Cleaning base station and cleaning system

Abstract

The embodiment of the utility model discloses a cleaning base station and a cleaning system, and the cleaning base station comprises a body assembly which defines an accommodation space; the cleaning assembly is arranged in the accommodating space and defines a cleaning space; the driving assembly is arranged in the accommodating space; a first output part of the driving assembly is located in the cleaning space; the first output part of the driving assembly is used for being detachably connected with a cleaning module of the cleaning equipment so as to drive the cleaning module to rotate in the cleaning space.

Description

Technical Field

[0001] This application relates to the field of clean technology, and in particular to a clean base station and a clean system. Background Technology

[0002] In related technologies, robotic vacuum cleaners are used to clean floors, and they mop the floor using a mop structure. This mop structure requires frequent cleaning. Typically, the cleaning process involves the robotic vacuum cleaner working in conjunction with a cleaning station, making the mop cleaning process quite complex. Utility Model Content

[0003] In view of this, embodiments of this application aim to provide a clean base station and a cleaning system.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0005] This application provides a clean base station, including:

[0006] The main body components define the storage space;

[0007] A cleaning component is disposed in the receiving space and defines the cleaning space;

[0008] A drive assembly is disposed in the receiving space; a first output portion of the drive assembly is located within the cleaning space; the first output portion of the drive assembly is detachably connected to the cleaning module of the cleaning equipment to drive the cleaning module to rotate in the cleaning space.

[0009] In some alternative implementations, the first output section includes a first defining structure; the first defining structure is detachably connected to the first connecting structure of the cleaning module and is fixedly disposed with the first connecting structure in the rotation direction.

[0010] In some alternative implementations, the first defined structure includes:

[0011] The first convex-concave structure is radially disposed on the top side of the first output part; the first convex-concave structure is used to cooperate with the first concave-convex structure of the cleaning module.

[0012] In some alternative implementations, the first protrusion of the first convex-concave structure includes:

[0013] The first mating top surface is inclined towards the bottom side of the first output part along the axis of the first output part to the circumferential direction of the first output part.

[0014] Two first mating sides are located on opposite sides of the first mating top surface in the circumferential direction; the distance between the two first mating sides gradually increases in the direction from the top end of the first protrusion to the bottom end of the first protrusion.

[0015] In some alternative implementations, the first mating side surface and the first mating top surface are connected by an arc surface.

[0016] In some alternative implementations, the first mating top surface is a plane; or, the first mating top surface is an arc surface.

[0017] In some alternative implementations, the first convex-concave structure includes:

[0018] The first guide bottom surface is located on the top side of the first output part; the first guide bottom surface is inclined towards the bottom side of the first output part along the axis of the first output part to the circumferential direction of the first output part.

[0019] In some alternative implementations, the first defined structure further includes:

[0020] The second convex-concave structure is disposed on the outer periphery of the first output part and corresponds to the position of the first convex-concave structure; the first convex part of the first convex-concave structure extends to the second convex part of the second convex-concave structure, and the second convex-concave structure is used to cooperate with the second concave-convex structure of the cleaning module.

[0021] In some alternative implementations, the top side of the first output section has a first mounting groove at the axis, and the first convex and concave structure is disposed on the outer periphery of the first mounting groove.

[0022] The driving component also includes:

[0023] A first connector is disposed in the first mounting slot; the first connector is used to provide a magnetic attraction force to the second connector of the cleaning module, which moves toward the side closer to the first connector.

[0024] In some alternative implementations, the first defined structure includes:

[0025] A first connector is disposed on the first output section; the first connector is used to connect with the second connector of the cleaning module by magnetic attraction, and the first output section is used to fix the cleaning module in the rotational direction position by magnetic attraction.

[0026] In some alternative implementations, the first output section is used to connect with the first mating section of the cleaning module via magnetic attraction, and the first output section is used to fix the cleaning module in a rotational position via magnetic attraction.

[0027] In some alternative implementations, the drive component includes: a first output shaft;

[0028] The first output section is a portion of the first output shaft; or, the first output section is disposed on the first output shaft.

[0029] In some alternative implementations, the cleaning component defines two cleaning spaces, and the body component defines a first receiving space and a second receiving space for accommodating the cleaning component;

[0030] The second accommodating space and the first accommodating space are at least partially overlapped in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface are staggered.

[0031] The drive assembly further includes a first motor and a first transmission assembly. The first motor is disposed in the second accommodating space and is connected to two first outputs via the first transmission assembly. The two first outputs are located in the two cleaning spaces respectively.

[0032] In some alternative implementations, after the driving component drives the cleaning module to rotate forward for a set time,

[0033] The drive component is also used to drive the cleaning module to rotate in the opposite direction.

[0034] In some alternative implementations, the first output unit includes an electromagnetic structure to enable the first output unit and the cleaning module to be in a connected or disconnected state.

[0035] In some alternative implementations, the cleaning component is detachably disposed on the body component;

[0036] The cleaning component has a first connection through hole; the first output part is used to be detachably connected to the cleaning module through the first connection through hole.

[0037] In some alternative implementations, the cleaning component includes:

[0038] A cleaning tray is detachably disposed on the main body assembly and has the first connecting through hole; the cleaning tray defines the cleaning space.

[0039] In some alternative implementations, the cleaning component further includes:

[0040] A cleaning component is rotatably disposed within the cleaning space; the cleaning component is used to clean the cleaning space; the second output portion of the drive assembly is connected to the cleaning component through the first connecting through hole to drive the cleaning component to rotate.

[0041] In some alternative implementations, the driving component includes:

[0042] A first output shaft is located at the first connecting through hole; a second output part is disposed on the first output shaft;

[0043] The first output section is located at the top end of the first output shaft;

[0044] The cleaning tray has a first cylindrical portion located within the cleaning space on the periphery of the first connecting through hole;

[0045] At least a portion of the second output section is located within the cavity of the first cylindrical section, and the cleaning member is sleeved outside the first cylindrical section and covers the gap between the second output section and the first cylindrical section.

[0046] In some alternative implementations, the second output part is a stepped cylindrical structure, the second output part is sleeved outside the first output shaft, the large end of the second output part is located inside the cavity of the first cylindrical part, and the small end of the second output part is located outside the first cylindrical part;

[0047] At least a portion of the first output is located on the side of the small end of the second output that is away from the large end of the second output;

[0048] The cleaning component includes:

[0049] The stepped cylindrical portion has its large end fitted outside the first cylindrical portion and its small end fitted outside the small end of the second output portion.

[0050] The cleaning section is strip-shaped and located outside the large end of the stepped cylindrical section.

[0051] In some alternative implementations, the cleaning component further includes:

[0052] A cleaning bracket is disposed on the top side of the cleaning tray and is used to contact the cleaning module; the cleaning bracket has a first mounting hole corresponding to the position of the first connecting through hole, and the small end of the stepped cylinder is rotatably disposed at the first mounting hole.

[0053] In some alternative implementations, the cleaning component further includes:

[0054] A shielding element is provided for the cleaning bracket; the shielding element covers the top side of the gap between the cleaning bracket and the small end of the second output section;

[0055] The shielding member has a first through hole, and at least a portion of the first output section is detachably connected to the cleaning module through the first through hole.

[0056] In some alternative implementations, the second output section is cylindrical and sleeved outside the first output shaft;

[0057] The second output section is disposed on the first output shaft; or,

[0058] The clean base station also includes:

[0059] A first transmission component is disposed on the first output shaft and is connected in conjunction with the second output section; or,

[0060] The clean base station also includes:

[0061] The second transmission component is disposed on the first output shaft;

[0062] At least two third transmission members are rotatably disposed on the main body assembly; the third transmission members are respectively connected to the second transmission member and the second output part.

[0063] In some alternative implementations, the clean base station further includes:

[0064] The second transmission component is disposed on the first output shaft;

[0065] At least two fixed shafts are spaced apart on the outside of the second transmission member along the circumferential direction, and the first end of the fixed shaft is fixed to the body assembly;

[0066] At least two third transmission components are rotatably mounted on at least two fixed shafts, respectively;

[0067] A connecting bracket is connected to the second end of at least two fixed shafts respectively;

[0068] The second output section is cylindrical and is sleeved outside the at least two third transmission members; the third transmission members are respectively connected to the second transmission member and the second output section.

[0069] The rotation direction of the first output shaft is opposite to the rotation direction of the second output section.

[0070] In some alternative implementations, the second transmission component is a sun gear, the third transmission component is a planet gear, and the connecting frame is a planet carrier.

[0071] Some alternative implementations also include:

[0072] A cleaning bracket is disposed on the top side of the cleaning space and is used to contact the cleaning module.

[0073] In some alternative implementations, the cleaning bracket is detachably mounted.

[0074] This application embodiment also provides a cleaning system, including the cleaning base station and cleaning equipment of this application; the cleaning equipment includes a body and a cleaning module detachably disposed on the body;

[0075] In the cleaning state, the cleaning module is separated from the body and is detachably connected to the first output of the drive assembly, which is used to drive the cleaning module to rotate in the cleaning space.

[0076] In some alternative implementations,

[0077] In the first cleaning state, the drive component is used to drive the cleaning module to rotate in the cleaning space, the cleaning device is located outside the cleaning base station, and the cleaning device is in the cleaning state;

[0078] In the second cleaning state, the drive component is used to drive the cleaning module to rotate in the cleaning space, and the cleaning device is located within the first space defined by the cleaning base station.

[0079] In some alternative implementations,

[0080] After the cleaning equipment travels to a position where the cleaning module corresponds to the first output unit, the cleaning equipment controls the cleaning module to separate from the machine body; the first mating part of the cleaning module is detachably connected to the first output unit, and the driving component is used to drive the cleaning module to rotate in the cleaning space.

[0081] In some alternative implementations, the cleaning module includes:

[0082] A cleaning bracket has a first mating portion and a second mating portion arranged opposite to each other in the axial direction;

[0083] The first mating part is used to be detachably connected to the first output part, and the second mating part is used to be detachably connected to the body.

[0084] In some alternative implementations, the first output section includes a first limiting structure;

[0085] The first mating part includes a first connecting structure, and the first defining structure is used to be detachably connected to the first connecting structure and fixedly disposed with the first connecting structure in the rotation direction.

[0086] Some alternative implementations also include:

[0087] A first connector is disposed on the first output section;

[0088] The second connector is disposed on the first mating part; the first connector is used to connect with the second connector by magnetic attraction, and the first output part is used to fix the cleaning module in the rotational direction position by magnetic attraction.

[0089] In some alternative implementations, the first output section is used to connect with the first mating section via magnetic attraction, and the first output section is used to fix the cleaning module in the rotation direction via magnetic attraction.

[0090] The cleaning base station of this application has a first output part of the drive component for detachably connecting to the cleaning module of the cleaning equipment to drive the cleaning module to rotate in the cleaning space; the cleaning of the cleaning module can be completed by the cleaning base station without the participation of the cleaning equipment, thereby greatly simplifying the structure of the cleaning module. Attached Figure Description

[0091] Figure 1 This is a schematic diagram of an optional structure of the cleaning system in an embodiment of this application;

[0092] Figure 2 This is an optional structural diagram of the cleaning device in an embodiment of this application, wherein the cleaning module is in a raised position;

[0093] Figure 3 This is an optional structural diagram of the cleaning device in an embodiment of this application, wherein the cleaning module is in the cleaning position;

[0094] Figure 4 This is a schematic diagram of an optional structure of a clean base station in an embodiment of this application;

[0095] Figure 5 for Figure 4 A schematic diagram of a partial structure;

[0096] Figure 6 This is a schematic diagram of an optional structure of the first output section in an embodiment of this application;

[0097] Figure 7 for Figure 4 A sectional view;

[0098] Figure 8 for Figure 7 A partial view;

[0099] Figure 9 for Figure 7 A partial view;

[0100] Figure 10 This is a schematic diagram of an optional partial structure of the clean base station in an embodiment of this application;

[0101] Figure 11 This is a schematic diagram of an optional partial structure of the clean base station in an embodiment of this application;

[0102] Figure 12 This is a schematic diagram of an optional structure of the cleaning component in an embodiment of this application;

[0103] Figure 13 This is an exploded view of an optional structure of the cleaning component in an embodiment of this application;

[0104] Figure 14 This is an optional structural cross-sectional view of the cleaning module in an embodiment of this application;

[0105] Figure 15 This is a schematic diagram of an optional structure of the cleaning module in an embodiment of this application;

[0106] Figure 16 This is a schematic diagram of an optional partial structure of the cleaning module in an embodiment of this application;

[0107] Figure 17 This is a schematic diagram of an optional partial structure of the cleaning device in an embodiment of this application;

[0108] Figure 18 for Figure 17 A sectional view.

[0109] Reference numerals: 10, Cleaning base station; 100, Body assembly; 101, First space; 110, Fixed shaft; 120, Connecting frame; 200, Cleaning assembly; 210, Cleaning disc; 211, First connecting through hole; 212, First cylindrical part; 213, Cleaning space; 220, Cleaning component; 221, Stepped cylindrical part; 222, Cleaning section; 230, Cleaning bracket; 231, First mounting hole; 240, Bearing; 250, Shielding component; 251, First through hole; 3 00. Drive assembly; 310. First output section; 311. First mounting groove; 320. First limiting structure; 321. First convex-concave structure; 3211. First protrusion; 3212. First mating top surface; 3213. First mating side surface; 322. Second convex-concave structure; 3221. Second protrusion; 330. First guide bottom surface; 351. First connector; 360. First output shaft; 370. First motor; 380. First transmission assembly; 381. Second transmission assembly. Components; 382, ​​Third transmission component; 390, Second output section; 40, Cleaning equipment; 400, Body; 500, Cleaning module; 510, Cleaning bracket; 520, First mating part; 530, Second mating part; 540, Cleaning component; 541, Clearance through hole; 550, First connecting structure; 551, First concave-convex structure; 5511, Third protrusion; 5512, Second mating top surface; 5513, Second mating side surface; 552, Second concave-convex structure; 5521. Fourth protrusion; 560, second guide bottom surface; 570, second mounting groove; 581, second connector; 582, third connector; 600, lifting device; 610, second motor; 620, second transmission assembly; 621, output gear; 6211, second slide groove; 630, lifting assembly; 631, first lifting cylinder; 632, second lifting cylinder; 633, damping element; 634, elastic element; 640, housing; 641, first slide groove; 650, separation structure; 660, fourth connector; 710, driving wheel; 720, driven wheel; 730, bearing surface. Detailed Implementation

[0110] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0111] In the embodiments described in this application, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can be an electrical connection, or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0112] It should be noted that the terms "first," "second," and "third" used in the embodiments of this application are merely used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first," "second," and "third" can be interchanged in a specific order or sequence where permitted. It should be understood that the objects distinguished by "first," "second," and "third" can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in an order other than those illustrated or described herein.

[0113] The following combination Figures 1 to 18 The cleaning base station, cleaning module, cleaning equipment, and cleaning system described in the embodiments of this application will be described in detail.

[0114] In related technologies, robotic vacuum cleaners are used to clean floors, and they mop the floor using a mop structure. This mop structure requires frequent cleaning. Typically, the robotic vacuum cleaner works in conjunction with a cleaning station to clean the mop structure. As an example, the cleaning station provides a cleaning tank, and the robotic vacuum cleaner rotates the mop structure within the tank to clean it. Because the robotic vacuum cleaner needs to work with the cleaning station to clean the mop structure, the process is relatively complex.

[0115] like Figure 1 As shown, this application embodiment provides a cleaning system, including a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a housing 400 and a cleaning module 500 detachably disposed on the housing 400. The cleaning base station 10 includes a drive assembly 300.

[0116] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate in order to clean the cleaning module 500.

[0117] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0118] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the need for the cleaning equipment 40, which greatly simplifies the structure of the cleaning module 500.

[0119] In this embodiment, the structure of the cleaning device 40 is not limited. For example, the cleaning device 40 can be a robotic vacuum cleaner.

[0120] In this embodiment of the application, during the cleaning process, at least a portion of the cleaning device 40 may be located in the first space 101 defined by the cleaning base station 10, such as... Figure 1As shown. Of course, in the cleaning state, the cleaning device 40 can also be located outside the cleaning base station 10. Here, the cleaning device 40 can be in a non-working state, or it can be in a working state; for example, the cleaning device 40 is in the cleaning state.

[0121] In the embodiments of this application, such as Figure 2 and Figure 3 As shown, the cleaning device 40 may further include a drive wheel 710 and a driven wheel 720 disposed at the bottom of the body 400. The drive wheel 710 is used to drive the body 400 to move, and the driven wheel 720 is used to support the body 400 together with the drive wheel 710. Of course, in other embodiments, the cleaning device 40 may only include the drive wheel 710, without including the driven wheel 720.

[0122] In this embodiment of the application, the cleaning device 40 may further include a cleaning device disposed at the bottom of the body 400, the cleaning device being used to clean the bearing surface 730.

[0123] The cleaning module 500 is vertically and flexibly mounted at the bottom of the body 400, and the cleaning module 500 has a raised position and a cleaning position relative to the body 400. For example... Figure 2 As shown, when the cleaning module 500 is in the raised position, the cleaning module 500 does not clean the bearing surface 730. (As indicated...) Figure 3 As shown, when the cleaning module 500 is in the cleaning position, the cleaning module 500 can clean the bearing surface 730; here, the cleaning module 500 can rotate relative to the body 400 to contact the bearing surface 730 and clean the bearing surface 730.

[0124] Example 1, as Figure 4 As shown in the embodiment of this application, a cleaning base station 10 is described, including a body component 100, a cleaning component 200, and a driving component 300. The cleaning component 200 is disposed on the body component 100 and defines a cleaning space 213; the driving component 300 is disposed on the body component 100; the first output portion 310 of the driving component 300 is located within the cleaning space 213; the first output portion 310 of the driving component 300 is detachably connected to the cleaning module 500 of the cleaning device 40 to drive the cleaning module 500 to rotate in the cleaning space 213; the cleaning of the cleaning module 500 can be completed by the cleaning base station 10 without the participation of the cleaning device 40, thereby greatly simplifying the structure of the cleaning module 500.

[0125] In this embodiment, the structure of the body component 100 is not limited. For example, the body component 100 may define a receiving space, in which the cleaning component 200 is disposed and defines a cleaning space 213; and in which the driving component 300 is disposed. This is so that the body component 100 can protect the cleaning component 200 and the driving component 300. Of course, in other embodiments, the cleaning component 200 may also be directly disposed on the top side of the body component 100, and a portion of the driving component 300 may also be disposed on the top side of the body component 100.

[0126] In this embodiment, the structure of the drive assembly 300 is not limited. For example, the drive assembly 300 may include a first motor 370, which may be fixed to the body assembly 100 by a snap-fit ​​structure, screw structure, or the like. The drive shaft of the first motor 370 may directly form the first output portion 310, or the first output portion 310 may be disposed on the drive shaft of the first motor 370. As another example, the drive assembly 300 may further include a first motor 370 and a first transmission assembly 380, with the first motor 370 connected to the first output portion 310 via the first transmission assembly 380.

[0127] As an example, such as Figure 4 and Figure 5 As shown, the cleaning assembly 200 defines two cleaning spaces 213, and the main body assembly 100 defines a first receiving space and a second receiving space for accommodating the cleaning assembly 200. The drive assembly 300 further includes a first motor 370 and a first transmission assembly 380. The first motor 370 is disposed in the second receiving space and is connected to two first outputs 310 through the first transmission assembly 380. The two first outputs 310 are located in the two cleaning spaces 213 respectively. By driving the two first outputs 310 to rotate simultaneously with one motor, it is possible to clean two cleaning modules 500 simultaneously with one motor.

[0128] Here, the second accommodating space and the first accommodating space are at least partially overlapped in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface 730 are staggered. That is to say, the second accommodating space and the first accommodating space can be located at the same level in the height direction, thereby reducing the setting size of the body component 100 in the height direction and realizing the thinning of the body component 100 in the area of ​​the cleaning component 200 and the driving component 300.

[0129] In some optional implementations of the embodiments of this application, after the driving component 300 drives the cleaning module 500 to rotate forward for a set time, the driving component 300 is also used to drive the cleaning module 500 to rotate in the reverse direction; so that the bidirectional rotation of the cleaning module 500 can be achieved by the driving component 300, thereby improving the cleaning effect of the cleaning module 500.

[0130] There is no limitation on the time setting here. For example, the time can be 1 minute, 30 seconds, or 2 minutes.

[0131] In this embodiment, the structure of the first output portion 310 is not limited, as long as the first output portion 310 can be detachably connected to the cleaning module 500 of the cleaning device 40, and the drive component 300 can drive the cleaning module 500 to rotate through the first output portion 310. For example, the first output portion 310 is used to connect with the first mating portion 520 of the cleaning module 500 by magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. Here, both the first output portion 310 and the first mating portion 520 can be magnetic structures, and the magnetism of the first output portion 310 and the first mating portion 520 can be opposite. Of course, only one of the first output portion 310 and the first mating portion 520 can be a magnetic structure, and the other can be an iron structure.

[0132] Example 1: The first output section 310 may include a first limiting structure 320; the first limiting structure 320 is detachably connected to the first connecting structure 550 of the cleaning module 500 and is fixedly disposed with the first connecting structure 550 in the rotation direction.

[0133] When the first limiting structure 320 is detachably connected to the first connecting structure 550 of the cleaning module 500, the first output section 310 can drive the cleaning module 500 to rotate through the connection between the first limiting structure 320 and the first connecting structure 550.

[0134] In Example 1, the form of the first qualifier structure 320 is not limited.

[0135] For example, such as Figure 6 As shown, the first limiting structure 320 may include: a first convex-concave structure 321, which is radially disposed on the top side of the first output portion 310; the first convex-concave structure 321 is used to cooperate with the first concave-convex structure 551 of the cleaning module 500.

[0136] When the first convex-concave structure 321 cooperates with the first concave-convex structure 551 of the cleaning module 500, the first output part 310 and the cleaning module 500 are fixedly arranged in the rotation direction. The first output part 310 can drive the cleaning module 500 to rotate through the cooperation of the first convex-concave structure 321 and the first concave-convex structure 551, thereby realizing the cleaning of the cleaning module 500.

[0137] In this example, the specific shape of the first convex-concave structure 321 is not limited. For example, as shown... Figure 6As shown, the first protrusion 3211 of the first convex-concave structure 321 may include a first mating top surface 3212 and two first mating side surfaces 3213. The first mating top surface 3212 is inclined towards the bottom side of the first output portion 310 in the circumferential direction along the axis of the first output portion 310; the two first mating side surfaces 3213 are located on opposite sides of the first mating top surface 3212 in the circumferential direction; the distance between the two first mating side surfaces 3213 gradually increases in the direction from the top end of the first protrusion 3211 to the bottom end of the first protrusion 3211. Thus, the first mating top surface 3212 and the two first mating side surfaces 3213 can provide a guiding function for the mating of the first convex-concave structure 551 and the first convex-concave structure 321.

[0138] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output section 310, the first connecting structure 550 of the cleaning module 500 is located directly above the first output section 310. When the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-convex structure 321 based on the guiding effect provided by the first mating top surface 3212 and the two first mating side surfaces 3213 of the first convex-convex structure 321. Here, the protruding part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-convex structure 321 based on the guiding effect provided by the first mating top surface 3212 and the two first mating side surfaces 3213, thereby realizing the automatic cooperation and connection between the first concave-convex structure 551 and the first convex-convex structure 321.

[0139] In this example, the first mating side surface 3213 and the first mating top surface 3212 can be connected by an arc surface to allow the first concave-convex structure 551 and the first convex-concave structure 321 to automatically and smoothly engage. Of course, the first mating side surface 3213 and the first mating top surface 3212 can also be connected by an inclined surface.

[0140] In this example, the first mating top surface 3212 can be a flat surface for ease of processing. Here, during the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321, if the third protrusion 5511 of the first concave-convex structure 551 is in contact with the first mating top surface 3212 but cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive assembly 300 starts to rotate, the first convex-concave structure 321 will rotate to a position offset from the first concave-convex structure 551. Based on the gravity of the cleaning module 500, the third protrusion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby achieving the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the first mating top surface 3212 can also be an arc surface. Here, the third protrusion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the first mating top surface 3212.

[0141] In this example, the first convex-concave structure 321 may include a first guide bottom surface 330. The first guide bottom surface 330 is located on the top side of the first output portion 310; the first guide bottom surface 330 is inclined towards the bottom side of the first output portion 310 along the axis of the first output portion 310 to the circumferential direction of the first output portion 310, so that the first convex-concave structure 321 and the first concave-convex structure 551 can fit more tightly through the first guide bottom surface 330.

[0142] Here, the first guide bottom surface 330 is an inclined surface. The first convex and concave structure 321 is formed into a frustum-shaped structure through the first guide bottom surface 330, so that the axis of the first convex and concave structure 321 and the axis of the first concave and convex structure 551 are more aligned, and the first convex and concave structure 321 and the first concave and convex structure 551 are more closely connected.

[0143] Of course, in other examples, the first guide bottom surface 330 can also be a plane.

[0144] In this example, the first limiting structure 320 may further include: a second convex-concave structure 322, which is disposed on the outer periphery of the first output portion 310 and corresponds to the position of the first convex-concave structure 321; the first protrusion 3211 of the first convex-concave structure 321 extends to the second protrusion 3221 of the second convex-concave structure 322, and the second convex-concave structure 322 is used to cooperate with the second concave-convex structure 552 of the cleaning module 500.

[0145] When the first convex-concave structure 321 engages with the first concave-convex structure 551 of the cleaning module 500, the second convex-concave structure 322 engages with the second concave-convex structure 552. The first output part 310 and the cleaning module 500 are more reliably fixed in the rotation direction. The first output part 310 can more reliably drive the cleaning module 500 to rotate through the engagement of the first convex-concave structure 321 with the first concave-convex structure 551 and the engagement of the second convex-concave structure 322 with the second concave-convex structure 552, thereby achieving more reliable cleaning of the cleaning module 500.

[0146] Here, since the first protrusion 3211 of the first convex-concave structure 321 extends to the second protrusion 3221 of the second convex-concave structure 322, the second protrusion 3221 of the second convex-concave structure 322 will automatically enter the recessed area of ​​the second convex-concave structure 552 based on the guiding effect of the first convex-concave structure 321.

[0147] In this example, such as Figure 6 As shown, the top side of the first output section 310 may have a first mounting groove 311 at the axis, and a first convex-concave structure 321 is disposed on the outer periphery of the first mounting groove 311; the drive assembly 300 may further include: a first connector 351, the first connector 351 being disposed in the first mounting groove 311; the first connector 351 is used to provide a magnetic attraction force to the second connector 581 of the cleaning module 500, moving towards the side closer to the first connector 351, such as Figure 7 As shown, the magnetic attraction between the first connector 351 and the second connector 581 enables the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected, and also enables the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, thereby making the first convex-concave structure 321 and the first concave-convex structure 551 fit more tightly.

[0148] The first connector 351 can be disposed in the first mounting groove 311 by means of adhesive bonding, snap-fit, or other methods. The structure of the first connector 351 and the second connector 581 is not limited. For example, both the first connector 351 and the second connector 581 can be magnetic structures, and their magnetic properties can be opposite. Of course, only one of the first connector 351 and the second connector 581 can be a magnetic structure, while the other is an iron structure.

[0149] In this example, the first mating top surface 3212 and the two first mating side surfaces 3213 enable better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500; the first guide bottom surface 330 also enables better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500; and the first connector 351 and the second connector 581 further enable better alignment and connection between the first output section 310 and the first connection structure 550 of the cleaning module 500. Here, the cleaning base station 10 can be configured with one of the above three sets of structures, any two of the above three sets of structures, or all three of the above three sets of structures.

[0150] In other examples, an alignment structure may not be provided between the first output section 310 and the first connection structure 550 of the cleaning module 500. As an example, the first defining structure 320 may include a first convex-concave structure 321. The cleaning device 40 is capable of detecting the relative circumferential positions of the first convex-concave structure 321 of the first output section 310 and the relative circumferential positions of the first convex-concave structure 551. Here, the cleaning device 40 drives the first convex-concave structure 551 to rotate relative to each other in the circumferential direction until the positions of the first convex-concave structure 551 and the first convex-concave structure 321 correspond in the circumferential direction, and then separates the cleaning module 500 from the body 400 so that the first convex-concave structure 551 and the first convex-concave structure 321 of the cleaning module 500 are precisely engaged and connected. Here, the cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 321 using a position sensor or an image detection component. The cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 551 using a position sensor or an image detection component. Here, the method by which the cleaning device 40 drives the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction is not limited. For example, the cleaning device 40 may also include a lifting device 600, which may be rotatably disposed on the body 400 of the cleaning device 40. The lifting device 600 is used to drive the cleaning module 500 to work. The cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor so that the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0151] Of course, in other examples, the first qualifying structure 320 can also be other forms of structure.

[0152] For example, the first limiting structure 320 may include: a first connector 351 disposed on the first output portion 310; the first connector 351 is used to connect with the second connector 581 of the cleaning module 500 by magnetic attraction, and the first output portion 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. Here, the first output portion 310 can drive the cleaning module 500 to rotate by the magnetic attraction between the first connector 351 and the second connector 581. Here, the first output portion 310 does not need to be provided with other limiting structures, thereby greatly simplifying the structure of the first output portion 310.

[0153] Here, the first connector 351 can be directly disposed on the axis of the top side of the first output portion 310. The first connector 351 can be exposed or not. Here, the first output portion 310 can include or not include the first annular inclined surface. When the first output portion 310 includes the first annular inclined surface, the first annular inclined surface can be located on the outer periphery of the first connector 351. The first annular inclined surface is used to mate with the second annular inclined surface of the first mating portion 520 of the cleaning module 500. By mates the first annular inclined surface with the second annular inclined surface of the first mating portion 520, the axis of the first mating portion 520 and the first output portion 310 are more aligned.

[0154] In some optional implementations of the embodiments of this application, the first output unit 310 may include an electromagnetic structure to enable the first output unit 310 and the cleaning module 500 to be in a connected or disconnected state; thereby enabling the cleaning module 500 to be separated from the first output unit 310 and connected to the body 400. Here, when the first output unit 310 and the cleaning module 500 are in contact, under energized conditions, the first output unit 310 and the cleaning module 500 are connected due to magnetic attraction; under de-energized conditions, the first output unit 310 and the cleaning module 500 are disconnected due to the absence of magnetic attraction. In one application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output unit 310 is energized, and after the cleaning module 500 is cleaned, the electromagnetic structure of the first output unit 310 is de-energized so that the cleaning module 500 can be connected to the body 400 of the cleaning device 40.

[0155] In some optional implementations of the embodiments of this application, the driving component 300 may include: a first output shaft 360.

[0156] Here, the first output portion 310 can be a part of the first output shaft 360. By forming the first output portion 310, the structure of the drive assembly 300 can be greatly simplified. Of course, the first output portion 310 can also be disposed on the first output shaft 360 by means of snap-fit, plug-in, or adhesive bonding, thereby facilitating the processing and manufacturing of the drive assembly 300.

[0157] In this embodiment, the structure of the cleaning component 200 is not limited. For example, the cleaning component 200 can be detachably mounted on the main body component 100 by means of snap-fit ​​or plug-in, so that the cleaning component 200 can be removed from the cleaning base station 10 for thorough cleaning; the cleaning component 200 has a first connecting through hole 211; the first output part 310 is used to be detachably connected to the cleaning module 500 through the first connecting through hole 211. Of course, the cleaning component 200 can also be directly fixed to the main body component 100 by means of bonding, welding, etc., and cannot be detached.

[0158] In some optional implementations of the embodiments of this application, the cleaning component 200 may include: a cleaning tray 210, which may be detachably disposed on the main body component 100 and has a first connecting through hole 211; the cleaning tray 210 defines a cleaning space 213 so as to clean the cleaning module 500 through the cleaning tray 210.

[0159] In this implementation, the cleaning tray 210 can be detachably mounted on the main body component 100 by means of snap-fit ​​or plug-in connection, so that the cleaning tray 210 can be removed from the cleaning base station 10 for thorough cleaning. Of course, in other implementations, the cleaning tray 210 can also be directly fixed to the main body component 100 by means of bonding or welding and cannot be detached.

[0160] In this implementation, the cleaning tray 210 can be used to hold cleaning fluid. The cleaning module 500 performs cleaning by contacting the cleaning fluid. The form of the cleaning fluid is not limited. For example, the cleaning fluid may include at least one of water and a cleaning agent.

[0161] In this implementation, the cleaning assembly 200 may further include: a cleaning component 220, which is rotatably disposed within the cleaning space 213; the cleaning component 220 is used to clean the cleaning space 213; the second output part 390 of the drive assembly 300 is connected to the cleaning component 220 through the first connecting through hole 211 to drive the cleaning component 220 to rotate; the cleaning component 220 can automatically clean the cleaning space 213, thereby greatly improving the automatic cleaning capability of the cleaning assembly 200; at the same time, the drive assembly 300 can drive both the cleaning module 500 to rotate and the cleaning component 220 to rotate, which can greatly simplify the structure of the cleaning base station 10.

[0162] Of course, in other examples, the cleaning assembly 200 may also drive the cleaning component 220 to rotate in other ways. For example, the cleaning assembly 200 may drive the cleaning component 220 to rotate via another drive motor.

[0163] In this implementation, the second output part 390 of the drive component 300 is connected to the cleaning component 220 through the first connecting through hole 211, and the implementation method of driving the cleaning component 220 to rotate is not limited.

[0164] For example, the drive assembly 300 may include: a first output shaft 360 located at the first connecting through hole 211; a second output part 390 disposed on the first output shaft 360; and a first output part 310 disposed at the top end of the first output shaft 360; thereby driving the first output part 310 and the second output part 390 to rotate simultaneously through the first output shaft 360 of the drive assembly 300.

[0165] It should be noted that the top side and bottom side described in the embodiments of this application refer to the side where the equipment is placed on the bearing surface 730. With the bearing surface 730 as a reference, the bottom side refers to the side closer to the bearing surface 730, and the top side refers to the side away from the bearing surface 730.

[0166] In this example, the second output part 390 and the first output part 310 can be directly fixed to the first output shaft 360 by means of adhesive bonding, snap-fitting, etc.

[0167] In this example, the second output unit 390 and the cleaning component 220 can be connected by snap-fit, plug-in, adhesive or other means.

[0168] Example 2, such as Figure 7 As shown, the cleaning disc 210 may have a first cylindrical portion 212 located within the cleaning space 213 on the periphery of the first connecting through hole 211; at least a portion of the second output portion 390 is located within the cavity of the first cylindrical portion 212, and the cleaning member 220 is sleeved outside the first cylindrical portion 212 and blocks the gap between the second output portion 390 and the first cylindrical portion 212, so that the cleaning fluid can be prevented from entering the first output shaft 360 through the first cylindrical portion 212, the second output portion 390 and the cleaning member 220.

[0169] In Example 2, the first cylindrical portion 212 prevents cleaning fluid from entering the first output shaft 360 from the first connection hole.

[0170] In Example 2, by fitting the cleaning component 220 outside the first cylindrical portion 212 and blocking the gap between the second output portion 390 and the first cylindrical portion 212, it is possible to prevent the cleaning fluid from entering the first output shaft 360 from the gap between the second output portion 390 and the first cylindrical portion 212 during the cleaning process of the cleaning module 500.

[0171] In Example 2, the shape of the second output section 390 is not limited. For example, the second output section 390 can be a cylindrical structure.

[0172] In Example 2, the shape of the cleaning component 220 is not limited. For example, the cleaning component 220 can be a cylindrical structure.

[0173] As an example, such as Figure 8 and Figure 9 As shown, the second output section 390 can be a stepped cylindrical structure. The second output section 390 is sleeved outside the first output shaft 360. The large end of the second output section 390 is located inside the cavity of the first cylindrical section 212, and the small end of the second output section 390 is located outside the first cylindrical section 212. At least a portion of the first output section 310 is located on the side of the small end of the second output section 390 away from the large end of the second output section 390. The cleaning member 220 can include: a stepped cylindrical section 221 and a cleaning section 222. The large end of the stepped cylindrical section 221 is sleeved outside the first cylindrical section 212, and the small end of the stepped cylindrical section 221 is sleeved outside the small end of the second output section 390. The cleaning section 222 is strip-shaped and is located outside the large end of the stepped cylindrical section 221. Thus, the stepped cylindrical section 221 of the cleaning member 220 can prevent the cleaning fluid from entering the first output shaft 360, and the cleaning section 222 can clean the cleaning space 213.

[0174] In Example 2, such as Figure 10 As shown, the cleaning assembly 200 may further include: a cleaning bracket 230, which is disposed on the top side of the cleaning tray 210 and is used to contact the cleaning module 500; the cleaning bracket 230 has a first mounting hole 231 corresponding to the position of the first connecting through hole 211, and the small end of the stepped cylindrical portion 221 can be rotatably disposed at the first mounting hole 231.

[0175] Here, the cleaning bracket 230 may be provided with a channel for discharging cleaning fluid so that the cleaning module 500 can be coated with cleaning fluid when it comes into contact with the cleaning bracket 230. The cleaning bracket 230 may also be provided with cleaning protrusions so that the cleaning module 500 can be cleaned by contacting and rubbing against the cleaning protrusions.

[0176] Here, the small end of the stepped cylindrical portion 221 can be rotatably mounted at the first mounting hole 231 via the bearing 240.

[0177] When the cleaning member 220 has a cylindrical structure, it can also be rotatably mounted at the first mounting hole 231 via a bearing structure. Of course, in other examples, the cleaning member 220 can also be rotatably mounted on the first cylindrical portion 212 via a bearing structure.

[0178] In Example 2, such as Figure 9 and Figure 10As shown, the cleaning assembly 200 may further include: a shield 250, which is disposed on the cleaning bracket 230; the shield 250 covers the top side of the gap between the cleaning bracket 230 and the small end of the second output portion 390; the shield 250 has a first through hole 251, through which at least a portion of the first output portion 310 is detachably connected to the cleaning module 500; the shield 250 can further prevent cleaning fluid from entering the first output shaft 360.

[0179] Here, the shielding component 250 can be installed on the cleaning bracket 230 by means of plugging, snapping, or other methods.

[0180] In this example, the connection method between the second output portion 390 and the first output shaft is not limited. For example, the second output portion 390 is cylindrical and sleeved outside the first output shaft 360. As an example, the second output portion 390 can be directly disposed on the first output shaft by means of adhesive, snap-fit, etc. As another example, the cleaning base station 10 may further include: a first transmission member, which is disposed on the first output shaft and is connected to the second output portion 390. Here, the first transmission member and the second output portion 390 can be connected by a convex-concave structure or a gear structure. As yet another example, such as Figure 8 and Figure 11 As shown, the cleaning base station 10 may further include a second transmission member 381 and at least two third transmission members 382. The second transmission member 381 may be mounted on the first output shaft by means of bonding, snap-fitting, or other methods; the at least two third transmission members 382 may be rotatably mounted on the body assembly 100; the third transmission members 382 may be connected to the second transmission member 381 and the second output part 390 by means of a convex-concave structure, a gear structure, or other means. Here, the at least two third transmission members 382 may be rotatably mounted on the body assembly 100 by means of a rotating shaft structure.

[0181] In one application, the clean base station 10 may further include: a second transmission member 381, at least two fixed shafts 110, at least two third transmission members 382, ​​and a connecting frame 120. The second transmission member 381 is disposed on the first output shaft 360; the at least two fixed shafts 110 are circumferentially spaced outside the second transmission member 381, with the first end of each fixed shaft 110 fixed to the body assembly 100; the at least two third transmission members 382 are rotatably disposed on the at least two fixed shafts 110 respectively; the connecting frame 120 is connected to the second ends of the at least two fixed shafts 110 respectively; the second output portion 390 is cylindrical and sleeved outside the at least two third transmission members 382; the third transmission members 382 are respectively connected to the second transmission member 381 and the second output portion 390; the connecting frame 120 can improve the stability of the positions of the at least two fixed shafts 110. Of course, the clean base station 10 may also exclude the connecting frame 120.

[0182] Here, the rotation direction of the first output shaft 360 is opposite to that of the second output section 390, which can improve the cleaning ability of the cleaning component 220 to clean the cleaning space 213.

[0183] Here, the second transmission component 381 can be a sun gear, the third transmission component 382 can be a planet gear, and the connecting frame 120 can be a planet carrier.

[0184] In this implementation, such as Figure 12 As shown, the cleaning component 200 can be directly plugged in so that the cleaning component 200 can be completely removed from the cleaning base station 10 for thorough cleaning.

[0185] In this implementation, such as Figure 13 As shown, the cleaning bracket 230 can also be directly plugged in, so that the cleaning bracket 230 can be removed separately from the cleaning base station 10 for thorough cleaning. The cleaning component 220 can also be directly plugged in. After removing the cleaning bracket 230, the cleaning component 220 can also be removed separately from the cleaning tray 210 for thorough cleaning.

[0186] Of course, in other embodiments, the cleaning assembly 200 may not include the cleaning bracket 230.

[0187] As an example, the cleaning base station may also include a cleaning bracket 230 disposed on the top side of the cleaning space 213 and for contacting the cleaning module 500 so as to more thoroughly clean the cleaning module 500 by contacting the cleaning bracket 230 with the cleaning module 500.

[0188] Of course, in other examples, the cleaning module 500 can be cleaned by rotating in one or two directions in the cleaning space 213.

[0189] Here, the cleaning bracket 230 can be detachably or fixedly installed. The cleaning bracket 230 can be detachably installed on the main body assembly 100 via plug-in, snap-fit, or threaded connection. The cleaning bracket 230 can also be fixedly installed on the main body assembly 100 via adhesive or welding. When the cleaning bracket 230 is detachable, it facilitates removal for thorough cleaning.

[0190] Example 2, as Figure 14As shown in the embodiment, this application also describes a cleaning module 500, including a cleaning bracket 510 and a cleaning component 540. The cleaning bracket 510 has a first mating portion 520 and a second mating portion 530 disposed opposite each other in the axial direction; the cleaning component 540 is disposed at the first end of the cleaning bracket 510; the cleaning component 540 has a clearance through hole 541 corresponding to the position of the first mating portion 520; the first mating portion 520 is used to be detachably connected to the first output portion 310 of the drive assembly 300 of the cleaning base station 10 through the clearance through hole 541; the second mating portion 530 is used to be detachably connected to the body 400 of the cleaning device 40.

[0191] In this embodiment, the cleaning module 500 can be detachably connected to the body 400 of the cleaning device 40 to clean the bearing surface 730, and can also be detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10 to clean the cleaning module 500. At the same time, the cleaning base station 10 can directly drive the cleaning module 500 to rotate and clean the cleaning module 500 through the first output 310 of the drive component 300 without the participation of the cleaning device 40, thereby greatly improving the adaptability of the cleaning module 500.

[0192] In this embodiment, the structure of the cleaning support 510 is not limited. For example, the cleaning support 510 can be a disc-shaped structure.

[0193] As an example, the cleaning bracket 510 has a first end and a second end disposed opposite to each other in the axial direction; the first end of the cleaning bracket 510 has a first mating portion 520, and the second end of the cleaning bracket 510 has a second mating portion 530.

[0194] In this embodiment, the structure of the cleaning component 540 is not limited. For example, the cleaning component 540 can be a fabric structure so that the cleaning component 540 can clean the bearing surface 730. As an example, the cleaning component 540 can be a mop.

[0195] Here, the cleaning component 540 can be attached to the first end of the cleaning bracket 510 by means of adhesive bonding, snap-fit, or other methods.

[0196] In this embodiment, the structure of the first mating part 520 is not limited, as long as the first mating part 520 can be detachably connected to the first output part 310 of the driving component 300. For example, the first mating part 520 is used to connect with the first output part 310 of the cleaning base station 10 by magnetic attraction, the first output part 310 is used to fix the cleaning module 500 in the rotation direction position by magnetic attraction, and the first output part 310 can directly drive the cleaning module 500 to rotate based on the magnetic attraction between the first mating part 520 and the first output part 310.

[0197] The shape of the first mating part 520 is not limited. For example, the first mating part 520 can be a recessed structure, and correspondingly, the first output part 310 can be a protruding structure. Or, for example, the first mating part 520 can be a protruding structure, and correspondingly, the first output part 310 can be a recessed structure.

[0198] In this embodiment, the second mating part 530 is used to drive the cleaning bracket 510 to rotate. During the rotation of the cleaning bracket 510 by the second mating part 530, the cleaning component 540 is used to contact the bearing surface to clean the bearing surface. During the contact between the cleaning component 540 and the bearing surface, there is friction between the cleaning component 540 and the bearing surface, and the cleaning component 540 cleans the bearing surface by rubbing against the bearing surface.

[0199] The structure of the second mating part 530 is not limited, as long as the second mating part 530 can be detachably connected to the body 400 of the cleaning device 40. For example, the cleaning device 40 may also include a lifting device 600 disposed on the body 400, which is used to drive the cleaning module 500 to clean the bearing surface 730. The second mating part 530 and the lifting device 600 can be connected by magnetic attraction. The lifting device 600 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction. The lifting device 600 can directly drive the cleaning module 500 to rotate based on magnetic attraction.

[0200] For example, the second mating part 530 can be a recessed structure, and correspondingly, the lifting device 600 of the fuselage 400 can have a protruding structure. As another example, the second mating part 530 can be a protruding structure, and correspondingly, the lifting device 600 of the fuselage 400 can have a recessed structure. As an example, such as... Figure 14 and Figure 15 As shown, the second mating part 530 can be a strip structure arranged along the axial direction of the cleaning module 500.

[0201] Example 3: The first mating part 520 may include a first connecting structure 550, which is used to be detachably connected to the first limiting structure 320 of the first output part 310 and is fixedly disposed with the first limiting structure 320 in the rotation direction.

[0202] In Example 3, the form of the first connection structure 550 is not limited.

[0203] For example, such as Figure 16 As shown, the first connection structure 550 may include: a first concave-convex structure 551, which is radially disposed at the first end of the cleaning bracket 510; the first concave-convex structure 551 is used to cooperate with the first convex-concave structure 321 of the first output part 310.

[0204] In this example, the specific shape of the first concave-convex structure 551 is not limited. For example, as shown... Figure 16 As shown, the third protrusion 5511 of the first concave-convex structure 551 includes a second mating top surface 5512 and two second mating side surfaces 5513. The second mating top surface 5512 is inclined along the axis of the first mating portion 520 to the circumferential side of the first mating portion 520 away from the second mating portion 530; the two second mating side surfaces 5513 are located on opposite sides of the second mating top surface 5512 in the circumferential direction; the distance between the two second mating side surfaces 5513 gradually increases in the direction from the top end of the third protrusion 5511 to the bottom end of the third protrusion 5511. Thus, the second mating top surface 5512 and the two second mating side surfaces 5513 can provide a guiding function for the mating of the first concave-convex structure 551 with the first convex-concave structure 321.

[0205] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output section 310, the first connecting structure 550 of the cleaning module 500 is located directly above the first output section 310. When the cleaning module 500 is separated from the cleaning device 40, the first concave-convex structure 551 of the cleaning module 500 can cooperate with the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513. Here, the protruding part of the first concave-convex structure 551 can automatically slide into the recessed area of ​​the first convex-concave structure 321 based on the guiding effect provided by the second mating top surface 5512 and the two second mating side surfaces 5513, thereby realizing the automatic cooperation and connection between the first concave-convex structure 551 and the first convex-concave structure 321.

[0206] In this example, the second mating side surface 5513 and the second mating top surface 5512 can be connected by an arc surface to allow the first concave-convex structure 551 and the first convex-concave structure 321 to automatically and smoothly engage. Of course, the second mating side surface 5513 and the second mating top surface 5512 can also be connected by an inclined surface.

[0207] In this example, the second mating top surface 5512 can also be a plane to facilitate processing. Here, during the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321, if the second mating top surface 5512 of the first concave-convex structure 551 is in contact with the first mating top surface 3212 but cannot enter the recessed area of ​​the first convex-concave structure 321, after the first output part 310 of the drive component 300 starts to rotate, the first convex-concave structure 321 will rotate to be offset from the first concave-convex structure 551. Based on the gravity of the cleaning module 500, the third protrusion 5511 of the first concave-convex structure 551 will enter the recessed area of ​​the first convex-concave structure 321, thereby realizing the mating connection of the first concave-convex structure 551 and the first convex-concave structure 321. Of course, the second mating top surface 5512 can also be an arc surface. Here, the third protrusion 5511 of the first concave-convex structure 551 will directly enter the recessed area of ​​the first convex-concave structure 321 based on the guiding effect of the second mating top surface 5512.

[0208] In this example, the first concave-convex structure 551 may include a second guide bottom surface 560, which is located at the first end of the cleaning bracket 510. The second guide bottom surface 560 is inclined away from the second mating part 530 along the axis of the first mating part 520 to the circumferential direction of the first mating part 520, so that the first concave-convex structure 321 and the first concave-convex structure 551 can fit more tightly through the second guide bottom surface 560.

[0209] Here, the second guide bottom surface 560 is an inclined surface. The second guide bottom surface 560 makes the first concave-convex structure 551 form a space similar to a frustum, so that the axis of the first convex-concave structure 321 and the axis of the first concave-convex structure 551 are more aligned, and the first convex-concave structure 321 and the first concave-convex structure 551 are more closely connected.

[0210] Of course, the second guide bottom surface 560 can also be a plane.

[0211] In this example, the first connection structure 550 may further include: a second concave-convex structure 552, which is disposed on the outer periphery of the first mating part 520 and corresponds to the position of the first concave-convex structure 551; the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, and the second concave-convex structure 552 is used to mate with the second convex-concave structure 322 of the first output part 310.

[0212] Here, since the third protrusion 5511 of the first concave-convex structure 551 extends to the fourth protrusion 5521 of the second concave-convex structure 552, the fourth protrusion 5521 of the second concave-convex structure 552 will automatically enter the recessed area of ​​the second concave-convex structure 322 based on the guiding effect of the first concave-convex structure 551.

[0213] In this example, the first mating part 520 may have a second mounting groove 570 at its axis, and the first concave-convex structure 551 is disposed on the outer periphery of the second mounting groove 570; the cleaning module 500 may further include: a second connector 581, the second connector 581 being disposed in the second mounting groove 570; the second connector 581 is used to connect with the first connector 351 of the cleaning base station 10 via magnetic attraction, such as Figure 7 and Figure 9 As shown, the magnetic attraction between the first connector 351 and the second connector 581 enables the first output part 310 and the first connecting structure 550 of the cleaning module 500 to be better aligned and connected. It also enables the axis of the first output part 310 and the axis of the first connecting structure 550 to be better aligned, thereby making the first convex-concave structure 321 and the first concave-convex structure 551 fit more tightly.

[0214] The second connector 581 can be installed in the second mounting slot 570 by means of adhesive bonding, snap-fitting, or other methods.

[0215] In this example, the second mating top surface 5512 and the two second mating side surfaces 5513 enable better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500; the second guide bottom surface 560 also enables better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500; and the first connector 351 and the second connector 581 further enable better alignment and connection between the first output section 310 and the first connecting structure 550 of the cleaning module 500. Here, the cleaning module 500 can be configured with one of the above three sets of structures, any two of the above three sets of structures, or all three of the above three sets of structures.

[0216] In other examples, an alignment structure may not be provided between the first output section 310 and the first connection structure 550 of the cleaning module 500. As an example, the first defining structure 320 may include a first convex-concave structure 321. The cleaning device 40 is capable of detecting the relative circumferential positions of the first convex-concave structure 321 of the first output section 310 and the relative circumferential positions of the first convex-concave structure 551. Here, the cleaning device 40 drives the first convex-concave structure 551 to rotate relative to each other in the circumferential direction until the positions of the first convex-concave structure 551 and the first convex-concave structure 321 correspond in the circumferential direction, and then separates the cleaning module 500 from the body 400 so that the first convex-concave structure 551 and the first convex-concave structure 321 of the cleaning module 500 are precisely engaged and connected. Here, the cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 321 using a position sensor or an image detection component. The cleaning device 40 can detect the relative circumferential positions of the first convex-concave structure 551 using a position sensor or an image detection component. Here, the method by which the cleaning device 40 drives the first concave-convex structure 551 to rotate relative to each other in the circumferential direction until the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction is not limited. For example, the cleaning device 40 may also include a lifting device 600, which may be rotatably disposed on the body 400 of the cleaning device 40. The lifting device 600 is used to drive the cleaning module 500 to work. The cleaning device 40 may drive the lifting device 600 to rotate about the axis of the first concave-convex structure 551 through a third motor so that the positions of the first concave-convex structure 551 and the first convex-concave structure 321 correspond in the circumferential direction.

[0217] Of course, in other examples, the first connection structure 550 can also be other forms of structure.

[0218] For example, the first connection structure 550 may include a second connector 581 disposed on the first mating part 520. The second connector 581 is used to connect with the first connector 351 of the first output part 310 via magnetic attraction, and the first output part 310 is used to fix the cleaning module 500 in a rotational position via magnetic attraction. Here, the first output part 310 can drive the cleaning module 500 to rotate via the magnetic attraction between the first connector 351 and the second connector 581. Here, the first mating part 520 does not need to be provided with other limiting structures, thereby greatly simplifying the structure of the first mating part 520.

[0219] Here, the second connector 581 can be directly disposed at the axis of the first mating part 520. The second connector 581 may or may not be exposed. Here, the first mating part 520 may or may not include the second annular inclined surface. When the first mating part 520 includes the second annular inclined surface, the second annular inclined surface may be located on the outer periphery of the second connector 581, so that the first annular inclined surface of the first output part 310 engages with the second annular inclined surface of the first mating part 520, thereby making the axes of the first mating part 520 and the first output part 310 more aligned.

[0220] In some optional implementations of the embodiments of this application, the cleaning module 500 may further include: a third connector 582, which is disposed on the second mating part 530; the third connector 582 is used to be detachably connected to the fourth connector 660 of the body 400 of the cleaning device 40.

[0221] Of course, in other implementations, the second mating part 530 can also be detachably connected to the body 400 of the cleaning equipment 40 by means of snap-fit, magnetic attraction, or other methods.

[0222] In this implementation, the third connector 582 can be disposed on the second mating part 530 by means of snap-fit, adhesive or other methods.

[0223] In this implementation, the method by which the third connector 582 and the fourth connector 660 are detachably connected is not limited. For example, the third connector 582 and the fourth connector 660 can be detachably connected by a snap-fit ​​mechanism. Another example is that the third connector 582 is used to connect with the fourth connector 660 via magnetic attraction; here, both the third connector 582 and the fourth connector 660 can be magnetic structures, and their magnetic properties can be opposite. Of course, only one of the third connector 582 and the fourth connector 660 can be a magnetic structure, while the other is an iron structure.

[0224] This application also describes a cleaning device 40, which includes a body 400 and a cleaning module 500 of this application, wherein the second mating part 530 of the cleaning module 500 is detachably connected to the body 400.

[0225] In the embodiments of this application, the implementation of the detachable connection between the second mating part 530 and the body 400 has been described above, and will not be repeated here. As an example, the cleaning module 500 may include: a third connector 582, which is disposed on the second mating part 530; the body 400 has a fourth connector 660, and the third connector 582 is used to detachably connect with the fourth connector 660.

[0226] In some optional implementations of the embodiments of this application, the cleaning device 40 may further include: a lifting device 600, which is disposed on the body 400 to drive the cleaning module 500 to move; and a fourth connector 660 disposed on the lifting device 600.

[0227] In this implementation, the fourth connector 660 can be attached to the lifting device 600 by means of snap-fit, adhesive or other methods.

[0228] In this implementation, the lifting device 600 can be fixed to the machine body 400 via a threaded structure or a snap-fit ​​structure. Alternatively, the lifting device 600 can be movably mounted on the machine body 400. As an example, the lifting device 600 can be rotatably mounted on the machine body 400.

[0229] In this implementation, the structure of the lifting device 600 is not limited. The lifting device 600 is similar to the structure of the mop lifting mechanism in related technologies, and will not be described in detail here. The lifting device 600 can drive the cleaning module 500 to move relative to the body 400 to the raised position and the cleaning position, and can also drive the cleaning module 500 to rotate.

[0230] For example, such as Figure 17 and Figure 18 As shown, the lifting device 600 may include: a lifting assembly 630, a second motor 610, and a second transmission assembly 620. The lifting assembly 630 is disposed on the body 400 and defines a limiting hole; a fourth connector 660 is disposed on the lifting assembly 630 and located at the bottom of the limiting hole; a second mating part 530 is used to be detachably inserted into the limiting hole; the second motor 610 may be disposed on the body 400; the second transmission assembly 620 may be disposed on the body 400; the second motor 610 is used to drive the lifting assembly 630 to move through the second transmission assembly 620.

[0231] In this example, the structure of the second transmission component 620 is not limited. For example, the second transmission component 620 may include at least one gear, and the second motor 610 is used to drive the gear of the second transmission component 620 to rotate. The gear is used to drive the lifting component 630 to move, so as to drive the cleaning module 500 to work.

[0232] In this example, the second motor 610 can be fixed to the machine body 400 by snap-fit, threaded structure, etc., and the lifting assembly 630 can be vertically mounted on the machine body 400. The second transmission assembly 620 can be movably mounted on the machine body 400.

[0233] In this example, the structure of the lifting component 630 is not limited. For example, as Figure 18As shown, the lifting device 600 may further include a housing 640; the second transmission assembly 620 may include an output gear 621; and the lifting assembly 630 may include a first lifting cylinder 631, a second lifting cylinder 632, a damping element 633, and an elastic element 634. The housing 640 has a through-type first groove 641 along a first direction. The first lifting cylinder 631 is movably disposed within the first groove 641. The damping element 633 and the elastic element 634 are also disposed within the first groove 641. The elastic element 634 is disposed within the housing 640, and the damping element 633 is sandwiched between the elastic element 634 and the flange of the first lifting cylinder 631 to provide friction to the first lifting cylinder 631. Here, the elastic element 634 is located on the side of the flange of the first lifting cylinder 631 facing the bottom surface of the body 400. The drive shaft of the second motor 610 is used to drive the output gear 621 to rotate. The output gear 621 has a second slide groove 6211 along the first direction. The second slide groove 6211 is coaxially arranged with the first lifting cylinder 631. The second slide groove 6211 is located on the bottom surface of the first slide groove 641 away from the body 400. The second lifting cylinder 632 can be flexibly inserted into the second slide groove 6211 and the cavity of the first lifting cylinder 631. The second lifting cylinder 632 and the first lifting cylinder 631 are engaged by a helical structure. The second motor 610 is used to drive the output gear 621 to drive the second lifting cylinder 632 to rotate. Since the second lifting cylinder 632 and the first lifting cylinder 631 are engaged by a helical structure and there is friction between the first lifting cylinder 631 and the damping member 633, there is a speed difference between the second lifting cylinder 632 and the first lifting cylinder 631. The second lifting cylinder 632 can both rotate and move axially along the second slide groove 6211. A fourth connecting member 660 is disposed on the second lifting cylinder 632, thereby enabling the drive cleaning module 500 to switch between the lifting position and the cleaning position. When the second lifting cylinder 632 rotates to the cleaning position, the second lifting cylinder 632 and the first lifting cylinder 631 can be prevented from rotating relative to the first lifting cylinder 631 by means of the end of the spiral structure or the limiting part disposed on the first lifting cylinder 631. Here, the second lifting cylinder 632 no longer descends, and the second lifting cylinder 632 can drive the cleaning module 500 to rotate in the cleaning position to clean the bearing surface 730. Here, the second motor 610 can be fixed to the housing 640 by means of a snap-fit ​​structure, a threaded structure, etc., and the second transmission component 620 can be rotatably disposed on the housing 640 by means of a rotating shaft assembly structure. Of course, the lifting device 600 may also not include the housing 640. Here, the second motor 610, the second transmission component 620, and the lifting component 630 can be directly disposed on the body 400, and the body 400 has a through first slide groove 641 along the first direction. Here, the first direction is not limited. For example, the first direction can be the height direction of the fuselage 400. Or, for example, the first direction can be the direction perpendicular to the bottom surface of the fuselage 400.

[0234] In this example, the cross-section of the limiting hole can be non-circular so that the second mating part 530 can be limited in the direction of rotation, allowing the lifting assembly 630 to drive the cleaning module 500 to rotate more stably. Of course, the cross-section of the limiting hole can also be circular, in which case the lifting assembly 630 can drive the cleaning module 500 to rotate based on the connection force between the third connector 582 and the fourth connector 660.

[0235] As an example, the cross-section of the limiting hole is non-circular. The lifting device 600 may also include: a housing 640 and a third motor. The housing 640 is rotatably disposed on the body 400; a lifting assembly 630 is disposed on the housing 640; a second motor 610 is disposed on the housing 640; a second transmission assembly 620 is disposed on the housing 640; the third motor is used to drive the housing 640 to rotate relative to the body 400 about the axis of the limiting hole; when the second mating part 530 is separated from the limiting hole, the third motor is used to drive the housing 640 to rotate so that the limiting hole and the second mating part 530 correspond in the circumferential position. Here, the second motor 610 may also be used to drive the lifting assembly 630 to descend so as to realize the automatic connection of the third connector 582 and the fourth connector 660.

[0236] Here, the axis of the cleaning module 500, the axis of the first connecting structure 550, and the axis of the limiting hole can be the same. The third motor is also used to drive the lifting device 600 to rotate about the axis of the first connecting structure 550.

[0237] Of course, in other examples, the cleaning module 500 can also be installed on the body 400 manually, that is, the second mating part 530 and the limiting hole can also be manually aligned by the user.

[0238] The lifting assembly 630, the second motor 610, and the second transmission assembly 620 have already been described above, and will not be repeated here.

[0239] Here, the manner in which the housing 640 is rotatably disposed on the body 400 is not limited. For example, the body 400 defines a first mounting space, which is coaxially arranged with a limiting hole. A portion of the housing 640 can be rotatably disposed within the first mounting space, and the third motor can drive the housing 640 to rotate relative to the first mounting space via a third transmission assembly. Here, the outer side of the housing 640 may have a gear portion that meshes with the gear structure of the third transmission assembly.

[0240] In this implementation, the cleaning device 40 may further include: a separation structure 650, which is disposed on the lifting device 600; the separation structure 650 is used to separate the cleaning module 500 from the lifting device 600, thereby enabling the cleaning module 500 to automatically separate from the body 400.

[0241] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output unit 310, the first mating part 520 of the cleaning module 500 is located directly above the first output unit 310. By automatically separating the cleaning module 500 from the body 400, the first mating part 520 and the first output unit 310 can automatically engage and connect, thereby realizing the automatic cleaning of the cleaning module 500.

[0242] Here, the implementation method for the cleaning device 40 to travel to the position corresponding to the cleaning module 500 and the first output unit 310 is not limited. For example, the cleaning device 40 can travel to the target position based on the navigation structure provided on the body 400, where the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 correspond to each other. Alternatively, the cleaning device 40 can detect the position of the first output unit 310 based on the detection component provided on the body 400, and travel to the position corresponding to the first mating part 520 of the cleaning module 500 and the first output unit 310 of the cleaning base station 10 based on the detection component's position of the first output unit 310.

[0243] In this implementation, the form of the separation structure 650 is not limited. As long as the separation structure 650 can separate the cleaning module 500 and the lifting device 600, it is acceptable.

[0244] For example, such as Figure 18 As shown, the separation structure 650 can be disposed on the housing 640. Of course, the separation structure 650 can also be disposed on the body 400. After the second motor 610 drives the lifting assembly 630 to rise to the raised position, the second motor 610 can continue to drive the lifting assembly 630 to rise. Here, the separation structure 650 can contact the cleaning bracket 510 of the cleaning module 500 so that the cleaning module 500 can no longer rise with the lifting assembly 630, thereby forcing the cleaning module 500 to automatically separate from the body 400.

[0245] Here, the separation structure 650 can be a cylindrical structure. Of course, the separation structure 650 can also be at least two block-shaped structures arranged along the periphery of the housing 640.

[0246] In other examples, the separation structure 650 can also be slidably disposed outside the lifting device 600. The separation structure 650 can be driven by a telescopic hydraulic cylinder or a telescopic pneumatic cylinder to slide relative to the lifting device 600, so as to contact the cleaning bracket 510 of the cleaning module 500 and force the cleaning module 500 to automatically separate from the body 400. Of course, the separation structure 650 can also be driven by a fourth motor. Here, the fourth motor can drive the turbine to rotate, and the separation structure 650 can be provided with a rack that meshes with the turbine.

[0247] Of course, the cleaning device 40 may not have a separation structure 650. For example, the fourth connector 660 can be an electromagnetic structure, allowing the fourth connector 660 and the third connector 582 to be in a connected or separated state. When the fourth connector 660 is energized, it becomes magnetic, and the fourth connector 660 and the third connector 582 can be connected by magnetic force. When the fourth connector 660 is de-energized, it becomes non-magnetic, and there is no magnetic force between the fourth connector 660 and the third connector 582. In this case, the cleaning module 500 can automatically separate from the body 400 based on gravity.

[0248] In some optional implementations of the embodiments of this application, the magnetic attraction force of the second mating part 530 which is detachably connected to the body 400 is greater than the magnetic attraction force of the first mating part 520 which is detachably connected to the first output part 310, so that after the cleaning module 500 is cleaned, the cleaning module 500 is separated from the first output part 310 and automatically connected to the body 400.

[0249] In one application, after the cleaning device 40 travels to a position where the cleaning module 500 aligns with the first output unit 310, the first mating part 520 of the cleaning module 500 is located directly above the first output unit 310. When the cleaning module 500 separates from the body 400 of the cleaning device 40, the first mating part 520 and the first output unit 310 automatically engage and connect. The first output unit 310 drives the cleaning module 500 to clean in the cleaning space 213. Here, the cleaning device 40 can be located inside the cleaning base station 10, or it can be located in... Outside the cleaning base station 10, for example, the cleaning equipment 40 is located outside the cleaning base station 10 to clean the bearing surface 730; after the cleaning module 500 has finished cleaning, the cleaning equipment 40 can travel again to the position corresponding to the cleaning module 500 and the first output part 310. The second motor 610 is used to drive the lifting component 630 to descend until the second mating part 530 contacts the lifting component 630, so that the lifting component 630 is connected to the cleaning module 500. It is also used to drive the lifting component 630 to rise to the raised position so that the first mating part 520 is separated from the first output part 310.

[0250] Of course, in other implementations, the cleaning module 500 can also be separated from the first output unit 310 and connected to the body 400 in other ways.

[0251] For example, the first output portion 310 may include an electromagnetic structure to allow the first output portion 310 and the first mating portion 520 to be in a connected or disconnected state; thereby enabling the first mating portion 520 to separate from the first output portion 310 and connect to the body 400. Here, the first output portion 310 and the first mating portion 520 are in contact. When energized, the first output portion 310 and the first mating portion 520 are connected due to magnetic attraction; when de-energized, the first output portion 310 and the first mating portion 520 are disconnected due to the absence of magnetic attraction. In one application, when the cleaning module 500 needs to be cleaned, the electromagnetic structure of the first output portion 310 is energized, and after the first mating portion 520 is cleaned, the electromagnetic structure of the first output portion 310 is de-energized so that the first mating portion 520 can connect to the body 400 of the cleaning device 40.

[0252] Example 3, as follows Figure 1 As shown, this application also describes a cleaning system, which includes a cleaning base station 10 and a cleaning device 40. The cleaning device 40 includes a housing 400 and a cleaning module 500 detachably disposed on the housing 400. The cleaning base station 10 includes a drive assembly 300.

[0253] In the cleaning state, the cleaning module 500 is separated from the body 400 and is detachably connected to the first output 310 of the drive component 300 of the cleaning base station 10. The drive component 300 is used to drive the cleaning module 500 to rotate so as to clean the cleaning module 500.

[0254] Here, the cleaning base station 10 may have a cleaning space 213, and the drive component 300 may be used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0255] Here, the cleaning module 500 can be cleaned by the cleaning base station 10 without the need for the cleaning equipment 40, which greatly simplifies the structure of the cleaning module 500.

[0256] As an example, in the first cleaning state, the drive component 300 drives the cleaning module 500 to rotate in the cleaning space 213, and the cleaning device 40 is located outside the cleaning base station 10, and the cleaning device 40 can be in a cleaning state. As yet another example, Figure 1As shown, in the second cleaning state, the drive assembly 300 drives the cleaning module 500 to rotate in the cleaning space 213. The cleaning device 40 is located within the first space 101 defined by the cleaning base station 10, so that after the cleaning module 500 has finished cleaning, the body 400 of the cleaning device 40 is detachably connected to the cleaning module 500, and the cleaning device 40 continues to clean the bearing surface 730. Here, the bearing surface 730 refers to the surface that supports the cleaning device 40; for example, the bearing surface 730 can be the ground or a tabletop.

[0257] The above embodiments have already described the cleaning base station 10 and the cleaning equipment 40, and will not be repeated here.

[0258] In some optional implementations of the embodiments of this application, after the cleaning device 40 travels to a position where the cleaning module 500 corresponds to the first output part 310, the cleaning device 40 controls the cleaning module 500 to separate from the body 400; the first mating part 520 of the cleaning module 500 is detachably connected to the first output part 310, and the driving component 300 is used to drive the cleaning module 500 to rotate in the cleaning space 213.

[0259] In this implementation, the above embodiments have already described how the cleaning device 40 travels to the position corresponding to the cleaning module 500 and the first output unit 310, and will not be repeated here.

[0260] In this implementation, the method by which the cleaning device 40 controls the separation of the cleaning module 500 from the body 400 is not limited. For example, the cleaning device 40 can separate the cleaning module 500 from the lifting device 600 by controlling the movement of the separation structure 650 relative to the cleaning module 500. As an example, the cleaning device 40 drives the lifting assembly 630 to rise via the second motor 610, so that the cleaning module 500 and the separation structure 650 come into contact, and the separation structure 650 separates the cleaning module 500 from the body 400. As another example, the cleaning device 40 can separate the cleaning module 500 from the body 400 by controlling the fourth connector 660 to be in a de-energized state, thereby separating the fourth connector 660 from the third connector 582.

[0261] In some optional implementations of the embodiments of this application, the cleaning module 500 may include: a cleaning bracket 510, the cleaning bracket 510 having a first mating part 520 and a second mating part 530 disposed opposite to each other in the axial direction; the first mating part 520 is used to be detachably connected to the first output part 310, and the second mating part 530 is used to be detachably connected to the body 400.

[0262] Here, the first output part 310 may include a first limiting structure 320; the first mating part 520 may include a first connecting structure 550, the first limiting structure 320 being detachably connected to the first connecting structure 550 and fixedly disposed with the first connecting structure 550 in the rotation direction.

[0263] Here, the cleaning system may further include: a first connector 351 and a second connector 581. The first connector 351 is disposed on the first output part 310; the second connector 581 is disposed on the first mating part 520; the first connector 351 is used to connect with the second connector 581 by magnetic attraction, and the first output part 310 is used to fix the cleaning module 500 in the rotational direction position by magnetic attraction.

[0264] The cleaning bracket 510, the first mating part 520, the second mating part 530, the first limiting structure 320, the first connecting structure 550, the first connector 351 and the second connector 581 have been described in the above embodiments, and will not be repeated here.

[0265] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A cleaning base station, characterized by, The utility model relates to a cleaning device, including: A body assembly defines a containing space; A cleaning assembly is arranged in the containing space and defines a cleaning space; A drive assembly is arranged in the containing space; The first output part of the drive assembly is located in the cleaning space; The first output part of the drive assembly is used for being detachably connected with a cleaning module of the cleaning device to drive the cleaning module to rotate at the cleaning space.

2. The cleaning dock of claim 1, wherein, The first output part includes a first limiting structure; the first limiting structure is used for being detachably connected with a first connecting structure of the cleaning module and is fixedly arranged with the first connecting structure in the rotating direction.

3. The cleaning dock of claim 2, wherein, The first limiting structure includes: A first convex-concave structure is arranged on the top side of the first output part in a radial manner; the first convex-concave structure is used for cooperating with a first concave-convex structure of the cleaning module.

4. The cleaning dock of claim 3, wherein, The first convex part of the first convex-concave structure includes: A first matching top surface is arranged on the bottom side of the first output part in a direction from the axis of the first output part to the circumferential side of the first output part; Two first matching side surfaces are located on the opposite sides of the first matching top surface in the circumferential direction; the distance between the two first matching side surfaces gradually increases in the direction from the top end of the first convex part to the bottom end of the first convex part.

5. The cleaning dock of claim 4, wherein, The first matching side surface and the first matching top surface are connected by an arc surface.

6. The cleaning station of claim 4, wherein, The first matching top surface is a plane; or the first matching top surface is an arc surface.

7. The cleaning station of claim 3, wherein, The first convex-concave structure includes: A first guide bottom surface is located on the top side of the first output part; the first guide bottom surface is arranged on the bottom side of the first output part in a direction from the axis of the first output part to the circumferential side of the first output part.

8. The cleaning station of claim 3, wherein, The first limiting structure further includes: A second convex-concave structure is arranged on the outer circumferential side of the first output part and corresponds to the position of the first convex-concave structure; the first convex part of the first convex-concave structure extends to the second convex part of the second convex-concave structure; the second convex-concave structure is used for cooperating with a second concave-convex structure of the cleaning module.

9. The cleaning station of claim 3, wherein, A first mounting groove is formed in the top side of the first output part at the axis; the first convex-concave structure is arranged on the outer circumferential side of the first mounting groove; The drive assembly further includes: A first connecting piece is arranged in the first mounting groove; the first connecting piece is used for providing a magnetic attractive force moving towards the side close to the first connecting piece to a second connecting piece of the cleaning module.

10. The cleaning station of claim 2, wherein, The first limiting structure includes: A first connecting piece is arranged in the first output part; the first connecting piece is used for being connected with a second connecting piece of the cleaning module through a magnetic attractive force; the first output part is used for fixing the position of the cleaning module in the rotating direction through the magnetic attractive force.

11. The cleaning dock of claim 1, wherein, The first output part is used for being connected with a first matching part of the cleaning module through a magnetic attractive force; the first output part is used for fixing the position of the cleaning module in the rotating direction through the magnetic attractive force.

12. The cleaning station of claim 1, wherein, The drive assembly includes a first output shaft; The first output part is part of the first output shaft; or the first output part is arranged on the first output shaft.

13. The cleaning station of claim 1, wherein, The cleaning assembly defines two cleaning spaces, the body assembly defines a first accommodating space for accommodating the cleaning assembly, and a second accommodating space; The second accommodating space and the first accommodating space are arranged at least partially overlapped in the height direction, and the projection areas of the second accommodating space and the first accommodating space on the bearing surface are arranged staggered; The driving assembly further comprises a first motor and a first transmission assembly, the first motor is arranged in the second accommodating space, and the first motor is connected with the two first output portions through the first transmission assembly; The two first output portions are correspondingly located in the two cleaning spaces.

14. The cleaning dock of claim 1, wherein, After the driving assembly drives the cleaning module to rotate forward for a set time, The driving assembly is further used for driving the cleaning module to rotate reversely.

15. The cleaning station of claim 1, wherein, The first output portion comprises an electromagnetic structure, so that the first output portion and the cleaning module have a connected state or a disconnected state.

16. The cleaning station of any one of claims 1 to 15, wherein, The cleaning assembly is detachably arranged in the body assembly; The cleaning assembly is provided with a first connecting through hole; and the first output portion is used for being detachably connected with the cleaning module through the first connecting through hole.

17. The cleaning dock of claim 16, wherein, The cleaning assembly comprises: A cleaning disc is detachably arranged in the body assembly and is provided with the first connecting through hole; and the cleaning disc defines the cleaning spaces.

18. The cleaning dock of claim 17, wherein, The cleaning assembly further comprises: A cleaning member is rotatably arranged in the cleaning space; the cleaning member is used for cleaning the cleaning space; and the second output portion of the driving assembly is connected with the cleaning member through the first connecting through hole to drive the cleaning member to rotate.

19. The cleaning dock of claim 18, wherein, The driving assembly comprises: A first output shaft is located at the first connecting through hole; and the second output portion is arranged on the first output shaft; The first output portion is arranged at the top end of the first output shaft; The cleaning disc has a first cylindrical portion located in the cleaning space at the periphery of the first connecting through hole; At least part of the second output portion is located in the cavity of the first cylindrical portion; and the cleaning member is sleeved outside the first cylindrical portion and shields the gap between the second output portion and the first cylindrical portion.

20. The cleaning dock of claim 19, wherein, The second output portion is a stepped cylindrical structure, the second output portion is sleeved outside the first output shaft, the large end of the second output portion is located in the cavity of the first cylindrical portion, and the small end of the second output portion is located outside the first cylindrical portion; At least part of the first output portion is located on the side of the small end of the second output portion away from the large end of the second output portion; The cleaning member comprises: A stepped cylindrical portion, the large end of the stepped cylindrical portion is sleeved outside the first cylindrical portion, and the small end of the stepped cylindrical portion is sleeved outside the small end of the second output portion; A cleaning portion in a strip shape is arranged outside the large end of the stepped cylindrical portion.

21. The cleaning dock of claim 20, wherein, The cleaning assembly further comprises: A cleaning support is arranged on the top side of the cleaning disc and is used for contacting the cleaning module; the cleaning support has a first mounting hole corresponding to the position of the first connecting through hole, and the small end of the stepped cylindrical portion is rotatably arranged at the first mounting hole.

22. The cleaning dock of claim 21, wherein, The cleaning assembly further comprises: A shielding member is arranged on the cleaning support, and covers the top side of the gap between the cleaning support and the small end of the second output part. The shielding member has a first through hole, and at least part of the first output part is connected to the cleaning module through the first through hole in a detachable manner.

23. The cleaning dock of claim 19, wherein, The second output part is in a cylindrical shape and is sleeved outside the first output shaft. The second output part is arranged on the first output shaft. Alternatively, The cleaning base station further comprises: A first transmission member is arranged on the first output shaft and is connected to the second output part in a matching manner; or The cleaning base station further comprises: A second transmission member is arranged on the first output shaft. At least two third transmission members are rotatably arranged on the body assembly, and are respectively connected to the second transmission member and the second output part in a matching manner.

24. The cleaning dock of claim 19, wherein, The cleaning base station further comprises: A second transmission member is arranged on the first output shaft. At least two fixed shafts are arranged on the outer side of the second transmission member along the circumferential direction of the second transmission member, and the first end of the fixed shaft is fixed to the body assembly. At least two third transmission members are respectively rotatably arranged on the at least two fixed shafts. A connecting frame is connected to the second end of the at least two fixed shafts. The second output part is in a cylindrical shape and is sleeved outside the at least two third transmission members, and the third transmission members are respectively connected to the second transmission member and the second output part in a matching manner. The rotation direction of the first output shaft is opposite to the rotation direction of the second output part.

25. The cleaning dock of claim 24, wherein, The second transmission member is a sun gear, the third transmission member is a planet gear, and the connecting frame is a planet carrier.

26. The cleaning station of any one of claims 1 to 15, wherein, Further comprising: A cleaning support is arranged on the top side of the cleaning space and is used to contact the cleaning module.

27. The cleaning station of claim 26, wherein, The cleaning support is detachably arranged.

28. A cleaning system comprising the cleaning base station and the cleaning device according to any one of claims 1 to 27; the cleaning device comprises a machine body and a cleaning module detachably arranged on the machine body; In the cleaning state, the cleaning module is separated from the machine body, the cleaning module is detachably connected to the first output part of the driving assembly, and the driving assembly is used to drive the cleaning module to rotate at the cleaning space.

29. The cleaning system according to claim 28, wherein In the first cleaning state, the driving assembly is used to drive the cleaning module to rotate at the cleaning space, the cleaning device is located outside the cleaning base station, and the cleaning device is in a sweeping state; In the second cleaning state, the driving assembly is used to drive the cleaning module to rotate at the cleaning space, and the cleaning device is located in the first space defined by the cleaning base station.

30. The cleaning system according to claim 28, wherein After the cleaning device drives to a position corresponding to the cleaning module and the first output part, the cleaning device controls the cleaning module to be separated from the machine body; The first matching part of the cleaning module is detachably connected to the first output part, and the driving assembly is used to drive the cleaning module to rotate at the cleaning space.

31. The cleaning system of any one of claims 28 to 30, wherein, The cleaning module comprises: The cleaning support has a first cooperating part and a second cooperating part arranged back to back in the axial direction; The first cooperating part is used to be detachably connected with the first output part, and the second cooperating part is used to be detachably connected with the fuselage.

32. The cleaning system of claim 31, wherein, The first output part comprises a first limiting structure; The first cooperating part comprises a first connecting structure, and the first limiting structure is used to be detachably connected with the first connecting structure and is fixedly arranged with the first connecting structure in the rotation direction.

33. The cleaning system of claim 32, wherein, Further comprising: A first connecting member arranged on the first output part; A second connecting member arranged on the first cooperating part; The first connecting member is used to be connected with the second connecting member through magnetic attraction, and the first output part is used to fix the cleaning module in the rotation direction position through magnetic attraction.

34. The cleaning system according to claim 31, wherein The first output part is used to be connected with the first cooperating part through magnetic attraction, and the first output part is used to be fixedly arranged in the rotation direction through magnetic attraction.

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