following technical solutions:

[0009] A cleaning base station for a cleaning robot,

[0010] The cleaning robot comprises a drum, a scraping bar assembly and a dirt collecting box, wherein the scraping bar assembly scrapes and cleans the drum;

[0011] The cleaning base station includes a cleaning tank and a water inlet channel;

[0012] When the cleaning robot is docked with the cleaning base station, the roller abuts against the cleaning tank. When the cleaning base station self-cleans the cleaning robot through the cleaning tank, the cleaning fluid contacts the roller through the water inlet channel along the rotation direction of the roller to wet the roller. The cleaning fluid on the roller is scraped into the dirt collecting box by the scraper assembly to clean the dirt collecting box.

[0013] The technical solution provided in the embodiment of the present application is to set up a cleaning base station including a water inlet channel. The cleaning base station can provide cleaning fluid to the drum through the water inlet channel, so that during the self-cleaning process of the drum, both the cleaning robot and the cleaning base station provide cleaning fluid to the drum, thereby ensuring the amount of water used to clean the drum, thereby ensuring the cleaning effect of the drum. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] Figure 1 A front view schematic diagram of a base station provided in one embodiment of the present application;

[0016] Figure 1a A schematic diagram of the structure of a charging device provided in one embodiment of the present application;

[0017] Figure 1b A schematic diagram of the structure of a charging assembly provided in one embodiment of the present application;

[0018] Figure 1c A schematic cross-sectional view of a charging assembly according to an embodiment of the present application;

[0019] Figure 1d This is a structural diagram of the cleaning robot provided by one embodiment of the present application abutting against the right convex point;

[0020] Figure 1e This is a structural diagram of the cleaning robot provided by one embodiment of the present application abutting against the left convex point;

[0021] Figure 1f This is a schematic diagram of the structure of the cleaning robot and the charging component provided by one embodiment of the present application;

[0022] Figure 2a This is a schematic diagram of a cleaning seat and a ramp provided on the bottom wall of the base station docking cabin in an embodiment of the present application;

[0023] Figure 2b This is a schematic diagram of a base station in an embodiment of the present application having a protrusion on the ramp;

[0024] Figure 2c This is a schematic diagram of the structure of the self-cleaning rotation of the cleaning actuator in an embodiment of the present application;

[0025] Figure 3This is a schematic diagram of a cleaning seat provided on the bottom wall of the base station docking cabin in an embodiment of the present application;

[0026] Figure 4 This is a schematic diagram of a cleaning seat in an embodiment of the present application;

[0027] Figure 5 A schematic top view of a cleaning seat on a base station provided in one embodiment of the present application;

[0028] Figure 5a A schematic diagram of a partial structure of a base station provided in one embodiment of the present application;

[0029] Figure 5b A schematic structural diagram of a cleaning seat provided in one embodiment of the present application;

[0030] Figure 6 A schematic cross-sectional view of a cleaning actuator on a cleaning device;

[0031] Figure 7 A schematic diagram of the structure of a base station is provided for an embodiment of the present application;

[0032] Figure 8 A partial cross-sectional view of a base station provided in one embodiment of the present application;

[0033] Figure 9 A schematic diagram of the structure of a water system provided in one embodiment of the present application;

[0034] Figure 10 A schematic structural diagram of a dirt box provided in one embodiment of the present application;

[0035] Figure 11 A cross-sectional view of a sealing assembly provided in one embodiment of the present application;

[0036] Figure 12 A schematic structural diagram of a dirt box and a filter assembly provided in one embodiment of the present application;

[0037] Figure 13 A partial cross-sectional schematic diagram of a base station provided in one embodiment of the present application;

[0038] Figure 14 A schematic structural diagram of a cleaning seat provided in one embodiment of the present application;

[0039] Figure 15 A schematic structural diagram of a sewage tank provided in one embodiment of the present application;

[0040] Figure 16 A cross-sectional view of a sewage discharge structure provided in one embodiment of the present application;

[0041] Figure 17 A schematic diagram of the structure of a sewage discharge structure provided in one embodiment of the present application;

[0042] Figure 18 A schematic structural diagram of a cleaning robot provided in one embodiment of the present application;

[0043] Figure 19 A simplified structural diagram of the dual-waterway cleaning system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the present application, not all of the structures.

[0045] In the description of this application, unless otherwise specified or limited, the terms "connected," "connected," and "fixed" should be understood broadly. For example, they can refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal communication between two components; or interactions between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in this application based on the specific circumstances. In this application, unless otherwise specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature. In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0046] In one embodiment of the present application, the cleaning robot includes a dust collection component and a cleaning component, wherein the dust collection component is arranged in front of the cleaning component in the direction of travel of the cleaning robot, so that when the cleaning robot travels on the surface to be cleaned, it first vacuums the surface to be cleaned, and then cleans the surface to be cleaned after vacuuming. For details, please refer to Figure 6In this embodiment, the cleaning component includes a cleaning executive member 832 and a scraper assembly 833. The cleaning executive member 832 is a roller (or called a cleaning roller, a roller assembly. In the following, the cleaning roller, the roller assembly, and the roller all refer to the cleaning executive member 832). The scraper assembly 833 is arranged on the front side of the roller along the moving direction of the cleaning robot. The dust suction component of the cleaning robot (not shown in the figure) is arranged on the front side of the scraper assembly 833 along the moving direction of the cleaning robot, so that the cleaning robot first performs dust suction during the movement, and then the roller cleans the surface to be cleaned after dust suction, which greatly improves the cleaning efficiency of the cleaning robot.

[0047] Specifically, the drum can be a cylindrical drum, i.e., the surface of the cylindrical drum has cleaning fluff. The drum can also be a track-type drum, which includes two track wheels spaced apart, and a track-type wiping cloth in the shape of a circular runway is sleeved on the two track wheels. The track-type wiping cloth has cleaning fluff on its outward side, and one side of the track-type wiping cloth contacts the ground. As the track wheels rotate, the track-type wiping cloth rotates relative to the ground, thereby achieving mopping and cleaning of the ground.

[0048] In some embodiments of this application, please refer to Figure 6 as well as Figure 19 A dirt collecting box 834 is provided under the scraper assembly 833. The scraper assembly 833 abuts against the drum and can scrape the sewage on the drum into the dirt collecting box 834. The dirt collecting box 834 is connected to the sewage tank 72 through a sewage pipe. The sewage in the dirt collecting box 834 can enter the sewage tank 72 through the sewage pipe to prevent the sewage on the drum from adhering to the surface to be cleaned as the drum 832 rolls. This is also a process of cleaning the drum.

[0049] The "below" referred to in this article refers to the overall positional relationship between the two structural bodies, the scraper bar assembly 833 and the dirt collecting box 834, which are one high and one low. It does not rule out the possibility that the two have partial overlap in height. For example, the scraper bar assembly 833 in this article is higher than the dirt collecting box 834 as a whole, but the water inlet end of the scraper bar assembly 833 is allowed to extend into the dirt collecting box 834, that is, the scraper bar assembly 833 and the dirt collecting box 834 both have a certain height dimension, and there is an overlapping part in height. This positional relationship also falls within the protection scope of "below" in this article.

[0050] Furthermore, one side of the scraper assembly 833 that abuts the roller can be perpendicular to the roller surface to ensure a good scraping effect, and the other side is an arc-shaped arc bent toward the sewage collecting box 834, which can not only prevent the scraped sewage from splashing out of the scraper assembly 833, but also guide the scraped sewage to flow along the arc-shaped scraper assembly 833 into the sewage collecting box 834.

[0051] However, after the cleaning robot has been operating for a long time, the scraper assembly 833 may not be able to remove all the stains on the drum during the operation of the cleaning robot, resulting in continuous accumulation of stains on the drum. In order to solve this problem, the base station 1 is also provided with a scraping and washing structure. After the cleaning robot completes a period of operation, it can return to the base station 1 and use the scraping and washing structure of the base station 1 to further clean the drum. In the prior art, a cleaning chamber is usually provided in the base station, and the cleaning chamber is used to hold cleaning liquid. The drum of the cleaning robot is immersed in the cleaning chamber and rotated, and then the scraping and washing assembly is used to clean the drum. At this time, the sewage dropped by the scraping and washing assembly will continue to soak the drum, reducing the cleaning effect of the drum.

[0052] In order to improve the efficiency of the scraping structure in the base station 1 in cleaning the drum, in this embodiment, please combine the attached Figure 3 To the attached Figure 6 After the cleaning robot enters the base station 1, the front side of the roller along the direction of travel of the cleaning robot is the scraper assembly 833, and the rear side of the roller along the direction of travel of the cleaning robot is the scraping structure of the base station 1. Figure 3 To the attached Figure 5b The drum of the cleaning robot entering the base station 1 is located in the cleaning tank 114. The scraping structure includes a water channel branch plate 112, scraping ribs 116, and a sewage tank 117. The base station 1 is provided with a water inlet assembly. Clean water or cleaning liquid from the outside enters the water channel branch plate 112 through the water inlet channel. After passing through the water channel branch plate 112, the clean water or cleaning liquid soaks the drum. When the cleaning robot enters the base station 1, the scraping ribs 116 press against the drum to scrape the soaked drum. The sewage tank 117 is used to collect the sewage left by the scraping ribs 116 and is connected to the drainage assembly of the base station 1 to discharge the sewage scraped by the scraping ribs 116 into the sewage pool 119. In the vertical height direction, the water channel branch plate 112, the scraping ribs 116, and the sewage tank 117 are arranged in descending order, and the sewage tank 117 is arranged on the side of the scraping ribs 116 away from the drum to prevent the sewage left by the scraping ribs 116 from continuing to contaminate the drum, thereby improving the cleaning effect of the base station 1 on the drum.

[0053] Furthermore, when the drum of the cleaning robot rotates, it will not only be cleaned by the scraping structure on the base station 1, but also by the scraper assembly 833 on the cleaning robot, thereby greatly improving the cleaning efficiency and cleaning effect of the drum.

[0054] It can be understood that in other embodiments, the scraper assembly 833 of the cleaning robot is arranged on the rear side of the drum along the traveling direction of the cleaning robot. In order to facilitate the cleaning and arrangement of the base station 1, the water channel branch plate 112 is located at the lower side of the drum assembly. The branch port 1120 on the water channel branch plate 112 guides the water out evenly and moistens the drum on the same side of the scraper assembly 833. The scraping structure of the base station 1 is arranged on the front side of the drum along the traveling direction of the cleaning robot; or other arrangements are provided, which are not specifically limited here.

[0055] During the self-cleaning process of the cleaning robot, the scraper assembly 833 scrapes the dirty water on the drum into the dirt collecting box 834. As the self-cleaning time of the drum increases, the drum becomes cleaner and the cleanliness of the dirty water scraped off the drum by the scraper assembly 833 becomes higher and higher. The water enters the dirt collecting box 834 and can flush the dirt collecting box 834 to clean the dirt collecting box 834.

[0056] Each embodiment of the present application further provides a base station, such as Figure 1 As shown, the base station 1 has a docking bay 10 with a hatch on its front side. As shown in FIG2 , a ramp 101 is located at the lower edge of the hatch, allowing the cleaning robot to enter the docking bay 10. After cleaning, the cleaning robot can move to the base station autonomously or under user control to the docking bay 10, entering the docking bay 10 via ramp 101. A charging device 140 is located within the docking bay 10, which abuts the cleaning robot's charging terminals and can charge the cleaning robot.

[0057] Normally, after the cleaning robot completes the cleaning task on the surface to be cleaned and returns to the base station, the cleaning actuator 832 on the cleaning robot will perform self-cleaning in the base station to prevent the cleaning actuator 832 from breeding bacteria and producing odor, and to ensure a good cleaning effect the next time it is used.

[0058] The cleaning executive part 832 of the present application can be a roller, a rag plate, etc., and the present application does not make specific limitations. However, the following embodiments are not applicable to both rollers and rag plates at the same time. Readers or operators need to distinguish them according to the content below. Some of the following embodiments are only applicable to rollers, while some embodiments are only applicable to rag plates, and some embodiments are applicable to both rollers and rag plates at the same time.

[0059] On some base stations, when the cleaning executive 832 is self-cleaning at the base station, it is scraped only by the scraper assembly 833 on the cleaning robot, which is used to remove the dirty water from the cleaning executive 832. Generally, the scraper assembly 833 of the cleaning robot is relatively short, and the distance that the scraper assembly 833 penetrates into the drum will not exceed 2 mm. The scraping force of the scraper assembly 833 on the cleaning robot is relatively small, thereby avoiding the situation where the scraper bar gives too much resistance to the cleaning executive 832, causing the cleaning executive 832 to be unable to rotate normally when performing the cleaning task. Therefore, using a smaller scraping force not only reduces the resistance to the rotation of the cleaning executive 832, but also ensures the life of the motor of the cleaning executive 832. Therefore, when the cleaning executive 832 is self-cleaning, it is not possible to achieve a good cleaning effect by relying solely on the scraper bar on the cleaning robot. The scraper bar on the cleaning robot can only scrape off the relatively shallow areas on the upper surface of the cleaning executive 832, and the dirt at the bottom of the bristles of the cleaning executive 832 cannot be cleaned well. Some base stations are equipped with scraper bars, but to ensure that the drum is exposed to the cleaning liquid along its entire length, the scraper bar assembly on the base station is configured to consist of multiple scraper bars, which are staggered and arranged along the axis of the cleaning actuator 832. When the cleaning actuator 832 is self-cleaning, the base station supplies a certain amount of water to the staggered scraper bars. The drum rotates and contacts the scraper bars and water simultaneously, achieving both soaking and scraping cleaning.

[0060] Although the scraper can clean the cleaning executive member, each time the cleaning executive member is cleaned, the scraped sewage cannot be isolated in time, resulting in the water in the cleaning tank becoming dirtier and dirtier, and the cleaning effect of the drum soaked in the cleaning tank becoming worse and worse.

[0061] To avoid the aforementioned problems, in some embodiments of the present application, a full-length base station scraping rib 116 is provided within the docking bay 10. The width of the base station scraping rib 116 is greater than the scraping bar on the cleaning robot, ensuring that the scraping rib 116 can reach the base of the bristles of the cleaning actuator 832 and provide a deep clean to the cleaning actuator 832. Furthermore, the length of the scraping rib 116 is equal to or greater than the length of the cleaning actuator 832 on the robot. This ensures that the cleaning actuator 832 can fully contact the cleaning surface of the cleaning actuator 832 during self-cleaning, ensuring a good cleaning effect.

[0062] Specifically, in some embodiments of the present application, Figure 2a 、 3As shown in Figure 4, a cleaning seat 11 is provided on the bottom wall of the docking cabin 10. The cleaning seat 11 is detachably provided on the bottom wall of the cabin, and the user can disassemble the cleaning seat 11 for cleaning to ensure the cleanliness of the cleaning seat, improve the self-cleaning effect of the cleaning actuator 832 of the cleaning robot, and avoid odor caused by dirt. The cleaning seat 11 has a cleaning groove 114, and a scraping rib 116 is provided in the cleaning groove 114. Along the direction of the cleaning robot entering and exiting the docking cabin 10, the side close to the hatch is the front side, and the inner side of the docking cabin 10, that is, the side away from the hatch, is the rear side. As shown in Figure 4, a cleaning seat 111 is provided on the bottom wall of the docking cabin 10. Figure 2a 、 3 As shown in Figures 4 and 6, two water tanks are provided on the rear side of the cleaning seat 11, namely a first water inlet channel 110 and a second water inlet channel 111. The rear sides of the first water inlet channel 110 and the second water inlet channel 111 are water inlet ends, and the front sides are water outlet ends. The water outlet ends are connected to the cleaning tank 114. A water accumulation channel 115 is provided between the water outlet ends and the cleaning tank 114 to collect all the cleaning fluid in the first water inlet channel 110 and the second water inlet channel 111 into the water accumulation channel 115. The cleaning fluid enters the cleaning tank 114 through the merging channel 118. The cleaning fluid flows into the cleaning tank 114 from back to front. In other embodiments of the present application, the first water inlet channel 110 and the second water inlet channel 111 may be arranged on the front side of the cleaning seat, so that the cleaning fluid flows into the cleaning tank 114 from front to back. Of course, in other embodiments, the cleaning fluid may also flow into the cleaning tank 114 from left to right, or from right to left. This embodiment of the present application does not make specific limitations on this. Of course, in order to achieve uniform water supply or increase the water supply, in other embodiments, the number of cleaning tanks may be more than two.

[0063] In some implementation examples of this application, Figure 5a As shown, a cleaning fluid outlet channel 16 is provided at the water inlet end of the first water inlet channel 110 and the second water inlet channel 111 on the top wall of the docking cabin 10. The outlet channel 16 is connected to the cleaning water tank 2 or the water supply pipeline on the base station. In order to avoid the cleaning water from splashing to the charging device 140 during the self-cleaning process of the cleaning actuator 832 and causing problems such as charging short circuit of the cleaning robot, in some embodiments of the present application, a resisting bar 17 with a length greater than the charging device 140 is provided on the rear wall of the docking cabin 10 below the charging device 140. When the cleaning robot is located in the docking cabin 10 for charging, it abuts against the resisting bar 17. The resisting bar 17 is elastic and can be elastically deformed when it abuts against the cleaning robot and is subjected to the squeezing force given by the cleaning robot, thereby achieving a sealing effect, avoiding the cleaning water from splashing to the charging device 140 during the self-cleaning process of the cleaning actuator 832, and ensuring that the cleaning robot can be charged smoothly.

[0064] In one feasible solution, the distance between the water inlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a first distance, and the distance between the water outlet ends of the first water inlet channel 110 and the second water inlet channel 111 is a second distance. Figure 2a and Figure 6 As shown, the first distance is greater than the second distance. For example, as shown in FIG2 , the first water inlet channel 110 is a chute, and the second water inlet channel 111 is also a chute. Or, as shown in FIG2 , the first water inlet channel 110 is a chute. Figure 5 As shown, the first water inlet channel 110 is a curved groove, and the second water inlet channel 111 is a straight inclined groove. Of course, the reverse is also possible, and this embodiment does not make any specific limitation to this.

[0065] The water inlet ends of the two water inlet channels are connected to the clean water tank 2 on the base station via pipes. A waterway branch plate is provided in the cleaning tank 114. Multiple branch openings 1120 are spaced apart along the width of the cleaning tank 114. These branch openings 1120 can be evenly spaced or spaced unequally, which is not a limitation in this embodiment.

[0066] When the cleaning robot is docked in the docking bay 10, the cleaning robot's cleaning actuator 832 is housed in the cleaning tank 114, which is provided with scraping ribs 116 that abut against the cleaning actuator 832. When the cleaning fluid in the cleaning water tank 2 flows along the first water inlet channel 110 or the second water inlet channel 111 to the waterway branch plate 112, it is blocked by the waterway branch plate 112 and can only pass through the various branch openings 1120. This evenly distributes the cleaning fluid into multiple streams directed toward the cleaning actuator 832, ensuring that the cleaning actuator 832 is evenly sprayed with cleaning fluid from left to right, thereby ensuring uniform cleaning. The branch openings 1120 are formed into a scaled shape consisting of two tapered portions. The wider portion faces the first water inlet channel 110 or the second water inlet channel 111, ensuring that the incoming water can flow into the water accumulation channel 115. The middle portion narrows to increase the flow rate, and the outlet is wide, ensuring a more uniform flow of cleaning fluid to the drum.

[0067] As the cleaning executive member 832 rotates, the cleaning fluid is evenly sprayed onto the cleaning executive member 832. When the cleaning executive member 832 passes through the scraping rib 116, it can not only scrape off the water on the cleaning executive member 832, but also achieve the effect of scraping the cleaning executive member 832, thereby making the cleaning executive member 832 clean more thoroughly.

[0068] Among them, the scraping force and depth of the scraping ribs 116 are greater than the scraper assembly 833 on the cleaning executive part 832 of the cleaning robot. Specifically, along the height direction, the scraping ribs 116 and the scraper assembly 833 can both extend into the bristles of the cleaning executive part 832. The height of the scraping ribs 116 on the base station is greater than the height of the scraper assembly 833, so that the scraping ribs 116 can act on a deeper position of the cleaning executive part 832, such as 3-5mm. In some embodiments, the scraping ribs 116 can extend 4.5mm into the cleaning executive part 832, while the scraper assembly 833 of the robot extends 2mm into the cleaning executive part 832. 2mm enables the scraper assembly 833 to scrape off the sewage on the surface of the cleaning executive part 832, but it cannot scrape deep into the bristles of the cleaning executive part 832, and the resistance hindering the rotation of the cleaning executive part 832 is small. The depth of 4.5mm can reach deep into the scraping hairs of the cleaning executive member 832, and can deeply clean the cleaning executive member 832 to achieve a better cleaning effect. However, compared with the scraper assembly 833, the resistance that hinders the rotation of the cleaning executive member 832 is greater. Therefore, when the cleaning executive member 832 performs self-cleaning, the rotational power is greater than the rotational power when cleaning the surface to be cleaned. Furthermore, the hardness of the scraping ribs 116 on the base station can be greater than the hardness of the scraper assembly 833, so that the scraping ribs 116 have a greater scraping force. For example, the scraping ribs 116 can be made of metal, and the scraper assembly 833 can be made of plastic. As long as the hardness of the scraping ribs 116 is greater than the hardness of the scraper assembly 833, this embodiment does not make specific restrictions.

[0069] In addition, under normal circumstances, the cleaning tank is not drained in time. When the cleaning actuator 832 is self-cleaning, as the cleaning actuator continues to rotate, the scraping ribs continuously scrape the sewage on the cleaning actuator into the cleaning tank, resulting in an increasing amount of sewage in the cleaning tank. Then, the cleaning actuator 832 will be soaked in sewage when passing through the cleaning tank during the continued rotation, resulting in poor cleaning effect.

[0070] See also Figure 2a In the example shown, in the technical solution provided by the embodiment of the present application, the scraping rib 116 on the base station is a continuous whole. When the cleaning executive part 832 is self-cleaning, the scraping rib 116 on the base station and the scraper assembly 833 on the cleaning robot act together on the cleaning executive part 832. For example, see Figure 2c As shown, after the cleaning executive member 832 enters the self-cleaning mode, the cleaning robot controls the cleaning executive member 832 to rotate in a first direction. For example, the first direction of rotation makes the drum have a direction toward the inside of the base station. The scraping ribs 116 and the scraper assembly 833 on the cleaning robot act together on the cleaning executive member 832 to remove dirt on the cleaning executive member 832, and the scraped dirt is basically left on one side by the scraping ribs 116. Figure 2cAs shown, between the scraping ribs 116 and the waterway branch plate 112 in the cleaning trough 114 is a sewage trough 117. In this embodiment, the scraped sewage is essentially all located in the sewage trough 117 on the side near the interior of the base station. The sewage is then directed into the sewage pool 119 through the lowest inlet channel 118. As a result, there is essentially no sewage, or only a small amount of overflowing sewage, in the direction from the scraping ribs 116 toward the outside of the base station. The sewage trough 117 is elevated at both ends, with the lowest height at the entrance of the inlet channel 118. This facilitates the collection of sewage scraped by the scraping ribs at the entrance of the inlet channel 118. The bottom surface of the inlet channel 118 is an inclined surface, sloping downward from the sewage trough 117 toward the sewage pool 119 (i.e., from front to back), allowing the sewage in the sewage trough 117 to be quickly directed into the sewage pool 119. The sewage pool 119 is located between the two water inlet channels, and its bottom is lower than the lowest point of the outlet of the inlet channel 118. The sewage pool is also provided with a float Hall element 130 for measuring the height information of the sewage in the sewage pool 119 and sending the information to the base station controller to control the discharge of the sewage.

[0071] After the first direction rotates for a certain period of time, the cleaning robot controls the cleaning executive part 832 to rotate in the second direction, at which time a small amount of overflowed sewage can be taken away, and then rotated in the first direction again. This cycle can not only ensure the cleaning effect of the cleaning executive part, but also can suck away the sewage overflowing from the part of the cleaning tank on the side of the scraping rib 116 away from the water channel branch plate 112, thereby ensuring the cleanliness of the cleaning tank 114. The time for rotating in the first direction is greater than the time for rotating in the second direction. After the set cleaning time or after detecting that the cleanliness of the cleaning executive part 832 meets the preset requirements, the scraping rib 116 and the scraper assembly 833 on the cleaning robot act together on the cleaning executive part 832 to fluff the cleaning executive part 832. Among them, the first direction and the second direction are opposite.

[0072] In the embodiment of the present application, the sewage in the sewage trough 117 is in a state of continuously flowing into the sewage pool 119, so that there is no accumulation of sewage in the sewage trough 117. The sewage scraped off by the scraping ribs 116 of the cleaning actuator 832 during self-cleaning falls into the sewage trough 117 and is immediately discharged into the sewage pool 119. Specifically, during the self-cleaning process, the cleaning actuator 832 is evenly sprayed with cleaning fluid when it moves to the water channel branch plate 112. Then, when it moves to the scraping ribs 116, the sewage on the cleaning actuator 832 is scraped by the scraping ribs 116 and falls into the sewage trough 117. After the sewage falls into the sewage trough 117, it is immediately discharged from the inlet channel 118 into the sewage pool 119. When passing through the scraper assembly 833, the cleaning robot is scraped and cleaned by the scraper assembly 833. The cleaning robot is provided with a liquid supply device, which may be a clean water tank containing cleaning fluid. The cleaning fluid can flow to and be evenly sprayed to the cleaning executive part 832. That is to say, the liquid supply device can provide the cleaning executive part 832 with self-cleaning cleaning fluid, and this cycle is repeated to achieve a good cleaning effect.

[0073] It can be understood that since the liquid supply device and the water inlet channel provide cleaning liquid to the drum at the same time during the self-cleaning process of the drum, the sewage scraped off by the scraper assembly 833 is the sewage after the drum is cleaned by the cleaning liquid supplied by both the liquid supply device and the water inlet channel. As the drum becomes cleaner and cleaner, the amount of dirt in the sewage gradually decreases, and the dirt collecting box 834 can be flushed. Therefore, the liquid for flushing the dirt collecting box 834 is also provided by the water supply device and the water inlet channel.

[0074] like Figure 5b As described above, in order to stabilize the position of the cleaning actuator 832 on the cleaning robot, a cover plate is provided on the surrounding side of the cleaning actuator. When the length of the scraping rib 116 is not shorter than the cleaning actuator 832, in some embodiments of the present application, in order to avoid interference between the scraping rib 116 and the cover plate, a sloped avoidance structure 1161 is provided on both sides of the scraping rib 116.

[0075] like Figure 2a 、 3 As shown in FIG4 , the bottom of the cleaning tank 114 is inclined from the front side to the rear side, so that the scraping rib 116 is located at a lower position, or the lowest position. The scraping rib 116 divides the cleaning tank 114 into two parts, as shown in FIG4 . Figure 2a and Figure 5In the example shown, a sewage trough 117 is located between the scraping rib 116 and the water channel branch plate 112. The portion of the cleaning trough 114 where the scraping rib faces away from the water channel branch plate 112 serves as the post-cleaning trough. Along the width of the cleaning trough 114, the bottom of the sewage trough 117 is higher at both ends than in the middle. At its lowest point, a confluence channel 118 is located below the water accumulation channel 115. This confluence channel 118 spans below the water accumulation channel 115 and connects to a sewage pool 119 at the rear of the cleaning base 11. The sewage pool 119 can be located between the first water inlet channel 110 and the second water inlet channel 111. The first direction is the direction in which the scraping ribs 116 move away from the water channel branch plate 112. Therefore, when the cleaning executive part 832 rotates along the first direction, when the cleaning executive part 832 passes through the scraping ribs 116, the scraping ribs 116 scrape the sewage on the cleaning executive part 832 into the sewage trough 117. The sewage in the sewage trough 117 can be discharged into the sewage pool 119 through the water accumulation channel 115 in time, so that the cleaning executive part 832 will not be soaked in sewage when passing through the scraping ribs 116 when passing through the cleaning trough 114 during the self-cleaning process. The previously scraped sewage will not affect the subsequent cleaning of the cleaning executive part 832, thereby ensuring a good cleaning effect on the cleaning executive part 832.

[0076] See also Figure 2a and Figure 5 It can be seen that the cleaning tank 114 is offset and not in the middle area of ​​the cleaning seat 11. The reason is that the cleaning execution part 832 on the cleaning robot is also offset and not in the middle part of the bottom of the equipment body. Figure 2a and Figure 6 It can be seen that the inlet channel 118 is not located at the symmetry axis of the cleaning tank 114, but is biased to one side (eg Figure 5 This design is to enable the inlet channel 118 to be located approximately in the middle of the water inlet side of the sewage pool 119 at the rear side of the cleaning seat 11, and to avoid the branch port 1120.

[0077] In other embodiments of the present application, the position of the confluence channel 118 can be at any position except the symmetry axis of the cleaning tank 114, as long as it can ensure that the sewage in the sewage tank 117 can be smoothly discharged into the sewage pool 119. This embodiment does not make any specific limitations.

[0078] The sewage pool 119 can be connected to one end of the sewage pipe (not shown in the drawings), and the other end of the sewage pipe is connected to the dirt box 3, so that the sewage in the cleaning tank 114 can be guided to flow into the inlet channel 118, and enter the sewage pipe from the inlet channel 118 and be discharged into the dirt box 3, thereby avoiding the accumulation of sewage in the cleaning tank 114.

[0079] In some embodiments, a sewage pump 65 may be provided on the sewage pipe to accelerate the sewage in the cleaning tank 114 to enter the sewage pipe and pump the sewage in the sewage pipe into the dirt box 3.

[0080] It is understandable that the closer each branch opening 1120 is to the end of the first water inlet channel 110 or the second water inlet channel 111, the greater the amount of water flowing out. Therefore, in order to ensure that the amount of water flowing out of each branch opening 1120 is consistent, in some embodiments of the present application, the groove width of the branch opening 1120 that is close to the water inlet channel is smaller than the groove width of the branch opening 1120 that is far from the water inlet channel, thereby ensuring the uniformity of the water output of each branch opening 1120 by limiting the water output of the branch opening 1120 that is close to the water inlet channel and increasing the water output of the branch opening 1120 that is far from the water inlet channel.

[0081] like Figure 5 As shown, a detailed description is given using the example of six branch ports 1120 on the waterway branch plate 112. The water flowing out of the first water inlet channel 110 flows to branch ports 1 to 4. To ensure that branch ports 1 to 4 receive an equal amount of water, a guide rib 113 is provided at the center of the outlet of the first water inlet channel 110. The guide rib 113 can evenly divide the water in the first water inlet channel 110 into two parts, directing one part to flow toward branch ports 1 to 2 and the other part to flow toward branch ports 3 to 4. Because branch ports 1 and 4 are far from the outlet of the first water inlet channel 110, while branch ports 2 and 3 are close to the outlet of the first water inlet channel 110, the groove width of branch ports 1 and 4 is a, while the groove width of branch ports 2 and 3 is b, where a>b, to ensure consistent flow at each branch port 1120. The water coming out of the second water inlet channel 111 flows to the branch ports 5 to 6, and the outlet of the second water inlet channel 111 is set in the middle of the branch ports 5 and 6, thereby ensuring that the cleaning fluid coming out of the outlet of the second water inlet channel 111 can flow evenly to the branch ports 5 and 6.

[0082] like Figure 2aAs shown, further, the scraping ribs 116 form one side wall of the sewage trough 117, and the front side wall of the water channel branch plate 112 forms the other side wall of the sewage trough 117. A downward curved wall is provided between the lowest point of the water channel branch plate 112, where the water channel branch port 1120 is located, and the front side wall of the water channel branch plate 112. The curved wall has the same center as the cleaning actuator. In actual operation, when the cleaning roller rotates for cleaning, the water channel branch port 1120 is located upstream of the scraping ribs 116. The scraped sewage is located in the sewage trough 117 and is then introduced into the sewage pool 119. As the cleaning progresses, the water level in the sewage pool rises. Since the sewage pool, the inlet channel and the sewage trough are connected, the water volume in the sewage pool is controlled by a magnetic float. Finally, when the sewage is discharged, the liquid level is lower than the lowest point of the curved wall to ensure the cleanliness of the running water.

[0083] In this embodiment, the cleaning seat 11 is detachably arranged in the base station docking compartment 10 . Figure 4 Schematic diagram showing the cleaning seat 11 after being taken out from the docking cabin. Figure 3 As shown, a connection structure, such as a slot, may be provided at the front end of the bottom wall of the docking cabin. Buckles may be provided at the opposite ends of the ramp 101. The ramp 101 may be connected to the docking cabin of the base station by means of the buckle and slot connection.

[0084] Typically, the walking mechanism of a cleaning robot that drives it includes two drive wheels located on opposite sides of the bottom of the cleaning robot, and auxiliary wheels located between the two drive wheels and forming a triangle with the two drive wheels. The auxiliary wheels can rotate and steer with the rotation of the drive wheels, and can be universal wheels. This ensures not only the stability of the cleaning robot during travel, but also its flexibility during travel.

[0085] The docking cabin 10 can usually only accommodate a part of the cleaning robot to ensure that the base station is smaller. Therefore, most of the cleaning robot is located on the ramp 101 outside the docking cabin 10. At this time, the cleaning actuator 832 is in the shape of an inclined plane parallel to the ramp, and the center of gravity of the cleaning robot is also located on the ramp 101, so that the cleaning actuator 832 cannot be well contacted with the scraping rib 116. The scraping rib 116 can only extend into the cleaning actuator 832 between 2mm and 3mm, thereby failing to obtain a good cleaning effect.

[0086] In order to solve the above problems, Figure 2bAs shown, a support structure is provided on the ramp, which may be a protrusion 120. The protrusion 120 can lift the chassis of the cleaning robot so that the body of the cleaning robot can be maintained in the target posture. In the target posture, the cleaning robot is docked with the base station, that is, the cleaning actuator 832 can achieve good abutment with the scraping rib 116, and the scraping rib 116 can extend into the cleaning actuator 832 by more than 3 mm, for example, 3 mm to 5 mm. The charging end of the cleaning robot is electrically connected to the charging plate on the rear wall of the docking compartment of the base station; the dust outlet of the dust box of the cleaning robot is docked with the dust collection port of the base station; the clean water inlet of the cleaning robot is docked with the clean water docking port of the base station; the sewage outlet of the cleaning robot corresponds to the sewage pool of the base station, and so on. More specifically, the protrusion 120 matches the auxiliary wheel, which is located at the rear center of the chassis of the cleaning robot. When the cleaning robot is placed in the docking cabin 10, the auxiliary wheel is located on the protrusion 120 to change the docking angle of the cleaning robot so that the posture of the cleaning robot when docked in the docking cabin is the target posture.

[0087] Normally, after the cleaning robot completes its cleaning task and returns to the docking cabin 10, although there is a scraping bar on the bottom wall of the docking cabin 10 that can scrape and clean the cleaning executive member 832, the cleaning executive member 832 is only cleaned by the scraping bar 116 during the self-cleaning process, and the cleaning fluid provided to the cleaning executive member 832 for self-cleaning is also provided separately by the cleaning base station. Relying solely on the single waterway of the cleaning base station itself to clean the cleaning executive member 832 cannot achieve a good cleaning effect. However, in the embodiment of the present application, during the self-cleaning process of the cleaning executive member 832, not only the cleaning base station can provide cleaning fluid to the cleaning executive member 832, but the cleaning robot also provides cleaning fluid to the cleaning executive member 832. The scraper assembly 833 also scrapes and cleans the cleaning executive member 832 when the cleaning robot is self-cleaning. Therefore, the embodiment of the present application adopts a dual waterway to provide cleaning fluid when cleaning the cleaning executive member 832. Compared with the single waterway method, the cleaning executive member 832 can achieve a better cleaning effect.

[0088] Specifically, in order to ensure a good cleaning effect on the surface to be cleaned when the cleaning executive 832 performs a cleaning task, the cleaning robot usually has a water nozzle above the cleaning executive 832 to evenly spray the cleaning fluid onto the cleaning executive 832 to wet the cleaning executive 832. During the rotation of the cleaning executive 832, the scraper assembly 833 scrapes the sewage on the cleaning executive 832. Only then will the cleaning executive 832 be sprayed with the cleaning fluid to ensure that when the cleaning executive 832 performs a cleaning task, the surface to be cleaned is cleaned with clean cleaning fluid rather than recycled sewage. Then, in some embodiments of the present application, when the cleaning executive 832 performs self-cleaning, spraying the cleaning fluid onto the cleaning executive 832 through the water nozzle can be another water supply path in addition to the cleaning fluid that the base station can provide to the cleaning executive 832 for self-cleaning.

[0089] However, the capacity of the clean water tank on the cleaning robot, which is used to store cleaning fluid, is limited. Some of the clean water tank is used up during the cleaning task. If the cleaning robot returns to the base station and the clean water tank needs to supply cleaning fluid for the cleaning actuator, the cleaning fluid in the clean water tank will easily be exhausted and no more cleaning fluid can be supplied to the cleaning actuator.

[0090] In order to solve the above problem, in some embodiments of the present application, when the cleaning robot is located in the docking cabin 10, a water supply pipeline is provided on the base station, and the end of the water supply pipeline is connected to the clean water tank on the cleaning robot to fill the clean water tank 2 with cleaning fluid.

[0091] It not only ensures that the cleaning water tank 2 on the cleaning robot can continuously provide cleaning fluid to the cleaning executive part 832 during the self-cleaning process, thereby ensuring the clean water supply of the dual water channels, but also ensures that the clean water tank of the cleaning robot is fully loaded each time before performing a cleaning task, thereby reducing the number of times cleaning fluid is added to the clean water tank and ensuring cleaning efficiency.

[0092] In some embodiments of the present application, Figure 18 As shown, the cleaning robot has a water system 7a, which is used to provide cleaning fluid to the cleaning actuator 832 and collect the wastewater scraped from the cleaning actuator 832 by the scraper assembly 833 into the wastewater tank 72. One possible structure of the water system 7a is to include a clean water tank 71a and a wastewater tank 72. The wastewater tank 72 is connected to the clean water tank 71a by a pipeline, and the clean water tank 71a is connected to the cleaning actuator 832 by a pipeline. The cleaning fluid in the clean water tank 71a can be provided to the cleaning actuator 832 through the pipeline. The wastewater after mopping the floor by the cleaning actuator 832 is collected near the wastewater tank 72 through the pipeline connected to the wastewater tank 72.

[0093] Furthermore, if Figure 18 As shown, in some embodiments of the present application, the water system 7a further includes a clean water pump 73a, an air pump 74a, and a water inlet assembly 75a. The clean water pump 73a is located on the path where the cleaning fluid in the clean water tank 71a flows toward the cleaning actuator 832, and can provide power for the clean water in the clean water tank 71a to flow toward the cleaning actuator 832. The sewage tank 72 is provided with an air outlet, and an air pipe is connected between the air pump 74a and the air outlet. The air pump 74a can extract air from the sewage tank 72, creating a negative pressure in the sewage tank 72. Under the action of the negative pressure, an adsorption force is generated in the sewage pipe that absorbs the sewage, allowing the sewage scraped from the cleaning actuator 832 to enter the sewage pipe as much as possible, and then enter the sewage tank 72. This prevents the sewage from not being absorbed in time during the movement of the cleaning robot and flowing into the cleaned area, thereby ensuring a good cleaning effect. To facilitate the introduction of cleaning fluid into the clean water tank 71a, a water inlet assembly 75a is provided on the circumference of the rear end of the cleaning robot. A pipeline is provided between the water inlet assembly 75a and the clean water tank 71a. The user can directly connect tap water from the outside to the water inlet assembly to inject cleaning fluid into the clean water tank 71a. Alternatively, when the cleaning robot is located on a base station, a cleaning liquid docking device is provided on the base station. The outlet pipe of the clean water tank 2 on the base station is connected to the water inlet assembly 75a through the cleaning liquid docking device to realize the automatic water replenishment function of the base station to the cleaning robot. A bypass groove for the water inlet assembly 75a can be provided below the front of the sewage tank 72. The water inlet assembly 75a is located in the bypass groove, and the clean water replenishment port of the water inlet assembly 75a on the side away from the pipeline is located on the front of the sewage tank 72. The front of the sewage tank 72 can be the rear end of the cleaning robot. The front of the sewage tank 72 is convenient for replenishing cleaning fluid. Of course, the water injection port assembly 75a can also be located at any position on the rear of the cleaning robot as long as it does not interfere with other components. This embodiment does not make any specific limitation.

[0094] Please refer to Figure 19As shown, in some embodiments of the present application, after the cleaning robot completes its cleaning work and returns to the docking bay 10, the sewage tank 72 on the cleaning robot docks with the base station, and the sewage in the sewage tank 72 is directly discharged into the sewage pool 119. After the sewage is discharged, the self-cleaning operation of the cleaning actuator 832 is activated. During the rotation of the cleaning actuator 832, the scraper assembly 833 first scrapes the sewage on the surface of the cleaning actuator 832. The scraped sewage enters the water tank 72 and flows from the sewage tank 72 into the sewage pool 119. The cleaning executive part 832 continues to rotate, and when it passes through the water nozzle on the cleaning robot, the water nozzle sprays the cleaning fluid evenly onto the cleaning executive part. When it passes through the water channel branch plate 112, a large amount of cleaning fluid on the base station is sprayed onto the cleaning executive part. At this time, the cleaning executive part 832 has been fully wetted by the cleaning fluid. Finally, when it passes through the scraping rib 116, the scraping rib 116 can not only scrape the cleaning executive part 832, but also scrape the sewage on the cleaning executive part 832 into the sewage trough 117 located between the scraping rib 116 and the water channel branch plate 112. The sewage in the sewage trough 117 can be discharged to the sewage pool 119 in time through the reflux channel 118. Under the action of the double water channels and double scrapers, the cleaning executive part 832 can be cleaned more thoroughly and the cleaning effect is higher.

[0095] like Figures 14 and 15 As shown, a sewage outlet 321 is provided at the bottom of the sewage tank 72, and a one-way valve 323 is provided at the sewage outlet 321. To meet the sewage discharge needs, a trigger rod 322 is provided on the lower wall of the docking cabin 10. When the cleaning robot is located in the docking cabin 10, the trigger rod 322 abuts against the one-way valve 323, so that the one-way valve 323 is in an open state, and the sewage in the sewage tank 72 is directly discharged into the sewage pool 119 without passing through the cleaning tank, thereby preventing the sewage in the sewage tank 72 from entering the cleaning tank and contaminating the clean water of the base station drum self-cleaning.

[0096] As described above, after the cleaning robot of the present application returns to the base station, there are two cleaning fluid paths. The first is the cleaning system of the cleaning robot itself. When the base station is docked, the clean water from the base station's clean water tank or the automatic water supply enters the cleaning robot's clean water tank through the base station's automatic water filling device. The cleaning fluid in the clean water tank is then evenly fed into the drum through the water supply device. The other water path is that the clean water from the base station's clean water tank or the automatic water supply does not pass through the cleaning robot but directly passes through the water inlet channel and then flows evenly to the drum through the water channel branch plate 112. Because the nozzle of the cleaning robot's water supply device is located at a higher position, while the outlet of the water channel branch plate 112 is located at a lower position, the drum is first wetted by the water supplied by the cleaning robot during rotation, and then moistened by the water supplied from the outlet of the water channel branch plate 112. The flow rate of the water supplied by the cleaning robot is between 0.3 ml / s and 1 ml / s, for example, 0.5 ml / s, while the flow rate from the base station to the drum is greater than 6 ml / s, thereby increasing the water supply flow rate. The drum then rotates to the scraping ribs 116 of the base station, where the wastewater is scraped off by the scraping ribs 116. The wastewater then passes through the cleaning trough 114, flows into the channel 118, and enters the sewage pool 119. The drum then continues to rotate to the scraping bar assembly of the cleaning robot, where the wastewater enters the sewage collection box and is then pumped into the tail sewage tank 72 through the sewage pipe. Since the one-way valve at the bottom of the sewage tank 72 is lifted by the trigger rod 322, the wastewater is discharged and flows directly into the sewage pool. It can be seen that after two scrapings, one cycle is completed. In other words, one cycle receives clean water twice and scrapes twice, which greatly improves the cleaning efficiency. The scraping ribs 116 can extend into the cleaning actuator 832 by 3-5 mm, for example 4.5 mm, and the insertion depth of the scraping bar assembly is about 2 mm. Since the scraping ribs have a greater scraping force, most of the dirt is scraped off by the scraping ribs, while the scraping strength of the scraping bar assembly is small. At this time, the sewage scraped off is less than that scraped off by the scraping ribs, so less sewage enters the sewage collecting box. As the number of rotations of the drum increases, after multiple cycles, the sewage entering the sewage collecting box is less dirty, thereby achieving the cleaning of the sewage collecting box and the sewage tank 72.

[0097] Specifically, if Figures 14 to 16As shown, a drainage mechanism 42 is provided on the bottom wall of the docking compartment 10. The drainage mechanism 42 includes a rotary drive assembly 421 and a transmission bracket assembly 422. The transmission bracket assembly 422 includes a housing 4220, which defines a housing chamber. The rotary drive assembly 421 is rotatably disposed in the housing chamber along the Z-axis, protecting the rotary drive assembly 421 from damage caused by external influences and ensuring aesthetics. The housing 4220 has an upper end extending toward the docking compartment 10. A trigger lever 322 is rotatably disposed at the upper end of the housing 4220 via a rotating shaft 424. One end of the trigger lever 322 is a trigger end 320, which extends out of the housing 4220 and abuts against the one-way valve 323. The other end of the trigger lever 322 is a drive end 324, which is located within the housing chamber and abuts against the rotary drive assembly 421. The rotary drive assembly 421 can apply force to the drive end 324 along the X direction, causing the trigger rod 322 to rotate around the rotation point, thereby causing the trigger end 320 to rise along the Y axis and applying driving force to the one-way valve 323 to rise along the Y direction.

[0098] like Figures 14 to 16 As shown, since it takes a certain amount of time for the sewage in the sewage tank 72 to drain, during this period of time, the rotary drive assembly 421 will continuously apply force to the driving end 324 to maintain the trigger end 320 in the state of lifting the one-way valve 323. During the drainage process of the sewage tank 72, due to the restriction of the one-way valve 323 and the rotary drive assembly 421, the driving member 4211 will not rotate about the rotation axis 424 on the receiving frame 4220. When the sewage in the sewage tank 72 is completely drained, the rotary drive assembly 421 rotates and no longer applies force to the driving end 324. If the cleaning robot is not stationary in the docking compartment 10 at this time, the driving member 4211 will rotate about the rotation axis 424 because there is no external force to restrain it. This may cause the trigger end 320 to rotate beyond the position of abutting the one-way valve 323, thereby preventing the cleaning robot from entering the base box 40.

[0099] Therefore, in some embodiments, the sewage discharge mechanism 42 also includes a push rod reset member 4221, one end of which is arranged at the bottom end of the cavity wall of the accommodating cavity at the driving member 4211, and the other end is arranged on the side of the driving end 324 away from the rotating driving assembly 421. When the sewage tank 72 needs to be drained, the rotary drive assembly 421 applies a driving force to the driving member to rotate about the rotation axis 424, and the push rod reset member 4221 is compressed. When the sewage in the sewage tank 72 is emptied, the rotary drive assembly 421 no longer provides power to the driving end 324. At this time, the driving end 324, under the force of the push rod reset member 4221, drives the driving member 4211 to rotate in the opposite direction about the rotation axis 424 until the push rod reset member 4221 is reset or abuts against the rotary drive member. At this time, the position of the trigger end 320 is lower than the position of the one-way valve 323, and is restricted to a position lower than the one-way valve 323 by the push rod reset member 4221 or the push rod reset member 4221 and the rotary drive assembly 421, and does not change, thereby avoiding the problem of the cleaning robot being blocked from entering the base box 40. The push rod reset member 4221 can be a rubber member with relatively high elasticity, or it can be a spring, etc.

[0100] In some embodiments, as Figures 14 to 16As shown, one possible structure of the rotary drive assembly 421 includes a drive member and a force-applying member 4212 disposed at the output end of the drive member. The force-applying member 4212 can continuously abut the drive end 324 to intermittently apply driving force to the drive end 324. For example, the force-applying member 4212 can be a cam. When the cam's highest position abuts the drive end 324, it can apply driving force to the drive end 324 to compress the push rod reset member 4221. As the cam rotates, the position where the cam abuts the drive end 324 rotates from the highest position to the lowest position. During this process, the driving force applied by the cam to the drive end 324 decreases. Under the action of the reset force of the push rod reset member 4221, the drive member 4211 rotates about the rotation axis 424 to below the one-way valve 323 and disengages from the one-way valve 323. The force-applying member 4212 can also intermittently abut the drive end 324 to apply driving force to the drive end 324 as the output end rotates. For example, the force-applying member 4212 is a protrusion arranged at the output end of the driving member. As the output end of the driving member rotates, the protrusion intermittently abuts against the driving end 324. When the sewage in the sewage tank 72 needs to be discharged, the protrusion abuts against the driving end 324 as the output end of the driving member rotates. From the time it contacts the driving end 324, it gradually applies a driving force to the driving end 324. The push rod reset member 4221 begins to compress until the protrusion abuts vertically against the driving end 324, reaching the peak driving force. The push rod reset member 4221 is compressed to the maximum. At this time, the abutting end can lift the one-way valve 323, and the sewage flow rate reaches the maximum. It is noteworthy that the one-way valve 323 is not lifted until the driving force reaches its peak. Instead, it is lifted as soon as the protrusion contacts the driving end 324 and can apply driving force to the driving end 324. At this point, the sewage outlet 321 is already open. As the cam rotates, the greater the applied force, the higher the one-way valve 323 is lifted, the wider the sewage outlet 321 opens, and the greater the flow rate of sewage out of the sewage tank 72. When the sewage in the sewage tank 72 is completely discharged, the output end of the driver continues to rotate, and the protrusion gradually disengages from the driving end 324. During this process, the push rod reset member 4221 gradually resets, the one-way valve 323 gradually descends, and the sewage outlet is gradually sealed. The driver can be a rotary motor.

[0101] The sewage in the sewage tank 72 of the cleaning robot can be discharged into the sewage pool under the action of the trigger lever 322 and flow out of the sewage pool through the drain port 400. In order to increase the speed of sewage outflow, in some embodiments, the sewage pipe is connected to a water pump. When the water pump is started, it can quickly pump the sewage out of the sewage pool and into the sewage pipe.

[0102] It should be noted that if Figures 15 and 16As shown, the water pump does not start when all the sewage in the sewage tank 72 flows out into the sewage pool. Instead, it starts when the sewage in the sewage tank 72 begins to be discharged into the sewage pool, thereby being able to pump the sewage out of the sewage pool in real time. Therefore, in order to ensure that the water pump starts when the sewage tank 72 is discharged, in some embodiments, the sewage discharge mechanism 42 further includes a micro switch 423. The micro switch 423 is coupled to the water pump and is also linked to the one-way valve 323. When the first sensor 340 is lifted, the micro switch 423 is triggered, and the micro switch 423 drives the water pump to start pumping water. In order to ensure that the sewage in the sewage tank 72 can be completely drained, when the sewage outlet 321 is opened to the maximum, the output end of the driving component stops rotating, so that the size of the sewage outlet 321 is maintained at the maximum for 5 seconds. After 5 seconds, the output end of the driving component continues to rotate, and the sewage outlet 321 is gradually blocked. When the first sensor 340 returns to the initial position, the micro switch 423 controls the water pump to stop pumping water, and the sewage is discharged.

[0103] Here, it should be noted that if Figure 17 As shown, since the micro switch 423 has a delay, there will be a certain time interval from the triggering of the micro switch 423 to the start of the water pump working. In order to avoid the water pump being unable to extract sewage in time due to the action tolerance of the micro switch 423, or the water pump is still working after all the sewage in the sewage pool flows into the sewage pipe, in some embodiments, when the sewage outlet 321 is initially opened, the micro switch 423 is triggered, and the driving part stops rotating after 200 milliseconds. This 200 milliseconds is not only to accommodate the action error of the micro switch 423 so that the water pump can start, but also to allow the sewage outlet 321 to gradually open to the maximum state. At this time, the water pump can pump the sewage in the sewage pool into the sewage pipe during the 5s sewage discharge process. After 5s, the output end of the driving part continues to rotate, and the sewage outlet 321 gradually closes. At this time, the drive motor stops 450 milliseconds after the micro switch 423 is powered off, and the sewage outlet 321 is blocked. The 450 milliseconds of power failure of the micro switch 423 is enough to transmit the information that the sewage pump has stopped to the sewage pump, and the sewage pump stops pumping water. It should be noted that 450 milliseconds is the reaction time of the sewage pump. During this period, the sewage pump does not stop working and is still pumping water. The sewage outlet 34 is blocked only after the sewage pump stops working. Although the sewage pump no longer works during this period, the sewage in the sewage pool can still flow into the sewer outlet 400.

[0104] In some embodiments of the present application, there may be only one microswitch 423, which transmits a signal to activate the sewage pump when the sewage outlet 321 is opened, and transmits a signal to deactivate the sewage pump when the sewage outlet 321 is gradually closed. Alternatively, there may be two microswitches 423, one of which transmits a signal to activate the sewage pump when the sewage outlet 34 is about to open, and the other transmits a signal to deactivate the sewage pump when the sewage outlet 321 is gradually closed. This embodiment does not impose any specific limitations as long as the sewage discharge requirements are met.

[0105] In some embodiments of the present application, a water baffle 425 is provided on the trigger rod 322 between the trigger end 320 and the rotating shaft 424. The trigger end 320 acts on the one-way valve 323. After the one-way valve 323 is pushed open, the sewage in the sewage tank 72 flows out from the opened one-way valve 323 into the sewage pool 119. In this process, the water baffle 425 can block the sewage flowing out of the sewage tank 72, preventing the sewage from splashing into the rotating drive assembly 421 from the protruding port and affecting the rotating drive assembly 421, thereby ensuring the normal operation of the rotating drive assembly 421.

[0106] It should be noted that in the embodiment of the present application, the cleaning fluid used to clean the cleaning executive part 832 is a continuously new supply, that is, live water cleaning, and the sewage after cleaning the cleaning executive part 832 can be discharged in time through the intake channel 118 to ensure that the liquid that the cleaning executive part 832 can contact during the self-cleaning process is all cleaning fluid, thereby ensuring a good cleaning effect of the cleaning executive part 832.

[0107] Furthermore, a float and a Hall element may be provided in the sewage pool 119 . Figure 2a The structure indicated by reference numeral 130 is the float and Hall effect element. The float floats with the liquid level in sewage tank 119. When the liquid level in sewage tank 119 reaches a threshold, that is, when the float floats at the threshold water level, the Hall effect element is triggered, and the base station stops supplying water to the first and second water inlet channels 110, 111, preventing sewage from overflowing from sewage tank 119. Simultaneously, the base station sends an alarm signal to notify the user that sewage tank 119 is full.

[0108] Typically, the charging device 140 on the base station has two different structures: one with a large left-right swing arm, which moves with the metal swing arm during the cleaning robot's recharging process; the other with a forward-backward spring-loaded structure, which moves the charging device 140 back and forth with the cleaning robot during the recharging process. Regardless of the configuration, the charging device 140 on the base station cannot maintain full contact with the charging pad on the cleaning robot during the recharging process, which can easily cause friction and sparks, causing the charging pad to blacken and even cause charging failure, which not only affects the charging lifespan but also the user experience.

[0109] In order to solve the above problems, in some embodiments of the present application, see Figures 1 to 1a As shown, the base station 1 is provided with a charging device 140, and a charging assembly 141 is provided on both the left and right sides of the charging device 140. The charging assembly 141 includes a fixed seat 1411 coupled to the base station and a charging contact piece assembly rotatably coupled to the fixed seat 1411. During the recharging process of the cleaning robot, after the charging piece on the cleaning robot abuts against the charging contact piece assembly, the charging contact piece assembly can rotate around the fixed seat 1411 following the position correction of the cleaning robot, so that the charging contact piece assembly always abuts against the charging piece on the cleaning robot without relative displacement, thereby avoiding the phenomenon of blackening. Until the position of the cleaning robot is corrected into place, the charging contact piece assembly achieves good abutment with the charging piece on the cleaning robot, thereby ensuring smooth charging.

[0110] Since the position adjustment of the cleaning robot during the docking and charging process with the base station is inevitably accompanied by the forward or backward movement of the cleaning robot, the charging piece on the cleaning robot will give the charging contact piece assembly a thrust to move toward the fixed seat 1411. In order to avoid damage to the charging assembly 141 caused by excessive thrust, in some embodiments of the present application, see Figures 1 to 1c As shown, there is a reset member 142 between the charging component 141 and the base station. One end of the reset member 142 abuts against the base station, and the other end abuts against the charging component 141. The charging component 141 can move relative to the base station. When the cleaning robot gives a thrust to the charging component 141, the charging component 141 can move toward the base station and compress the reset member 142. When the thrust gradually disappears, the reset force of the reset member 142 pushes the charging component 141 to gradually reset. During the reset stroke, the charging component 141 is always in contact with the charging piece on the cleaning robot, thereby ensuring that the cleaning robot is in the process of resetting, whether it swings left and right or moves forward and backward. As long as the charging piece on the cleaning robot abuts against the charging component 141, the two will not move relative to each other, thereby ensuring that there will be no sparking and blackening phenomenon, and ensuring the service life of the charging component 141. Optionally, the reset member 142 can be a spring or a rubber member with high elasticity.

[0111] In some embodiments of this application, see Figures 1 to 1b As shown, the charging contact piece assembly includes a rotating seat 14123 and a charging piece 14120 located at the top of the rotating seat 14123, wherein the rotating seat 14123 can be rotatably set on the fixed seat 1411 through a rotating member 1413. The rotating member 1413 can be an axis or a universal ball structure, etc., as long as it can be rotated relative to the fixed seat 1411, this embodiment does not make specific restrictions. The charging piece 14120 is coupled to the rechargeable battery on the base station through the fixed seat 1411. In some embodiments, a plurality of convex points are spaced apart on the left and right sides of the charging piece 14120. The convex point on the left is called the left convex point 14121, and the convex point on the right is called the right convex point 14122. See Figure 1d to Figure 1e As shown, when the charging piece on the cleaning robot abuts the charging piece 14120 on the charging contact piece assembly, the charging piece on the cleaning robot first abuts the left convex point 14121 or the right convex point 14122. Here, the left convex point 14121 is used as an example. When the cleaning robot enters the station to charge, the left convex point 14121 of the charging contact piece assembly will first contact the charging piece of the cleaning robot. As the cleaning robot continues to move forward, the charging contact piece assembly will be forced to swing, and finally it will be as shown in FIG. Figure 1f In the neutral position, all convex points are in full contact with the charging plate on the cleaning robot. Even if some convex points are blackened and damaged due to ignition during this process, they can still be charged through other convex points, ensuring a stable electrical connection between the charging component 141 on the base station and the charging plate on the cleaning robot, greatly extending the service life of the charging device 140 and providing a better user experience.

[0112] Furthermore, a dehumidification circulation fan may be provided on the base station 1. The top of the docking cabin 10 of the base station 1 may be provided with an air inlet for the dehumidification circulation fan. For example, Figure 1 In the example shown, the air inlet 150 of the dehumidification circulation fan is located on the upper part of the rear bulkhead of the docking bay 10 and on one side of the charging device 140. A gas suction channel is provided between the dehumidification circulation fan and the air inlet 150. The humidified gas enters the suction channel through the air inlet 150. The humidified gas is added when passing through the dehumidification circulation machine, which heats the humidified gas, evaporates the moisture in the gas, and converts the dehumidified gas into hot gas. An air supply channel is provided between the dehumidification circulation machine and the bottom wall of the cleaning tank 114, as shown in FIG. Figure 4As shown, the first water inlet channel 110 and the second water inlet channel 111 are surrounded by a guide ring wall 1010101 opening toward the cleaning tank 114, and the opening is an air outlet. The side of the air supply channel away from the dehumidification cycle machine is connected to the top of the guide ring wall 1010101, and the dry hot air enters the guide ring wall 1010101 from the air supply channel. The guide ring wall 1010101 guides the dry hot air to flow toward the air outlet. Since the air outlet is facing the cleaning tank 114, the dry hot air can be sprayed onto the cleaning executive part 832 to accelerate the drying rate of the cleaning executive part 832 and the cleaning tank 114, and avoid bacteria breeding due to moisture.

[0113] As mentioned above, after a set cleaning duration or after detecting that the cleanliness of cleaning member 832 has reached a preset requirement, the cleaning robot controls cleaning member 832 to rotate in a second direction. The scraping ribs 116 and the scraper assembly 833 on the cleaning robot act together on cleaning member 832 to fluff it. During the fluffing phase, the dehumidifying circulation fan is activated to quickly dry cleaning member 832.

[0114] Currently, some cleaning robots use their own water tanks for self-cleaning when returning to a base station. For example, after entering the base station's docking bay, the robot activates its self-cleaning mode. In this mode, the robot activates its water pump to pump water from the tank to the cleaning actuator 832, while simultaneously controlling the rotation of the cleaning actuator 832 to clean it. Those skilled in the art are aware that the amount of water in the robot's water tank is limited, and the cleaning actuator 832 requires a relatively large amount of water. To achieve a good cleaning effect, using only the liquid in the tank is insufficient. Furthermore, the robot's water circuit is designed to support the cleaning of the floor by the robot's cleaning actuator 832. It must spray evenly, maintain a low volume, and ensure a long battery life. If the cleaning actuator 832 is too wet, the floor it cleans will become overly wet. This self-cleaning solution, which uses only the robot's water circuit, is called a single-water circuit cleaning solution. This single-water circuit cleaning solution does not provide a good self-cleaning effect.

[0115] Currently, cleaning robots on the market use a single waterway solution to clean the cleaning actuator 832. While this solution offers cost advantages, it fails to meet the self-cleaning requirements. The cleaning actuator 832 requires a large amount of water for self-cleaning, and using only the waterway on the cleaning robot to provide the self-cleaning fluid is not very effective.

[0116] The solution provided by the embodiment of the present application is a dual-waterway self-cleaning solution, that is, the base station provided in the above embodiment can provide the cleaning robot with clean water for cleaning the cleaning executive part 832 through the first water inlet channel 110 and the second water inlet channel 111. The base station can be equipped with a cleaning water tank 2, or the base station can have an upper and lower water structure, which is connected to the tap water pipeline through the upper and lower water structures. When the cleaning robot starts the self-cleaning mode, the upper waterway of the upper and lower waterways on the base station is triggered or the water pump of the cleaning water tank 2 is triggered to supply clean water to the cleaning executive part 832. At the same time, the cleaning tank on the cleaning robot also supplies clean water to the cleaning executive part 832. This dual-waterway water supply solution greatly increases the water supply for self-cleaning and can significantly improve the self-cleaning effect of the cleaning executive part 832.

[0117] For example, a base station with a clean water tank 2 is used. As the cleaning robot performs self-cleaning operations on the base station more frequently, the cleaning fluid in the clean water tank 2 is gradually consumed. When the cleaning fluid is exhausted, the base station sends a signal to the user indicating that the clean water tank 2 is empty. To prevent the user from frequently adding cleaning fluid to the clean water tank 2, the volume of the clean water tank 2 is usually increased by enlarging the volume, thereby reducing the frequency of adding water. However, this inevitably increases the size of the base station, which not only conflicts with the trend of miniaturization of base stations, but also is not conducive to water conservation.

[0118] Based on this, in some embodiments of this application, please refer to Figure 7 A filter assembly 4 is provided between the dirt tank 3 and the clean water tank 2 of the base station. The filter assembly 4 can filter the sewage in the dirt tank 3 and reuse it for the cleaning actuator 832 on the self-cleaning and cleaning robots of the base station, thereby allowing the sewage to be reused. This not only saves water resources but also reduces the number of times the user injects cleaning fluid into the clean water tank 2, reducing the user's labor.

[0119] In some embodiments, as Figure 10 As shown, the base station is also provided with a circulating water tank 5, with one end of the filter assembly 4 located in the dirt tank 3 and the other end located in the circulating water tank 5. To filter as much sewage in the dirt tank 3 as possible, the end of the filter assembly 4 located in the dirt tank 3 is located at the bottom of the dirt tank 3. However, since the sewage in the dirt tank 3 contains a large amount of dirt, sedimentation and stratification of the dirt will occur after a period of storage in the dirt tank 3. To prevent the accumulation of solid flocculent dirt at the bottom of the dirt tank 3 from clogging the filter assembly 4, a supporting boss 32 is provided on the bottom wall of the dirt tank 3. The end of the filter assembly 4 located in the dirt tank 3 is located on the upper end surface of the supporting boss 32, so that the filter assembly 4 is separated from the dirt deposited at the bottom of the dirt tank 3, thereby reducing the number of times the filter assembly 4 needs to be cleaned or the number of times consumable parts in the filter assembly 4 need to be replaced.

[0120] like Figure 9 As shown, a water pump 65 is provided on the path for the cleaning fluid in the clean water tank 2 and the path for the filtered water in the circulating water tank 5 to pump the cleaning fluid or filtered water into the first and second water inlet channels or the sewage tank to clean the cleaning actuator 832 or the sewage tank. The clean water tank 2 is connected to a first clean water pipe 62 and a second clean water pipe 63, wherein the first clean water pipe 62 is connected to the water pump 65 for outputting the cleaning fluid in the clean water tank 71 from the clean water tank 71. The water outlet of the water pump 65 is connected to a third clean water pipe 64, which is provided with a clean water solenoid valve. The third clean water pipe 64 is connected to a flushing pipe 063, the end of which is connected to the first and second water inlet channels and the sewage tank, thereby delivering the cleaning fluid to the first and second water inlet channels or the sewage tank. The circulating water tank 5 is connected to a circulating water pipe 61, and a circulating water pump 65 is located on the circulating water pipe 61. The circulating water pipe 61 is also provided with a filter solenoid valve 67 to control whether filtered water is supplied. The circulating water pipe 61 is also connected to the flushing water pipe to pass the filtered water in the circulating water tank 5 into the first water inlet channel, the second water inlet channel or countless pools.

[0121] like Figure 9 As shown, when the filtered water in the circulating water tank 5 is insufficient, the filter solenoid valve 67 is closed and the clean water solenoid valve is opened, so that the circulating water tank 5 does not supply water, and the clean water tank 2 supplies cleaning fluid. However, if the filtered water in the circulating water tank 5 is sufficient, the filter solenoid valve 67 is opened, and the clean water solenoid valve is closed, and filtered water is preferentially introduced into the first water inlet channel, the second water inlet channel, or the sewage tank for pre-washing. After the pre-wash is completed, the clean water solenoid valve is opened and the filter solenoid valve 67 is closed to re-wash with cleaning fluid, finally completing the cleaning process. This saves the amount of cleaning fluid in the clean water tank 2 and reduces the number of times the user adds cleaning fluid. In some embodiments, the circulating water tank 5 is provided with a detector for detecting the filtered water content in the circulating water tank 5, thereby controlling the closing or opening of the filter solenoid valve 67 and the clean water solenoid valve. The detector can be a liquid level detector or a weight detector installed on the base station, which determines the filtered water content in the circulating water tank 5 by detecting the weight of the circulating water tank 5. As long as the filtered water content in the circulating water tank 5 can be detected, this embodiment does not impose specific limitations.

[0122] It should be noted that the water pump 65 on the first clean water pipe 62 cooperates with the clean water solenoid valve to be turned on or off, and the water pump 65 on the circulating water pipe 61 cooperates with the filter solenoid valve 67 to be turned on or off.

[0123] like Figure 9As shown, a drain port 400 is provided in the sewage pool, and a sewage suction pipe 68 is provided at the drain port 400. The sewage suction pipe 68 is connected to the dirt box 3. An air inlet pipe 69 is connected between the dirt box 3 and the air pump 061. The air pump 061 can extract the gas in the dirt box 3, so that a negative pressure is formed in the dirt box 3. Under the influence of the negative pressure, suction is generated in the sewage suction pipe 68 to suck sewage from the sewage pool into the sewage suction pipe 68, so that the sewage in the sewage pool is quickly discharged into the sewage tank 72.

[0124] In some embodiments, as Figure 9 As shown, the end of the sewage suction pipe 68 at the drain outlet 400 is equipped with a water quality detector 062. The sewage flowing out of the sewage pool can be detected by the water quality detector 062 to determine the transparency of the sewage. If the sewage transparency is weak, it indicates that the cleaning actuator 832 or the sewage pool needs to be rewashed. The clean water electrical valve and the water pump 65 on the first clean water pipe 62 are turned on, and the filter solenoid valve 67 and the water pump 65 on the circulating water pipe 61 are turned off to allow cleaning fluid to be introduced into the first and second water inlet channels, or into the sewage pool for rewashing. If the sewage transparency is high, it indicates that the cleaning actuator 832 or the sewage pool has been cleaned and no rewashing is required, and the cleaning is complete.

[0125] like Figure 9 As shown, a water outlet solenoid valve 66 is provided on one end of the second clean water pipe 63 away from the clean water tank 2, and a machine water supply pipe 60 is provided at the water outlet end of the water outlet solenoid valve 66. The other end of the machine water supply pipe 60 is connected to the cleaning robot. When the cleaning robot is located on the base station and the clean water bucket is short of water, the water outlet solenoid valve 66 is opened, and the cleaning fluid in the clean water tank 2 flows through the second clean water pipe 63 and the machine water supply pipe 60 and then flows into the clean water tank 71 of the cleaning robot to meet the fluid replenishment needs of the cleaning robot.

[0126] In order to reduce the length of the filter assembly 4, as shown in FIG. Figure 8 and 10 As shown, the circulating water tank 5 is next to the dirt tank 3, or the original dirt tank 3 is divided into two, one side is the dirt tank 3 and the other side is the circulating water tank 5, so as to avoid increasing the size of the base station. In some embodiments, in order to ensure that the filtered water in the circulating water tank 5 can flow out from the drain port, the drain port is located at the lowest position of the bottom wall of the circulating water tank 5. When dumping the dirt in the dirt tank 3, in order to prevent the filtered water in the circulating water tank 5 from flowing out from the drain port connected to the circulating water pipe 61, in some embodiments of the present application, Figure 12 As shown, a sealing plug assembly 51 is provided at the drain outlet. The sealing plug assembly 51 opens the drain outlet when the dirt box 3 is placed on the base station, but closes the drain outlet when the dirt box 3 is taken off the base station.

[0127] Specifically, if Figure 11As shown, one possible structure of the sealing plug assembly 51 includes a first push rod 511, a compression spring 416, and a sealing plug 513. The bottom wall of the circulating water tank 5 is provided with a boss facing into the tank body, the top of the boss being provided with a drain outlet, a second push rod extending through the drain outlet, the compression spring 416 being located between the head of the second push rod and the side of the boss facing away from the circulating water tank 5, and a sealing plug 513 being sleeved on the end of the second push rod extending through the drain outlet. When the dirt tank 3 is removed from the base station, the elastic action of the compression spring 416 causes the head of the second push rod to descend until the sealing plug 513 abuts the surface of the boss. At this point, the compression spring 416 has not yet returned to its natural state and is subject to a restoring elastic force. Under the action of this restoring elastic force, the sealing plug 513 seals the drain outlet, ensuring a good sealing effect.

[0128] like Figure 11 As shown, a retaining groove is provided at the base station at the position of the boss, which can be inserted into the boss. The end of the circulating water pipe 61 is connected to the bottom of the retaining groove. When the dirt bucket is installed back to the base station, the groove wall of the retaining groove is inserted into the boss, thereby limiting the position of the circulating water tank 5 on the base station and ensuring the accuracy of the dirt bucket installation. A first push rod 511 is provided in the retaining groove, which protrudes from the bottom of the retaining groove. When the dirt bucket is returned to the base station, as the circulating water tank 5 descends, the first push rod 511 abuts the head end of the second push rod and presses the second push rod in the opposite direction of the boss. At this time, the compression spring 416 is compressed, the sealing plug 513 leaves the boss surface, and the drain port is opened. The filtered water in the circulating water tank 5 flows out of the drain port, passes through the gap between the first lever and the groove wall of the retaining groove, and flows into the circulating water pipe 61 from the water outlet around the first push rod 511 at the bottom of the retaining groove. Optionally, the height of the boss is 5 mm to 50 mm. The higher the boss height, the less likely the filter element 410 is to come into contact with the dirt deposited in the dirt barrel, thereby avoiding the risk of the filter element 410 being blocked and extending the service life of the filter element 410. However, the boss height cannot be too high to avoid the filter element 410 not being able to fully contact the sewage in the dirt barrel, thereby ensuring sufficient and good filtering effect.

[0129] In some embodiments, as Figure 10 and Figure 12As shown, a possible structure of the filter assembly 4 includes at least one set of filters 41, and the filter 41 includes a filter element 410 and a filter element cover 411, wherein the filter element cover 411 is arranged on the outer periphery of the filter element 410, and the surface of the filter element cover 411 is a filter mesh structure with a diameter of 1 mm, so as to block large particles of solid dirt, while allowing sewage carrying small particles of solid dirt smaller than 1 mm to pass through, thereby achieving the first level of filtration. The filter element 410 can be a filter cotton or cotton swab (including but not limited to acrylic cotton, sponge, EPDM) containing activated carbon or bamboo charcoal particles (ingredients), which can prevent small particles of solid dirt from passing through and allow water to pass through. Since one end of the filter 41 is located in the dirt bucket and the other end is located in the circulating water tank 5, the filter element 410 is long enough. Using the capillary phenomenon of water, water will flow along the filter element 410. During the flow, the filter element 410 will filter out small particles from the sewage. The filtered water flows out from the end of the filter element 410 located in the circulating water tank 5 to the circulating water tank 5 under the action of gravity.

[0130] It is understandable that as the number of filtration increases, more and more small solid particles are adsorbed in the filter element 410, which may cause the filter element 410 to be blocked, resulting in the filter assembly 4 being unable to effectively filter the sewage in the dirt box 3. Therefore, the filter element 410 needs to be replaced regularly to ensure a good filtering effect.

[0131] In some embodiments of the present application, in order to ensure the volume of the dirt bucket and ensure that the volume of the base station does not increase, the filter component 4 is located in the dirt bucket, and the filtered water flows directly into the clean water tank 2. In order not to contaminate the original cleaning fluid in the clean water tank 2, the sewage in the dirt bucket is filtered by atomization filtration to ensure better filtering effect.

[0132] Therefore, in some embodiments, Figure 12 and Figure 13 As shown, the filter 41 also includes a filter element gland 412, a microporous atomizing sheet 413, an atomizing sheet cover and a sealing cover 415. The filter element gland 412 is mounted on the end of the filter element 410 away from the bottom wall of the dirt box 3 and abuts against the filter element cover 411. A through hole is provided on the upper end of the filter element gland 412. The microporous atomizing sheet 413 is located on the upper end surface of the filter element 410 and is electrically connected to the power supply. The center of the atomizing sheet is 2-5mm 2Multiple micro-pores with a pore size of 3-20 μm are spaced apart within the area, which can separate the water droplets passing through the atomizer into numerous micro-droplets of 3-20 μm. The atomizer pressing cover is located between the sealing cover 415 and the atomizer pressing cover. The sealing cover 415 is provided with a snap-in hole. The filter element pressing cover 412 is inserted into the snap-in hole and sleeved on the outer periphery of the end of the filter element 410. One end of the filter element pressing cover 412 abuts against the filter element cover 411, and the other end is the head end of the filter element pressing cover 412. The head end is snapped into the snap-in hole, thereby fixing the micro-atomizer sheet to the upper end surface of the filter element 410. The atomizer sheet pressing cover 414 can fix and seal the microporous atomizer sheet 413.

[0133] In some embodiments, the sealing cover 415 is provided with a plurality of snap-in holes at intervals, and each snap-in hole corresponds to a filter 41 , so that the filter assembly 4 includes a plurality of filters 41 , thereby accelerating the filtration of sewage.

[0134] In order to ensure that the end of the filter element 410 is always in contact with the microporous atomization plate 413, in some embodiments of the present application, a spring 512 is provided at the bottom of the filter element 410. The spring 512 is in a compressed state, and the elastic force of the spring 512 causes the upper end of the filter element 410 to be tightly pressed against the microporous atomization plate 413.

[0135] The sewage tank 72 cover, the base station top cover and the clean water tank cover 21 are together arranged to form an atomizing chamber. The top surface of the atomizing chamber is an inclined surface, and a condensing sheet 14 is provided on the inclined surface. The condensing sheet can be a stainless steel sheet or an electrically powered semiconductor refrigeration sheet. As long as the condensation effect can be achieved, this application does not make specific restrictions. The filter assembly 4 is located below the high end of the top surface of the atomizing chamber, and the condensing sheet is located above the filter assembly 4. The other end of the top surface of the atomizing chamber is provided with a reflux area for guiding the condensed water to flow to the clean water tank 2. The top of the clean water tank 2 is located below the reflux area, and a reflux port 211 is provided at the corresponding position of the lowest end of the reflux area. The water droplets coming out of the filter element 410 are divided into many tiny atomized water droplets by the action of the microporous atomizing sheet 413. The atomized water droplets rise and encounter the condensing sheet to form condensed water. The condensed water enters the reflux area along the condensing sheet under the action of gravity, and flows along the reflux area to the lowest end and then drips into the reflux port 211, thereby achieving sewage filtration with good filtration effect.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A cleaning base station for a cleaning robot, characterized in that: The cleaning robot comprises a drum, a scraping bar assembly and a dirt collecting box, wherein the scraping bar assembly scrapes and cleans the drum; The cleaning base station includes a cleaning tank and a water inlet channel; When the cleaning robot is docked with the cleaning base station, the roller abuts against the cleaning tank. When the cleaning base station self-cleans the cleaning robot through the cleaning tank, the cleaning fluid contacts the roller through the water inlet channel along the rotation direction of the roller to clean the roller. The cleaning fluid on the roller is scraped into the dirt collecting box by the scraper assembly to clean the dirt collecting box.

2. The cleaning base station according to claim 1, characterized in that The cleaning robot also has a liquid supply device; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the dirt collecting box.

3. The cleaning base station according to claim 1, characterized in that The cleaning robot also has a liquid supply device; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the drum.

4. The cleaning base station according to claim 2 or 3, characterized in that: The cleaning base station is provided with a cleaning liquid docking device, and the cleaning base station can replenish cleaning liquid to the cleaning robot through the cleaning liquid docking device and enter the liquid supply device.

5. The cleaning base station according to any one of claims 1 to 3, characterized in that: A scraping rib is provided in the cleaning tank, and the roller abuts against the scraping rib. The scraping rib scrapes the roller when the roller is self-cleaning.

6. A cleaning base station for a cleaning robot, characterized in that: The cleaning robot comprises a roller, a scraper assembly and a dirt collection box; The cleaning base station includes a cleaning tank and a water inlet channel; When the cleaning base station performs self-cleaning on the cleaning robot through the cleaning tank, the cleaning fluid contacts the drum through the water inlet channel along the rotation direction of the drum to clean the drum, and the cleaning fluid on the drum is scraped into the dirt collecting box by the scraper assembly to clean the dirt collecting box.

7. The cleaning base station according to claim 6, characterized in that The cleaning robot also has a liquid supply device; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the dirt collecting box.

8. The cleaning base station according to claim 6, characterized in that: The cleaning robot also has a liquid supply device; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the drum.

9. The cleaning base station according to claim 7 or 8, characterized in that: The cleaning base station is provided with a cleaning liquid docking device, and the cleaning base station can replenish cleaning liquid to the cleaning robot through the cleaning liquid docking device and enter the liquid supply device.

10. The cleaning base station according to any one of claims 6 to 8, characterized in that: A scraping rib is provided in the cleaning tank, and the roller abuts against the scraping rib. The scraping rib scrapes the roller when the roller is self-cleaning.

11. A cleaning base station for a cleaning robot, characterized in that: The cleaning robot comprises a roller, a scraper assembly, a liquid supply device and a dirt collection box; The cleaning base station includes a cleaning tank; When the cleaning robot is docked with the cleaning base station, the roller abuts against the cleaning tank. When the cleaning base station self-cleans the cleaning robot through the cleaning tank, the liquid supply device provides cleaning fluid to the roller along the rotation direction of the roller to clean the roller. The cleaning fluid on the roller is scraped into the dirt collecting box by the scraper assembly to clean the dirt collecting box.

12. The cleaning base station according to claim 11, characterized in that: A scraping rib is provided in the cleaning tank, and the roller abuts against the scraping rib. The scraping rib scrapes the roller when the roller is self-cleaning.

13. The cleaning base station according to claim 11, characterized in that: The cleaning base station further includes a water inlet channel; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the dirt collecting box.

14. The cleaning base station according to claim 11, characterized in that: The cleaning base station further includes a water inlet channel; When the drum is self-cleaning, the liquid supply device and the water inlet channel jointly supply liquid to the drum to clean the drum.

15. The cleaning base station according to claim 11, characterized in that: The dirt collecting box is located below the side of the scraper bar assembly facing away from the drum.

16. The cleaning base station according to claim 11 or 12, characterized in that: The cleaning robot further comprises a sewage tank, the sewage collecting box is communicated with the sewage tank, and the sewage tank is provided with a sewage outlet, through which the sewage in the sewage tank is discharged to the cleaning base station.

17. The cleaning base station according to claim 16, characterized in that: The cleaning base station further comprises a sewage pool, and the sewage scraped off the drum is introduced into the sewage pool.

18. The cleaning base station according to claim 17, characterized in that: The sewage collecting box is connected to the sewage tank, and the sewage tank is provided with a sewage outlet, through which the sewage in the sewage tank is introduced into the sewage pool.

19. A cleaning base station for a cleaning robot, characterized in that: The cleaning robot is provided with a roller, a scraper assembly and a sewage tank; the base station has a cleaning seat, and the cleaning seat includes a water inlet channel, scraping and washing ribs and a sewage tank; In which, when the cleaning robot docks with the cleaning base station to clean the drum, the cleaning robot and / or the cleaning base station provides cleaning fluid, and the cleaning fluid flows through the drum, the scraper assembly, the sewage tank and the sewage pool to form a first cleaning water path, and the cleaning fluid flows through the water inlet channel, the scraping ribs and the sewage pool to form a second cleaning water path, and the first cleaning water path and the second cleaning water path work together to clean the drum.

20. The cleaning base station according to claim 19, characterized in that: The scraper assembly and the scraping ribs are pressed against the drum together, and the scraping ribs are inserted into the drum to form a first depth, and the scraper assembly is inserted into the drum to form a second depth, and the first depth is greater than the second depth.

21. The cleaning base station according to claim 20, characterized in that: The first depth is less than or equal to 5 mm, and the second depth is greater than or equal to 1.5 mm and less than or equal to 2.5 mm.

22. The cleaning base station according to claim 19, characterized in that The width of the scraping rib is greater than the width of the scraper assembly; The length of the scraping rib is greater than or equal to the length of the scraper assembly.

23. The cleaning base station according to claim 19, characterized in that The cleaning base station has a first water spray flow rate, and the cleaning robot has a second water spray flow rate, and the first water spray flow rate is greater than the second water spray flow rate.

24. The cleaning base station according to any one of claims 19 to 23, characterized in that: When the cleaning robot is docked with the cleaning base station, the sewage in the sewage tank flows into the sewage pool; A sewage trough is provided between the scraping ribs and the water inlet channel. The scraping ribs act on the drum to scrape off dirt, and the scraped dirt enters the sewage pool through the sewage trough.

25. The cleaning base station according to any one of claims 19 to 23, characterized in that: Cleaning drum process: The clean water tank of the cleaning robot provides a first cleaning fluid, and the cleaning base station provides a second cleaning fluid; The first cleaning fluid flows to an area of ​​the drum, the drum rotates, the area rotates to the position of the second cleaning fluid, and the second cleaning fluid flows to the area of ​​the drum; when the area rotates to the scraping rib, it is scraped for the first time by the scraping rib, and when the area rotates to the scraper assembly, it is scraped for the second time by the scraper assembly.

26. The cleaning base station according to claim 25, characterized in that The cleaning robot is provided with a liquid supply port, and the liquid supply port is used to provide the first cleaning fluid; The cleaning base station is provided with a water inlet channel, and the water inlet channel is used to provide the second cleaning fluid; The liquid supply port and the scraping ribs are respectively located above and below the drum and arranged opposite to each other; The water outlet end of the water inlet channel and the scraper assembly are respectively located on the left and right sides of the drum and arranged opposite to each other.

27. The cleaning base station according to any one of claims 19 to 23, characterized in that: The outlet of the water inlet channel is provided with a water channel branch plate, and the water channel branch plate is provided with a plurality of branch ports spaced apart along the length direction, and the cleaning fluid in the water inlet channel flows from the plurality of branch ports to the cleaning executive member; The cleaning seat is provided with a cleaning trough, and the cleaning trough is provided with scraping ribs and a sewage trough; In the height direction, the plurality of branch openings, the scraping ribs and the sewage troughs are arranged in sequence from high to low.

28. The cleaning base station according to claim 27, characterized in that The scraping ribs form one side wall of the sewage trough, and the water channel branch plate forms the other side wall of the sewage trough.

29. The cleaning base station according to claim 27, characterized in that An arc-shaped wall is provided at the bottom of the branch opening, and the circle where the arc-shaped wall is located is concentric with the cross-sectional circle of the cleaning executive member.

30. The cleaning base station according to claim 27, characterized in that The opening widths of the two adjacent branch openings are set such that the width of the branch opening close to the water inlet channel is not greater than the width of the branch opening far from the water inlet channel.

31. The cleaning base station according to claim 27, characterized in that The bottom of the cleaning tank is provided with an inlet channel connected to the sewage pool, and the inlet channel is used to guide the sewage into the sewage pool.

32. The cleaning base station according to claim 31, characterized in that The inlet channel is located on the central axis of the sewage tank.

33. The cleaning base station according to claim 31, characterized in that The scraping ribs are located on the bottom wall of the cleaning tank, the cleaning tank is aligned with the drum, and the inlet channel is located on the side of the cleaning tank.

34. The cleaning base station according to claim 31, characterized in that The inlet channel is located at the bottom of the waterway branch plate and between two adjacent branch openings.

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