Cleaning cloth transfer mechanism, cleaning base station and cleaning system

Abstract

The utility model provides a cleaning cloth transfer mechanism, a cleaning base station and a cleaning system, and relates to the technical field of cleaning. The cleaning cloth transferring mechanism comprises a conveying mechanism, the conveying mechanism comprises a base, a lifting support and a lifting limiting block, the lifting support and the lifting limiting block are both arranged on the base in a telescopic mode, when the lifting support stretches out to a picking position in the direction away from the base, a cleaning cloth assembly of a target bin position can be taken, and when the lifting support stretches out to a disassembling position in the direction away from the base, the cleaning cloth assembly can be disassembled. The cleaning cloth assembly can be placed in the target bin. When the cleaning cloth assembly is located on the conveying mechanism, the lifting limiting block is opposite to part of the cleaning cloth assembly, and the lifting limiting block is at least used for abutting against the cleaning cloth assembly when stretching out to the disassembling position in the direction away from the base so as to limit the cleaning cloth assembly to move in the direction away from the target bin position. According to the cleaning base station provided by the embodiment of the invention, the problem that pollutants carried by a single brush body can cause cross contamination in related technologies can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning, in particular to a cleaning cloth transfer mechanism, a cleaning base station and a cleaning system. BACKGROUND

[0002] With the popularity of intelligent cleaning equipment, floor cleaning robots equipped with rotating brushes have become common tools in home and commercial scenarios.

[0003] The existing cleaning robot is usually configured with a single cleaning piece (such as a roller brush, an edge brush, or a cleaning cloth assembly), and the brush body is driven to rotate by a motor to achieve floor cleaning. In the absence of user participation, the cleaning robot cannot switch the cleaning piece by itself.

[0004] However, different ground materials (such as hard floors, short-pile carpets, and long-pile carpets) and types of stains (dust, liquid spills, and sticky dirt) have significantly different requirements for cleaning piece characteristics. When cleaning different areas continuously, the single cleaning piece carries contaminants that can cause cross-contamination. CONTENT OF THE UTILITY MODEL

[0005] The cleaning base station is used to solve the problem of cross-contamination caused by contaminants carried by a single brush body in the related art.

[0006] To achieve the above purpose, the embodiments of the present application provide the following technical solutions:

[0007] The first aspect of the embodiments of the present application provides a cleaning cloth transfer mechanism for transferring a cleaning cloth assembly of a cleaning base station, comprising:

[0008] The transport mechanism includes a base, a lifting support, and a lifting limiting block. The lifting support and the lifting limiting block are both telescopically arranged on the base. When the lifting support extends to a picking position away from the base, the target bin's cleaning cloth assembly can be picked up. When the lifting support extends to a dismounting position away from the base, the cleaning cloth assembly can be placed in the target bin. Wherein,

[0009] When the cleaning cloth assembly is located on the transport mechanism, the lifting limiting block is opposite to part of the cleaning cloth assembly. The lifting limiting block is at least used to abut against the cleaning cloth assembly when extending to the dismounting position away from the base, so as to limit the movement of the cleaning cloth assembly away from the target bin.

[0010] The cloth transfer mechanism in the embodiment of the application can automatically transfer the cloth assembly on the cleaning base station, can conveniently and automatically transport the cloth assembly to be replaced to a target position for replacement of the cleaning device, and can also automatically transport the cloth assembly replaced from the cleaning device to another target position for storage for next use. Through the telescopic function of the lifting support and the lifting limiting block, automatic picking and placing of the cloth assembly are realized, manual intervention is reduced, and operation efficiency is improved. Through the setting of the lifting limiting block, the cloth assembly is abutted when being placed in the target position, and a pushing action is generated, so that the cloth assembly is transferred from the transportation mechanism to the target position, so as to ensure that the cloth assembly will not fall off on the target position. Through automatic and accurate operation, the process of replacing the cloth assembly can be an automatic process, manual intervention is not required, the automation of the system is improved, and the work burden of the user is reduced.

[0011] In a possible implementation, the transportation mechanism further comprises:

[0012] The first driving assembly is in transmission connection with the lifting support, and is used to drive the lifting support to perform telescopic movement;

[0013] The second driving assembly is in transmission connection with the lifting limiting block, and is used to drive the lifting limiting block to perform telescopic movement;

[0014] The control device is connected with the first driving assembly and the second driving assembly, and is used to control the lifting support and the lifting limiting block to extend to a disassembly position in a direction away from the base, and control the lifting limiting block to be retracted later than the lifting support.

[0015] The automatic control of the transportation mechanism can be realized by controlling the first driving assembly and the second driving assembly through the control device, so that the cloth assembly can be automatically picked up or disassembled, manual intervention is reduced, and user experience is improved. By controlling the lifting limiting block to be retracted later than the lifting support, stable connection of the cloth assembly and the target position can be ensured, that is, the cloth assembly can be separated from the lifting support and connected with the target position, so that the cloth assembly is prevented from being taken back to the transportation mechanism by the lifting support in the retraction process, and falling off or disassembly failure is prevented.

[0016] In a possible implementation, the base is provided with a guide plate, the guide plate is movably connected with the base in a first direction, and the first direction is perpendicular to the telescopic direction of the lifting limiting block; wherein,

[0017] The guide plate comprises a first guide portion, and the lifting limiting block is provided with a second guide portion matched with the first guide portion;

[0018] The first guide part comprises a matching surface, the second guide part moves along the matching surface when the guide plate moves in the first direction; wherein,

[0019] The matching surface is a slope structure, and the slope direction of the slope structure is configured to convert the movement of the guide plate in the first direction into the extension and retraction movement of the lifting limiting block.

[0020] In this way, by setting the matching surface between the first guide part and the second guide part as a slope structure, the movement of the guide plate in the first direction can be effectively converted into the vertical extension and retraction movement of the lifting limiting block, realizing the conversion between movements in different directions and increasing the functionality of the system. By integrating the movement conversion into the base, space is saved, making the entire system more compact and suitable for use in environments with limited space. The smooth movement of the slope structure reduces mechanical friction and impact, reduces operating noise, and provides a quieter working environment. By utilizing the slope structure to realize movement conversion, the need for complex mechanical transmission devices is reduced, the overall structural design is simplified, and manufacturing and maintenance costs are reduced. In addition, the movement of the lifting limiting block can also be precisely controlled, and by adjusting the movement distance of the guide plate, the extension and retraction degree of the lifting limiting block can be precisely controlled.

[0021] In a possible implementation, the second driving assembly comprises a second motor and a second gear;

[0022] The second motor is in transmission connection with the second gear, and the second motor is configured to drive the second gear to rotate;

[0023] The base is provided with a second rack extending in the first direction, and the second gear is in transmission connection with the second rack;

[0024] The second driving assembly is fixedly connected with the guide plate;

[0025] The second rack is fixedly connected with the base.

[0026] The transmission connection of the second gear and the second rack driven by the second motor can realize precise control of the position of the guide plate and ensure the movement accuracy of the guide plate in the first direction. The transmission mode of the gear and the rack has high force transmission capacity, which can effectively convert the rotary movement of the motor into the linear movement of the guide plate, thereby improving the efficiency of the system. By fixedly connecting the second driving assembly with the guide plate, additional connecting components can be reduced, making the system design more compact and saving space. The gear and rack transmission system has good reversibility and can easily realize the forward and reverse movement of the guide plate, increasing the flexibility of the system. The structure of the gear and the rack is relatively simple and easy to obtain, thereby reducing the cost.

[0027] In a possible implementation, one of the first guide part and the second guide part is a groove structure.

[0028] The other of the first guide part and the second guide part is a slider structure.

[0029] The matching surface is formed on the inner wall of the groove structure.

[0030] By designing one of the first guide part and the second guide part as a groove structure and the other as a slider structure, and forming a matching surface on the inner wall of the groove structure, since the groove structure and the slider structure are relatively simple, easy to manufacture and assemble, the production cost and complexity are reduced. In addition, the movement of the slider structure in the groove structure provides precise guiding function, ensuring the accuracy of the movement path, reducing deviation and error. The cooperation of the groove structure and the slider structure provides a smooth movement path, reduces friction and jamming phenomenon, and ensures smooth operation of the system. The inclined surface structure of the matching surface can be designed and adjusted as needed to achieve specific movement conversion and force transmission functions, adapting to different application requirements.

[0031] In a possible implementation, the outer side of the lifting limiting block is provided with a guide structure.

[0032] The guide structure includes a first guide groove and a groove wall, the groove wall is fixed to the base, and part of the structure of the lifting limiting block is embedded in the first guide groove, and the lifting limiting block is movably connected with the first guide groove.

[0033] The lifting limiting block performs telescopic movement along the extension direction of the first guide groove.

[0034] In this way, the first guide groove provides a clear movement path for the lifting limiting block, ensuring that it maintains accurate direction and position during telescopic movement, reducing deviation and error. The structure of the guide groove and the groove wall provides additional support and stability to prevent the lifting limiting block from shaking or tilting during movement. By embedding part of the structure of the lifting limiting block in the first guide groove, the movement of the lifting limiting block is more compact, saving space and suitable for use in environments with limited space. In addition, such a guide structure is relatively simple, easy to manufacture and assemble, reducing production cost and complexity. Since the structure is simple, the wearing parts of the guide groove and the lifting limiting block are easy to check and replace, simplifying the maintenance process.

[0035] In a possible implementation, the lifting limiting block includes a top rod, a first roller, an axle, and a second roller.

[0036] The first roller and the second roller are connected through the wheel shaft, the wheel shaft is fixedly connected with the top rod, and the first roller and the top rod are embedded in the first guide groove.

[0037] The second roller serves as the second guide part, and the side wall surface of the first roller is closer to the wall surface of the top rod than the side wall surface of the top rod.

[0038] In this way, the first roller and the second roller jointly provide a guiding function, ensuring that the movement of the lifting limiting block in the first guide groove is more stable and smooth, and reducing shaking and deviation. The use of the first roller and the second roller can make the lifting limiting block be in rolling connection with the guide structure and the first guide part, that is, the first roller and the guide structure of the guide structure are in rolling friction, and the second roller and the first guide part are also in rolling friction, which can reduce the movement resistance of the top rod, enable the lifting limiting block to move more easily in the guide groove, improve the efficiency and response speed of the system, and also reduce surface contact and wear, prolong the service life of the lifting limiting block and the guide groove. The rolling characteristics of the first roller and the second roller provide a smooth movement path, reduce the phenomenon of jamming, and ensure smooth operation of the lifting limiting block.

[0039] In a possible implementation, the guide plate comprises a second guide groove and a guide column;

[0040] The guide column is fixedly connected with the base, and part of the structure of the guide column is movably arranged in the second guide groove in the first direction;

[0041] The second guide groove extends in the first direction, and the length of the second guide groove in the first direction is used to define the movement stroke of the guide plate in the first direction.

[0042] In the embodiment, the movement of the guide column in the second guide groove provides accurate guiding function, ensuring that the movement path of the guide plate in the first direction is accurate and error-free, and reducing deviation and error. The length of the second guide groove in the first direction directly defines the movement stroke of the guide plate, preventing it from exceeding the predetermined operation range, and improving the safety and reliability of the system. The cooperation of the guide column and the second guide groove provides additional stability, preventing the guide plate from shaking or tilting during movement. The second guide groove and the guide column have simple structure, easy to manufacture and assemble, which can reduce production cost and complexity.

[0043] In a possible implementation, two lifting limiting blocks are arranged on the outer side of each lifting support.

[0044] The distribution direction of the two lifting limiting blocks is perpendicular to the first direction and the extension direction of the lifting limiting blocks, and the lifting support is located between the two lifting limiting blocks.

[0045] In this way, the symmetrical distribution of the two lifting limiting blocks provides additional support and stability for the lifting support, preventing the support from tilting or shaking during lifting. By setting lifting limiting blocks on both sides, the movement path of the lifting support can be more accurately controlled, reducing deviation and error and improving operation precision. This design provides redundant limiting function, even if one lifting limiting block fails, the other lifting limiting block can still provide the necessary support and limitation, increasing the safety of the system.

[0046] In one possible implementation, one of the lifting limiting blocks corresponds to one of the guide plates;

[0047] In the distribution direction of the two lifting limiting blocks, the guide plates are located on the side of the lifting limiting blocks away from the lifting support, and the two guide plates corresponding to the two lifting limiting blocks are connected by a connecting piece;

[0048] The second driving assembly is fixed to the connecting piece, so that the two guide plates are driven by one second driving assembly.

[0049] Connecting the two guide plates together through a connecting piece and using one second driving assembly to drive ensures the synchronous movement of the two lifting limiting blocks, avoiding structural distortion or instability caused by asynchronization. It can also reduce the number of required drivers, thereby reducing the overall cost of the system. Since only one driving assembly is needed, the complexity of the control system is greatly reduced, simplifying the control logic and operation of the system. In addition, by using a connecting piece and a single second driving assembly, the occupied space of the system can be reduced, making the design more compact and suitable for use in environments with limited space.

[0050] In one possible implementation, one of the lifting limiting blocks corresponds to one of the guide plates;

[0051] In the distribution direction of the two lifting limiting blocks, the guide plates are located on the side of the lifting limiting blocks away from the lifting support;

[0052] The number of lifting supports is multiple, and the multiple lifting supports are arranged at intervals along the first direction;

[0053] The guide plates corresponding to the lifting limiting blocks corresponding to the multiple lifting supports are connected by a connecting piece;

[0054] The second driving assembly is fixed to the connecting piece, so that the corresponding guide plates of the corresponding lifting support limiting blocks are driven by one second driving assembly.

[0055] The connecting piece connects multiple guide plates together, and a second driving assembly is used to ensure the synchronous movement of all lifting supports, avoiding structural instability or inconsistent operation caused by different steps. Using a single second driving assembly to control multiple lifting supports reduces the number of drivers, thereby reducing the overall cost of the system. Since only one second driving assembly is required, the system design and control logic are simplified, reducing the complexity of the control system and development time. By using the connecting piece and a single second driving assembly, the occupied space of the system is reduced, making the design more compact and suitable for use in environments with limited space.

[0056] In one possible implementation, the connecting piece forms an assembly groove between the two guide plates, and the second driving assembly is arranged in the assembly groove.

[0057] By embedding the second driving assembly in the assembly groove, the internal space of the connecting piece can be effectively utilized, reducing the external occupied space of the system and making the overall design more compact. The assembly groove provides a protective shell for the second driving assembly, reducing the influence of external environment (such as dust, moisture, physical impact, etc.) on the second driving assembly, improving the durability and reliability of the system. The second driving assembly is located at the center of the connecting piece, which helps to optimize the force transmission path and reduce unnecessary mechanical stress and wear.

[0058] In one possible implementation, a guide rod is arranged on the base, and the guide rod is located on the outer circumferential side of the lifting support; the guide rod extends along the extension direction of the lifting support, the guide rod passes through part of the structure of the lifting support, and the guide rod is movably connected with the lifting support.

[0059] In this way, the guide rod can provide additional support and guiding function for the lifting support, preventing the lifting support from shaking or tilting during extension and retraction, and improving the stability of the system. The guide rod ensures that the lifting support moves along a predetermined path, reducing deviation and error, and improving movement accuracy. The use of the guide rod simplifies the design of the system, reduces the need for complex guiding mechanisms, and reduces production costs.

[0060] In one possible implementation, the first driving assembly includes a first motor and a first gear; the first motor is in transmission connection with the first gear, and the first motor is used to drive the first gear to rotate; the lifting support is provided with a first rack extending along the extension direction of the lifting support, and the first gear is in transmission connection with the first rack.

[0061] The transmission connection of the first gear and the first rack driven by the first motor can realize accurate control of the position of the lifting support, ensuring the movement accuracy of the lifting support in the telescopic direction. The transmission mode of the gear and the rack has high force transmission capacity, which can effectively convert the rotary motion of the motor into the linear motion of the guide plate, thereby improving the efficiency of the system. The gear and rack transmission system has good reversibility, which can easily realize the forward and reverse motion of the lifting support, increasing the flexibility of the system. The structure of the gear and the rack is relatively simple and easy to obtain, thereby reducing the cost.

[0062] In a possible implementation, the target positions include a first position and a second position, the first position is arranged in a horizontal direction, and is used to receive the cleaning cloth assembly disassembled from the cleaning device and receive the cleaning cloth assembly to be installed on the cleaning device; and the second position is arranged in a vertical direction or a horizontal direction, and is used to store the cleaning cloth assembly to be replaced by the cleaning device.

[0063] The pickup position includes a first pickup position and a second pickup position, when the lifting support extends to the first pickup position away from the base, the cleaning cloth assembly in the first position can be taken, and when the lifting support extends to the second pickup position away from the base, the cleaning cloth assembly in the second position can be taken.

[0064] The disassembly position includes a first disassembly position and a second disassembly position, when the lifting support extends to the first disassembly position away from the base, the cleaning cloth assembly can be placed in the first position, and when the lifting support extends to the second disassembly position away from the base, the cleaning cloth assembly can be placed in the second position.

[0065] By arranging the target positions to include the first position and the second position, the applicability of the system can be improved, the accuracy of taking and placing can be improved, and it is ensured that the taking or placing of the cleaning cloth assembly can be accurately completed in any target position, thereby improving the accuracy of the system.

[0066] In a possible implementation, the cleaning cloth assembly includes a first magnetic member, and the lifting support includes a second magnetic member.

[0067] When the transport mechanism is opposite to the first position and the lifting support is located at the first pickup position, the attractive force of the second magnetic member to the first magnetic member is at least greater than the gravity of the cleaning cloth assembly.

[0068] In this way, the structure of the cloth assembly can be simplified, the mutual attraction between the first magnetic member and the second magnetic member can help to automatically align and fix the cloth assembly, ensuring that it remains stable during picking, placing and storing, reducing the risk of misalignment and sliding. The magnetic connection makes the picking and placing process of the cloth assembly simpler and faster, without the need for complex mechanical locking or manual adjustment, improving operational efficiency. Since the magnetic connection does not require mechanical buckling or clamping, physical contact and friction are reduced, thereby reducing the wear and tear of the assembly and improving the durability of the system.

[0069] In a possible implementation, the first storage position is provided with a third magnetic member, and the second storage position is provided with a fourth magnetic member; wherein,

[0070] When the transport mechanism is opposite to the first storage position and the lifting support is located at the first picking position, the attractive force of the second magnetic member to the first magnetic member is greater than the sum of the attractive force of the third magnetic member to the first magnetic member and the gravity of the cloth assembly;

[0071] When the second storage position is arranged in the vertical direction, the transport mechanism is opposite to the second storage position, and the lifting support is located at the second picking position, the attractive force of the second magnetic member to the first magnetic member is greater than the attractive force of the fourth magnetic member to the first magnetic member;

[0072] When the second storage position is arranged in the horizontal direction, the transport mechanism is opposite to the second storage position, and the lifting support is located at the second picking position, the attractive force of the second magnetic member to the first magnetic member is greater than the difference between the attractive force of the fourth magnetic member to the first magnetic member and the gravity of the cloth assembly.

[0073] In this way, the structure of the first storage position and the second storage position can be simplified, and the difficulty of picking and placing can be reduced, thereby reducing the cost and improving the efficiency.

[0074] In a possible implementation, the distance that the lifting support extends when located at the first picking position is a first distance;

[0075] The distance that the lifting support extends when located at the second picking position is a second distance;

[0076] The first distance and the second distance are both greater than zero;

[0077] The first distance and the second distance are the same or different.

[0078] In this way, the lifting support can extend different distances at different positions, so that the cloth transport mechanism can transport cloth assemblies at different positions, thereby improving the versatility and applicability of the mechanism.

[0079] In a possible implementation, the lifting support extends a third distance when located at the first disassembly position;

[0080] The lifting support extends a fourth distance when located at the second disassembly position;

[0081] The third distance and the fourth distance are both greater than zero;

[0082] The third distance and the fourth distance are the same or different.

[0083] In this way, the lifting support can extend different distances at different positions, so that the cloth transfer mechanism can transfer cloth assemblies at different positions, thereby improving the versatility and applicability of the mechanism.

[0084] In a possible implementation, the cloth transfer mechanism further comprises a detection device;

[0085] The detection device is configured to detect whether the base has the cloth assembly and whether the target position has the cloth assembly.

[0086] The control device is connected to the detection device, and the control device is configured to control the lifting support to take the cloth assembly located at the target position or place the cloth assembly on the transport mechanism at the target position according to the information detected by the detection device.

[0087] Through the combination of the detection device and the control device, automatic detection and processing of the cloth assembly are realized, manual intervention is reduced, and the automation level of the system is improved. The automatic detection and control mechanism can quickly identify the presence or absence of the cloth assembly and make corresponding operation decisions, significantly improving work efficiency. The detection device provides real-time feedback, ensuring that the lifting support only operates when needed, reducing the possibility of misoperation and incorrect placement, and improving the accuracy of the system. Through precise control of the taking and placing of the cloth assembly, unnecessary repeated operations and resource waste are avoided, and resource utilization is improved.

[0088] In a possible implementation, the cloth transfer mechanism further comprises a transport track;

[0089] The base is provided with a walking mechanism matched with the transport track, the walking mechanism is in rolling cooperation with the transport track, and the base can reciprocate along the transport track through the walking mechanism.

[0090] Through the cooperation of the transportation track and the walking mechanism, the base can quickly move between different positions, improving the efficiency of the cloth assembly transfer. The transportation track provides a clear movement path, ensuring that the base can accurately reach the designated position, reducing positioning errors. The rolling cooperation of the walking mechanism with the transportation track reduces friction, making the movement of the base more stable, reducing vibration and noise. The design of rolling cooperation reduces the wear and tear between moving parts, prolonging the service life of the equipment. The transportation track limits the movement range of the base, reducing the risk of accidental collision and derailment, improving operation safety. The structure of the transportation track and the walking mechanism is relatively simple, easy to check and maintain, reducing maintenance cost and complexity.

[0091] In one possible implementation, the cleaning base station includes a first support plate and a second support plate arranged opposite in a first direction, the first direction being perpendicular to the extension direction of the lifting limiting block; wherein,

[0092] The two transportation tracks are arranged opposite on one side of the first support plate facing the second support plate and one side of the second support plate facing the first support plate, and the extension directions of the two transportation tracks are the same;

[0093] The walking mechanism includes a first transmission member and a transmission rod, and the transmission rod extends out of the base along the first direction;

[0094] In the first direction, the two ends of the transmission rod outside the base are respectively provided with a first transmission member;

[0095] The first transmission member is used for rolling cooperation with the transportation track.

[0096] By setting the first support plate and the second support plate on the cleaning base station, a solid support structure can be provided for the transportation track, ensuring the stability and reliability of the transportation track. The transmission rod extends along the first direction and is provided with a first transmission member at both ends, which rolls with the transportation track. In this way, one driving motor can be used to drive the walking parts at both ends of the base, thereby reducing the setting of the driving assembly and simplifying the structure and reducing the cost. Better balance and support can also be provided, so that the movement of the base at both ends is kept in synchronization, preventing the base from tilting or shaking during transportation and causing jamming between the transportation track. The rolling cooperation of the first transmission member with the transportation track reduces friction, reduces energy consumption and wear and tear, and improves the efficiency and service life of the system. The design of the transmission rod and the transmission member ensures accurate positioning of the base on the transportation track, reduces positioning errors, and improves operation accuracy.

[0097] In a possible implementation, in the first direction, one end of the base towards the first support plate is a first end of the base, and one end of the base towards the second support plate is a second end of the base;

[0098] The first end of the base and the second end of the base are each provided with a positioning bearing, and a rotation center axis of the positioning bearing is parallel to the first direction;

[0099] The first support plate and the second support plate are each provided with a third guide groove matched with the positioning bearing, and an extension direction of the third guide groove is the same as an extension direction of the transportation track;

[0100] At least part of a structure of the positioning bearing is embedded in the third guide groove, and an outer ring of the positioning bearing forms a rolling connection with a side wall of the third guide groove.

[0101] The wiping cloth transportation mechanism in the embodiment of the application provides additional support and guidance for the system by arranging the positioning bearing and the third guide groove, ensures the stability of the base when moving on the transportation track, and prevents tilting and shaking. The third guide groove provides a clear movement path for the base, and the positioning bearing rolls in the third guide groove, ensuring accurate movement of the base in the predetermined direction and improving positioning accuracy. The rolling connection of the positioning bearing reduces friction between the base and the third guide groove, reduces energy consumption and wear, and improves the efficiency and service life of the system. The rolling connection design makes the movement of the base more stable, reduces vibration and noise, and improves the operating environment.

[0102] In a possible implementation, the base is a quadrilateral structure;

[0103] The first end of the base and the second end of the base are each provided with two positioning bearings;

[0104] The two positioning bearings located at the same end of the base in the first direction are arranged at intervals along the extension direction of the transportation track;

[0105] The spacing between the two positioning bearings is configured to not interfere with components of the cleaning base station when the transportation mechanism moves along the transportation track.

[0106] By arranging two positioning bearings at each end of the base, a more extensive support foundation is provided, increasing the stability of the base during movement, preventing tilting and shaking. The positioning bearings arranged at intervals ensure the accurate guidance of the base along the transportation track, reducing movement deviation and improving positioning accuracy. By reasonably configuring the spacing between the positioning bearings, it is ensured that no interference occurs with other components of the base when the transportation mechanism moves, avoiding potential mechanical conflicts and damage. The interference-avoiding design reduces the risk of accidental collisions and improves the safety of the system, especially at high speeds. This design allows the spacing and position of the bearings to be adjusted according to specific application requirements, to adapt to different spatial layouts and operation requirements.

[0107] In a possible implementation, further comprising a universal ball bearing;

[0108] Both the first end of the base and the second end of the base are provided with two universal ball bearings;

[0109] The two universal ball bearings located at the same end of the base in the first direction are arranged at intervals along the extension direction of the transportation track, and the two universal ball bearings are respectively arranged close to the two positioning bearings;

[0110] The universal ball bearing located at the first end of the base abuts against the first support plate in the first direction away from one end of the base, and the universal ball bearing located at the second end of the base abuts against the second support plate in the first direction away from one end of the base.

[0111] In this way, the universal ball bearing allows the base to move and rotate freely in multiple directions, providing greater flexibility to adapt to complex motion requirements. By arranging multiple universal ball bearings at each end of the base, a more extensive support foundation is provided, increasing the stability of the base during movement, preventing tilting and shaking. The universal ball bearing reduces friction between the base and the first support wall and the second support plate through rolling contact, reducing energy consumption and wear, improving the efficiency and service life of the system. The universal ball bearing provides a smooth movement path, making the base move more smoothly on the track, reducing vibration and noise. Reasonably configuring the position and spacing of the universal ball bearings ensures that no interference occurs with other components of the base body when the transportation mechanism moves, avoiding potential mechanical conflicts and damage. The use of universal ball bearings reduces the risk of jamming and blockage, improving the safety of the system.

[0112] In a possible implementation, a third drive assembly is arranged in the transportation mechanism;

[0113] The third drive assembly is drivingly connected with the first transmission member, and the third drive assembly is used to drive the first transmission member to rotate;

[0114] The second transmission member is arranged in the transportation track, and the first transmission member is in transmission connection with the second transmission member to make the first transmission member roll with the transportation track.

[0115] The third driving assembly directly drives the first transmission member to rotate, making power transmission more direct and efficient, reducing energy loss and improving the overall efficiency of the system. Through the control of the third driving assembly, precise rotation control of the first transmission member can be realized, thereby accurately controlling the moving position and speed of the base on the transportation track. The transmission connection between the first transmission member and the second transmission member ensures efficient power transmission, enabling the base to move smoothly on the transportation track.

[0116] In a possible implementation, the first transmission member is a gear structure, and the second transmission member is a rack structure; or,

[0117] The first transmission member is a synchronous belt, and the second transmission member is a gear structure; or,

[0118] The first transmission member is a gear structure, and the second transmission member is a synchronous belt; or,

[0119] The first transmission member is a roller, and the second transmission member is a track structure.

[0120] In this way, the design flexibility of the first transmission member and the second transmission member can be improved, and appropriate transmission members can be selected according to actual needs. By setting the first transmission member as a gear structure and the second transmission member as a rack structure, high-precision linear transmission can be provided, and reliable power transmission can be provided, reducing the possibility of slipping. In addition, the gear and the rack have a simple structure and are easy to assemble, which can reduce the assembly difficulty. The synchronous belt can reduce noise during transmission and provide a quieter operating environment. The synchronous belt can absorb vibration and impact within a certain range, protecting other components of the transmission system. The synchronous belt does not need to be lubricated, reducing maintenance requirements. The roller and the track provide smooth linear motion, which is suitable for applications that require smooth movement. Rolling contact reduces friction, reducing energy consumption and wear. The structure of the roller and the track is simple, easy to install and maintain.

[0121] In a possible implementation, the third driving assembly includes a third motor, a worm gear and a worm shaft; wherein,

[0122] The output end of the third motor is connected with the worm shaft, the worm shaft is in transmission connection with the worm gear, and the worm gear is in transmission connection with the first transmission member.

[0123] By setting the worm gear and the worm, high torque transmission can be achieved. In addition, the worm drive has a self-locking feature, that is, the worm cannot be driven in reverse by the worm gear without external force. This feature improves the safety of the system, preventing accidental movement during power failure or stoppage. It also allows the transport mechanism to stay in a certain position, thereby completing the picking or placing action at that position.

[0124] The second aspect of the embodiments of the present application provides a cleaning base station, comprising a base station body and a cleaning cloth transfer mechanism according to any one of the first aspect.

[0125] In this way, the transfer, cleaning and storage of the cleaning cloth assembly can be more smooth, reducing the time delay between each link and improving the overall operation efficiency.

[0126] In a possible implementation, the base station body is provided with a cleaning cloth receiving unit and a plurality of cleaning cloth storage bins. The cleaning cloth receiving unit is used to receive the cleaning cloth assembly disassembled from the cleaning device and to receive the cleaning cloth assembly to be installed on the cleaning device. The cleaning cloth storage bin is used to store the cleaning cloth assembly that can be replaced by the cleaning device.

[0127] The cleaning cloth transfer mechanism is used to transport the cleaning cloth assembly between the cleaning cloth receiving unit and the plurality of cleaning cloth storage bins.

[0128] The plurality of cleaning cloth storage bins are provided with cleaning cloth assemblies of different types.

[0129] The base station body is provided with an identification module. The identification module is used to detect whether the cleaning cloth assembly provided on the cleaning cloth storage bin corresponds to the cleaning cloth storage bin.

[0130] The cleaning base station in the embodiments of the present application, the cleaning cloth receiving unit and the plurality of storage bins make the management of the cleaning cloth assembly more efficient, can quickly handle the replacement and storage of the cleaning cloth, and reduce the downtime of the equipment. The plurality of cleaning cloth storage bins can store different types of cleaning cloth assemblies to meet the needs of different cleaning tasks, avoid cross contamination, and improve the adaptability and flexibility of the system. The identification module can automatically detect whether the cleaning cloth assembly is correctly stored in the corresponding storage bin, reducing the need for manual inspection and improving the accuracy and efficiency of the operation. The cleaning cloth transfer mechanism efficiently transports the cleaning cloth assembly between the cleaning cloth receiving unit and the cleaning cloth storage bin, optimizing the internal logistics process and improving the overall operation efficiency. Automatic identification and transfer reduce the need for manual intervention, reduce labor costs, and improve the safety of the operation.

[0131] In a possible implementation, the identification module is also used to detect the type of the cleaning cloth assembly on the transport mechanism of the cleaning cloth transfer mechanism.

[0132] The transportation mechanism includes a control device connected with the identification module, and the control device is used to control the transportation mechanism to move to the cleaning cloth storage bin matched with the type of the cleaning cloth assembly according to the type of the cleaning cloth assembly detected by the identification module.

[0133] By identifying the type of the cleaning cloth assembly in real time through the identification module, the system can automatically identify and classify different types of cleaning cloth assemblies, realizing intelligent management. The control device automatically controls the transportation mechanism to move the cleaning cloth assembly to the corresponding storage bin according to the information provided by the identification module, reducing manual intervention and improving operation efficiency. The automatic identification and classification function reduces errors in manual operation, ensures that the cleaning cloth assembly is correctly stored in the corresponding storage bin, and improves the accuracy and reliability of the system. Through automatic identification and transportation, the logistics process of the cleaning cloth assembly between the transfer bin and the storage bin is optimized, and the turnover speed of the cleaning cloth assembly is accelerated. The system can dynamically adjust the storage and transportation strategy according to different types of cleaning cloth assemblies to adapt to diversified cleaning needs.

[0134] In a possible implementation, the cleaning cloth assemblies of different types are different in color, and the identification module includes a color camera; or,

[0135] The cleaning cloth assemblies of different types are different in material, and the identification module includes a visual identification system.

[0136] Using a color camera can quickly identify the color of the cleaning cloth assembly, thereby distinguishing different types of cleaning cloths. This method is simple and intuitive, and is suitable for cleaning cloth assemblies with obvious color differences. The visual identification system can analyze the material characteristics (such as texture, glossiness, etc.) of the cleaning cloth, thereby identifying different types of cleaning cloths. This method is suitable for cleaning cloth assemblies with obvious material differences. Through the automatic visual identification technology, the system can identify the type of the cleaning cloth in real time and automatically, reducing manual intervention and improving operation efficiency. The visual identification technology provides high-precision identification capability, reducing the possibility of misjudgment and incorrect classification, and improving the accuracy and reliability of the system. The system can adjust the identification parameters and algorithms according to different application requirements to adapt to different cleaning cloth types and identification requirements. Automatic identification reduces the need for manual inspection and classification, reducing labor costs and operation complexity.

[0137] The third aspect of the embodiments of the present application provides a cleaning system, including a cleaning device and the cleaning base station of any one of the second aspect, the cleaning device is a floor mopping robot or a sweeping and mopping integrated robot. BRIEF DESCRIPTION OF DRAWINGS

[0138] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort based on these drawings.

[0139] Figure 1 A structural schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0140] Figure 2 An exploded structural schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0141] Figure 3 An opened state schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0142] Figure 4 A partial structural schematic diagram of a cleaning base station provided by an embodiment of the present application;

[0143] Figure 5 An exploded structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application;

[0144] Figure 6 A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application;

[0145] Figure 7 A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application; Figure 6 An enlarged view of A part shown in FIG. 6;

[0146] Figure 8 A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application;

[0147] Figure 9 An enlarged view of B part shown in FIG. 6; Figure 6

[0148] A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application; Figure 10

[0149] A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application; Figure 11

[0150] A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application; Figure 12

[0151] A partial structural schematic diagram of a transport mechanism of a cleaning base station provided by an embodiment of the present application; Figure 13 Figure 12 ​A part of the enlarged view of the C part shown in FIG. 1;

[0152] Figure 14 A part of the enlarged view of the D part shown in FIG. 1.

[0153] Figure 15 A part of the enlarged view of the D part shown in FIG. 1. Figure 14

[0154] A part of the enlarged view of the D part shown in FIG. 1.

[0155] 100 - cleaning base station; 10 - base body; 11 - active space;

[0156] 12 - dust collection module; 13 - parking area; 131 - cleaning tank; 14 - front end face;

[0157] 15 - first side face; 151 - first support plate; 1511 - third guide groove;

[0158] 16 - second side face; 161 - second support plate; 17 - rear end face;

[0159] 18 - top face; 19 - bottom face; 132 - cleaning cloth receiving unit;

[0160] 21 - cleaning cloth storage bin; 30 - drying assembly;

[0161] 40 - door assembly; 411 - assembly part; 42 - outer wall; 43 - inner wall;

[0162] 50 - cleaning cloth transfer mechanism; 51 - transport mechanism;

[0163] 511 - base; 511a - front shell; 511b - rear shell; 511c - first end; 511d - second end;

[0164] 5111 - second rack; 5112 - guide structure; 5113 - first guide groove;

[0165] 5114 - groove wall; 5115 - guide rod; 5116 - positioning bearing; 5117 - universal ball bearing;

[0166] 512 - lifting bracket; 5121 - first rack;

[0167] 513 - lifting limiting block; 5131 - second guide part; 5132 - top rod;

[0168] 5133 - first roller; 5134 - wheel shaft; 5135 - second roller;

[0169] 514 - first driving assembly; 5141 - first motor; 5142 - first gear;​

[0170] 515 - second driving assembly; 5151 - second motor;

[0171] 516 - guide plate; 5161 - first guide part; 5162 - matching surface;

[0172] 5163 - second guide groove; 5164 - guide column; 5165 - connecting piece;

[0173] 52 - transport track;

[0174] 53 - walking mechanism; 531 - first transmission piece; 532 - transmission rod; 5321 - transmission gear;

[0175] 533 - third driving assembly; 5331 - third motor; 5332 - worm gear; 5333 - worm;

[0176] 200 - cleaning cloth assembly. DETAILED DESCRIPTION

[0177] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0178] In order to improve the automation degree of the cleaning equipment and further reduce the work burden of the user in the aspect of home cleaning. In the related art, a cleaning base station matched with the cleaning equipment is designed. When the cleaning equipment needs to clean the cleaning cloth assembly (such as a mop assembly) after completing a part of cleaning work, the cleaning equipment can return to the cleaning base station, and the cleaning base station can clean and dry the cleaning cloth assembly on the cleaning equipment, and then the cleaning equipment can continue to be put into cleaning work.

[0179] However, the existing cleaning robot is usually configured with a single cleaning piece (such as a roller brush, an edge brush or a cleaning cloth assembly), and the brush body is driven to rotate by a motor to realize ground cleaning. In the case that the user does not participate, the cleaning robot cannot switch the cleaning piece by itself.

[0180] However, different ground materials (such as hard floor, short pile carpet and long pile carpet) and stain types (dust, liquid spatter and sticky dirt) have significant differences in the demand for cleaning piece characteristics. When continuously cleaning different areas, the single cleaning piece carrying pollutants can cause cross contamination.

[0181] To solve the above technical problems, the application provides a cleaning cloth transfer mechanism, a cleaning base station and a cleaning system, wherein the cleaning system comprises a cleaning device and a cleaning base station. The cleaning base station is provided with a cleaning cloth transfer mechanism and a plurality of target positions capable of storing cleaning cloth assemblies. The cleaning cloth transfer mechanism can transfer the cleaning cloth assemblies in the target positions.

[0182] The bottom of the cleaning device is provided with a cleaning assembly, for example, a roller brush, an edge brush and a cleaning cloth assembly, etc., which can complete the cleaning work of the area to be cleaned through dust collection, mopping, wet wiping and the like. The cleaning base station can provide an automatic charging interface for the cleaning device to ensure that the device is ready at any time. The cleaning base station can also be equipped with a clean water tank and a sewage tank to support automatic cleaning, drying and disinfection of the cleaning cloth assembly on the cleaning device.

[0183] The cleaning cloth assembly on the cleaning device in the application can be detached, and the cleaning system can comprise a plurality of replaceable cleaning cloth assemblies for the cleaning device, wherein the types of the plurality of replaceable cleaning cloth assemblies can be different. In this way, different cleaning cloth assemblies can be selected when cleaning different areas, thereby avoiding cross contamination.

[0184] The cleaning cloth transfer mechanism, the cleaning base station and the cleaning system provided in the application will be described in detail below with reference to the accompanying drawings.

[0185] Figure 1 A structural schematic diagram of a cleaning base station provided in the application. Figure 2 An exploded structural schematic diagram of a cleaning base station provided in the application.

[0186] The application provides a cleaning base station 100, as shown in the drawings, Figure 1 The cleaning base station 100 can comprise a base station body 10, and the base station body 10 can comprise a parking area 13, which can be used at least for parking the cleaning device. The parking area 13 is usually located at the bottom of the base station body 10, and a cleaning tank 131 is usually arranged at the bottom of the parking area 13, which is used at least for cleaning the cleaning cloth assembly 200 of the cleaning device.

[0187] In this way, when the cleaning device enters the parking area 13, the cleaning cloth assembly 200 or other cleaning assembly located at the bottom of the cleaning device can be conveniently cleaned. In addition, the cleaning device can also be charged in the parking area 13, and in the application, the action of the cleaning device in the parking area 13 is not limited further.

[0188] It should be noted that in some embodiments, the area where the cleaning tank 131 is located is the parking area 13. The opening of the parking area 13 is the opening of the cleaning tank 131.

[0189] Continuing to refer toFigure 1 As shown, the base station body 10 can also include a rear end face 17, side faces, a bottom face 19 and a top face 18. The side faces are two, which are a first side face 15 and a second side face 16. The first side face 15 and the second side face 16 are oppositely arranged along a first direction, the rear end face 17 is oppositely arranged with the front end face 14 along a second direction, the first side face 15 and the second side face 16 are respectively located between the front end face 14 and the rear end face 17, the top face 18 and the ground are oppositely arranged along a height direction of the base station body 10, the top face 18 is located at the top of the front end face 14 and the rear end face 17, and the bottom face 19 is located at the bottom of the cleaning tank 131, that is, the face located on the ground during use. The first direction, the second direction and the height direction of the base station body 10 are perpendicular to each other in pairs.

[0190] It should be noted that, for the convenience of description, in the embodiments of the present application, the first direction can be taken as the width direction of the base station body 10, that is, the x direction in the figure. The second direction can be taken as the depth direction of the cleaning base station 100, that is, the y direction in the figure. The height direction of the base station body 10 is the z direction in the figure.

[0191] The cleaning base station 100 in the embodiments of the present application can conveniently clean the cleaning cloth assembly 200 of the cleaning equipment corresponding to the cleaning base station 100 by arranging the cleaning tank 131 at the bottom of the base station, avoiding manual cleaning and reducing the burden on the user. By integrating the cleaning cloth storage bin 21 in the base station body 10, the cleaning cloth assembly 200 (for example, a mop assembly) of the cleaning equipment can be stored in a centralized manner, and the cleaning cloth assembly 200 is conveniently stored. By integrating the drying assembly 30 in the base station body 10, the cleaning cloth assembly 200 can be directly dried by the drying assembly 30 at the cleaning tank 131, or placed on the cleaning cloth storage bin 21 for centralized drying, without the need for additional manual intervention. Such an automatic design improves the convenience and efficiency of use. Compared with the related art, in which the cleaning equipment cleans and dries the used cleaning cloth assembly 200 through the base station and then continues the cleaning work that has not been completed, the present scheme can directly replace the cleaning cloth assembly 200 of the cleaning equipment with a clean and dry one, so that the cleaning equipment can quickly continue the cleaning work, reduce the turnover time of the cleaning cloth assembly 200, make it can be put into use faster, and improve the overall work efficiency. Thus, the cleaning efficiency of the cleaning equipment can be improved.

[0192] Continuing to refer to Figure 1As shown, the cleaning tank 131 can include an opening through which the cleaning device can enter the cleaning tank 131. The cleaning tank 131 is provided with a cleaning device that can be used to clean the cloth assembly 200 of the cleaning device. When the cleaning device is in the cleaning tank 131, the cloth assembly 200 can be detached from the cleaning device and installed in the cleaning tank 131 for cleaning. Of course, the cloth assembly 200 fixed to the bottom of the cleaning device can also be directly cleaned by the cleaning device.

[0193] In one possible implementation, the base station body 10 can also be provided with a cloth receiving unit 132, which is used to receive the cloth assembly 200 detached from the cleaning device and to receive the cloth assembly 200 to be installed on the cleaning device.

[0194] That is, when the cloth assembly 200 needs to be cleaned, the cleaning device can enter the parking area 13 or the cleaning tank 131, and then the cloth assembly 200 can be detached into the cloth receiving unit 132. The cloth assembly 200 in the cloth receiving unit 132 can be placed in the cleaning tank 131 by the cloth receiving unit 132, or the cloth assembly 200 in the cloth receiving unit 132 can be taken to the cleaning tank 131 by a taking component provided in the cleaning tank 131.

[0195] When the cleaning device needs to replace a clean cloth assembly 200, the transport mechanism 51 can transport the cloth assembly 200 in the cloth storage bin 21 to the cloth receiving unit 132. The cleaning device directly installs a new cloth assembly 200 from the cloth receiving unit 132. Alternatively, the cloth receiving unit 132 places the cloth assembly 200 in the cleaning tank 131, or the cloth assembly 200 in the cloth receiving unit 132 can be taken to the cleaning tank 131 by a taking component provided in the cleaning tank 131, and the cleaning device installs a new cloth assembly 200 in the cleaning tank 131. That is, the cloth receiving unit 132 functions as a transit for the cloth assembly 200.

[0196] In some embodiments, the cloth receiving unit 132 can be located in the parking area 13, for example, the cloth receiving unit 132 is formed in the cleaning tank, which can simplify the structure of the cleaning base station 100 and reduce the cost. By providing the cleaning tank 131 in the parking area 13, automatic cleaning of the cloth can be achieved, reducing manual intervention and improving use convenience. The cleaning tank 131 can be used exclusively for cleaning the cloth assembly 200, ensuring that the cloth is clean before each use and improving the overall cleaning effect of the cleaning device. Integrating the cleaning function in the parking area 13 avoids the need for additional cleaning equipment and saves space.

[0197] The cleaning cloth receiving unit 132 is arranged in the parking area 13, so that the user can conveniently dismount and mount the cleaning cloth assembly 200, and the operation process is simplified. By combining the cleaning cloth receiving unit 132 with the cleaning tank 131, the dirty cleaning cloth can directly enter the cleaning process, and the possibility of pollution spreading is reduced. The user can complete the dismounting, cleaning and mounting of the cleaning cloth in a centralized area, and the use efficiency of the cleaning equipment is improved. The cleaning cloth receiving unit 132 helps to keep the parking area 13 clean, so that the cleaning cloth assembly 200 is stored in order and disorder is avoided.

[0198] The cleaning cloth receiving unit 132 is formed in the cleaning tank 131. The cleaning cloth receiving unit 132 can be combined with the cleaning tank 131, which reduces the additional space required for separately arranging the cleaning cloth receiving unit 132, and makes the entire parking area 13 design more compact. The dismounting, cleaning and mounting of the cleaning cloth can also be completed at the same location, which reduces unnecessary movement and operation steps, and improves the use convenience. The cleaning cloth assembly 200 can be directly cleaned in the cleaning cloth receiving unit 132, which reduces the risk of secondary pollution caused by the movement of the cleaning cloth between different locations.

[0199] In some other embodiments, the cleaning cloth receiving unit 132 can be located in the upper space of the cleaning tank. Through reasonable transfer design, the contact between the clean cleaning cloth and the used cleaning cloth can be effectively reduced, the risk of cross contamination is reduced, and the cleaning effect is ensured.

[0200] Hereinafter, the cleaning cloth receiving unit 132 is formed in the cleaning tank 131, that is, the cleaning tank 131 is taken as an example.

[0201] For example, the opening of the cleaning tank 131 is located at the front end face 14 of the base station body 10, that is, the cleaning equipment can enter the cleaning tank 131 from the front of the base station body 10.

[0202] It should be noted that the front end face 14 and the rear end face 17 in the embodiments of the present application are the faces that are directed to the outside of the installation space when in use, and can also be considered as the faces that can be entered by the cleaning equipment. For example, when the cleaning base station 100 is embeddedly installed, the face that can be entered by the cleaning equipment needs to be directed to the outside, so that the cleaning equipment can enter the cleaning base station 100.

[0203] As shown in FIG. 1, the cleaning base station 100 is embeddedly installed in the wall, and the front end face 14 of the base station body 10 is directed to the outside of the wall. Figure 2As shown, the cleaning base station 100 can include a plurality of cleaning cloth storage bins 21 and a cleaning cloth transfer mechanism 50. The cleaning base station 100 further includes a cleaning cloth receiving unit 132 disposed in the base station body 10. The cleaning cloth receiving unit 132 is configured to receive the cleaning cloth assembly 200 detached from the cleaning device and to receive the cleaning cloth assembly 200 to be installed on the cleaning device. The cleaning base station 100 further includes a plurality of cleaning cloth storage bins 21 disposed in the base station body 10. The cleaning cloth storage bins 21 are configured to store the cleaning cloth assembly 200 to be replaced by the cleaning device. The cleaning base station 100 further includes a cleaning cloth transfer mechanism 50 configured to transport the cleaning cloth assembly 200 between the cleaning cloth receiving unit 132 and the plurality of cleaning cloth storage bins 21. The plurality of cleaning cloth storage bins 21 can store different types of cleaning cloth assemblies 200.

[0204] The cleaning base station 100 can further include a recognition module (not shown in the figures) disposed on the base station body 10. The recognition module is configured to detect whether the cleaning cloth assembly 200 disposed in the cleaning cloth storage bin 21 corresponds to the cleaning cloth storage bin 21.

[0205] The cleaning base station 100, the cleaning cloth receiving unit 132 and the plurality of cleaning cloth storage bins 21 can make the management of the cleaning cloth assembly 200 more efficient, quickly handle the replacement and storage of the cleaning cloth, and reduce the downtime of the device. The plurality of cleaning cloth storage bins 21 can store different types of cleaning cloth assemblies 200 to meet the needs of different cleaning tasks, avoid cross-contamination, and improve the adaptability and flexibility of the system. The recognition module can automatically detect whether the cleaning cloth assembly 200 is correctly stored in the corresponding cleaning cloth storage bin 21, reduce the need for manual inspection, and improve the accuracy and efficiency of the operation. The cleaning cloth transfer mechanism 50 can efficiently transport the cleaning cloth assembly 200 between the cleaning cloth receiving unit 132 and the cleaning cloth storage bins 21, optimize the internal logistics process, and improve the overall operation efficiency. The automated recognition and transfer can reduce the need for human intervention, reduce labor costs, and improve the safety of the operation.

[0206] In a possible implementation, the recognition module can be further configured to detect the type of the cleaning cloth assembly 200 on the transport mechanism 51 of the cleaning cloth transfer mechanism 50. The transport mechanism 51 can include a control device connected to the recognition module. The control device is configured to control the transport mechanism 51 to move to the cleaning cloth storage bin 21 matching the type of the cleaning cloth assembly 200 according to the type of the cleaning cloth assembly 200 detected by the recognition module.

[0207] By real-time detection of the cleaning cloth assembly 200 type through the recognition module, the system can automatically identify and classify different types of cleaning cloth assemblies 200, realizing intelligent management. According to the information provided by the recognition module, the control device automatically controls the transportation mechanism 51 to move the cleaning cloth assembly 200 to the corresponding storage bin, reducing manual intervention and improving operation efficiency. The automatic identification and classification function reduces errors in manual operation, ensures that the cleaning cloth assembly 200 is correctly stored in the corresponding storage bin, and improves the accuracy and reliability of the system. Through automatic identification and transportation, the logistics process of the cleaning cloth assembly 200 between the transfer bin and the storage bin is optimized, and the turnover speed of the cleaning cloth assembly 200 is accelerated. The system can dynamically adjust the storage and transportation strategy according to different types of cleaning cloth assemblies 200, adapting to diversified cleaning needs.

[0208] In a possible implementation, the colors of different types of cleaning cloth assemblies 200 can be different, and the recognition module includes a color camera. In other embodiments, the materials of different types of cleaning cloth assemblies 200 are different, and the recognition module can include a visual recognition system.

[0209] Using a color camera can quickly identify the color of the cleaning cloth assembly 200, thereby distinguishing different types of cleaning cloths. This method is simple and intuitive, and is suitable for cleaning cloth assemblies 200 with obvious color differences. The visual recognition system can analyze the material characteristics (such as texture, gloss, etc.) of the cleaning cloth, thereby identifying different types of cleaning cloths. This method is suitable for cleaning cloth assemblies 200 with obvious material differences. Through automated visual recognition technology, the system can identify the cleaning cloth type in real time and automatically, reducing manual intervention and improving operation efficiency. Visual recognition technology provides high-precision recognition capability, reducing the possibility of misjudgment and incorrect classification, and improving the accuracy and reliability of the system. The system can adjust the recognition parameters and algorithms according to different application requirements to adapt to different cleaning cloth types and recognition requirements. Automated identification reduces the need for manual inspection and classification, reducing labor costs and operation complexity.

[0210] In a possible embodiment, the base station body 10 can also include a detection device (not shown in the figure), which is used at least to detect whether the transportation mechanism 51 is located at a preset position. The control device is connected with the detection device and the transportation mechanism 51, for example, the control device and the detection device and the transportation mechanism 51 can be electrically connected or communicatively connected, and the control device is used to control the transportation mechanism 51 to pick up or place the cleaning cloth assembly 200 when the transportation mechanism 51 is located at the preset position.

[0211] In the embodiments of the present application, the position of the detection device is not limited, for example, it can be arranged on the base station body, the cleaning cloth storage bin, or the transportation track, etc.

[0212] The cleaning base station 100 in the embodiments of the present application can store the cloth assemblies 200 that can be replaced by the cleaning device in the base station body 10, which facilitates the storage of the cloth assemblies 200 and the replacement of the corresponding cloth assemblies 200 when cleaning different areas, thereby avoiding cross contamination. The transport mechanism 51 can automatically transport the cloth assemblies 200 to be replaced from the cloth storage compartment 21 to the cloth receiving unit 132 for replacement of the cleaning device, and can also automatically transport the cloth assemblies 200 replaced by the cleaning device to the cloth storage compartment 21 for storage for next use. In some cases, the cloth assemblies 200 can also be stored. The storage space of the cleaning base station 100 is improved, and the process of replacing the cloth assemblies 200 can be an automatic process without manual intervention, which improves the automation of the system and reduces the workload of the user.

[0213] The detection device can monitor the position of the transport mechanism 51 in real time to ensure that it accurately reaches the preset position. The control device can automatically perform the operation of picking up or placing the cloth assemblies 200 according to the feedback of the detection device, which improves the automation degree of the system. Through automatic detection and control, the need for manual intervention can be reduced, the cleaning process can be accelerated, and the overall work efficiency can be improved. In addition, the detection device ensures the accurate positioning of the transport mechanism 51, which can reduce the error operation caused by the position deviation, thereby improving the reliability and accuracy of the system. The collision or misoperation of the transport mechanism 51 with other components can also be avoided, which prolongs the service life of the cleaning base station 100.

[0214] In one possible implementation, the cleaning base station 100 further includes a drying assembly 30 for drying the cloth assemblies 200. For example, the drying assembly 30 is used to dry the cloth assemblies 200 in the cleaning tank 131 and on the cloth storage compartment 21. That is, in some cases, the cloth assemblies 200 in the cleaning tank 131 and on the cloth storage compartment 21 can be dried, and in other cases, the cloth assemblies 200 on the cloth storage compartment 21 can be dried.

[0215] For example, when the cleaning device finishes cleaning the area to be cleaned and enters the cleaning base station 100 for the last time, the cleaning device can be directly dried in the cleaning tank 131 after the cleaning of the cleaning cloth assembly 200 is completed, and then the dried cleaning cloth assembly 200 is placed in the cleaning tank 131 or the cleaning cloth storage bin 21 for next use. When the cleaning device returns to the cleaning base station 100 in the middle of cleaning the area to be cleaned, the used cleaning cloth assembly 200 on the cleaning device can be placed in the cleaning tank 131 for cleaning, and after the cleaning of the cleaning cloth assembly 200 is completed, the cleaning cloth assembly 200 is transported from the cleaning tank 131 to the cleaning cloth storage bin 21 by the transportation mechanism 51, and then the dry and clean cleaning cloth assembly 200 is taken from the cleaning cloth storage bin 21 by the transportation mechanism 51 and transported to the cleaning tank 131 for replacement of the cleaning device, so that the cleaning device enters the next stage of cleaning work.

[0216] By integrating the drying assembly 30 in the base station body 10, the cleaning cloth assembly 200 can be directly dried in the cleaning tank 131 by the drying assembly 30, or concentrated drying on the transportation mechanism 51 and the cleaning cloth storage bin 21 without additional manual intervention. Such an automatic design improves the convenience and efficiency of use. Compared with the related art, the cleaning device washes and dries the used cleaning cloth assembly 200 through the base station and then continues the cleaning work that has not been completed before, and the present scheme can directly replace the cleaning device with a clean and dry cleaning cloth assembly 200 to enable the cleaning device to quickly continue the cleaning work, reduce the turnover time of the cleaning cloth assembly 200, enable it to be used more quickly next time, and improve the overall work efficiency. Thus, the cleaning efficiency of the cleaning device can be improved.

[0217] In a possible implementation, the base station body 10 is provided with a movable space 11 for movement of the transportation mechanism 51, and the movable space 11 can cover all the cleaning cloth storage bins 21 and the parking area 13. That is, a part of the movable space 11 can be opposite to the cleaning cloth storage bin 21 and located on the side of the cleaning cloth storage bin 21 facing the base station body 10, and the other part can be located on the top of the cleaning tank 131 (the parking area 13). The transportation mechanism 51 can be used to carry the cleaning cloth assembly 200 and also can be used to transport the cleaning cloth assembly 200 between the cleaning tank 131 (the cleaning cloth receiving unit 132) and the cleaning cloth storage bin 21.

[0218] In the first direction (x direction), the movable space 11 is provided with transportation tracks 52 on both sides, and the two ends of the transportation mechanism 51 are respectively connected with the transportation tracks 52 on both sides of the movable space 11, and the transportation mechanism 51 can reciprocate along the transportation tracks 52.

[0219] By setting the active space 11 in the base station body 10, the overall design is more compact and efficient. The special design of the active space 11 can provide specific active space 11 for the transportation mechanism 51, reduce the interference of the transportation mechanism 51 with other components, and improve the safety of operation. By setting the transportation track 52 on both sides of the active space 11, better support and stability can be provided, reducing the shaking and deviation of the transportation mechanism 51 during movement. Guided by the transportation track 52, the transportation mechanism 51 can move along the predetermined path, ensuring that the transportation mechanism 51 can accurately reach the designated position, improving the accuracy of operation.

[0220] In the embodiments of the present application, the transportation mechanism 51 can have a picking function and a placing function, so that the transportation mechanism 51 can pick up the cleaning tank 131 (cloth receiving unit 132) and the cloth assembly 200 on the cloth storage bin 21 located in the docking area 13 to the transportation mechanism 51, and can also place the cloth assembly 200 on the transportation mechanism 51 on the cleaning tank 131 (cloth receiving unit 132) and the cloth storage bin 21. Among them, the transportation mechanism 51 can pick up or place the cloth assembly 200 from the top surface 18 of the cleaning tank 131.

[0221] Continuing to refer to Figure 2 As shown, the base station body 10 is provided with a transportation track 52 for the transportation mechanism 51 to walk. The track can be fixedly arranged on the base station body 10, and the transportation track 52 can extend from the position corresponding to the cleaning tank 131 to the top of the base station body 10. The transportation mechanism 51 is movably connected with the track, and the transportation mechanism can reciprocate along the transportation track 52, thereby realizing automatic transportation of the cloth assembly 200 between the cloth storage bin 21 and the cleaning tank 131.

[0222] For example, the active space 11 is provided with a transportation track 52 on both sides of the first direction, and the transportation mechanism 51 is movably connected with the transportation track 52 located on both sides of the active space 11 at both ends of the first direction.

[0223] By setting the active space 11 in the base station body 10, the overall design is more compact and efficient. The special design of the active space 11 can provide specific active space 11 for the transportation mechanism 51, reduce the interference of the transportation mechanism 51 with other components, and improve the safety of operation. By setting the transportation track 52 on both sides of the active space 11, better support and stability can be provided, reducing the shaking and deviation of the transportation mechanism 51 during movement. Guided by the transportation track 52, the transportation mechanism 51 can move along the predetermined path, ensuring that the transportation mechanism 51 can accurately reach the designated position, improving the accuracy of operation.

[0224] In a possible implementation, the transportation track 52 can be a rack structure, and the transportation mechanism 51 can include a gear that is in transmission connection with the rack.

[0225] In this way, the structure of the transportation track 52 and the transportation mechanism 51 can be simplified, the rack and pinion system structure is relatively simple, easy to design and manufacture, and is also convenient for maintenance and replacement. The meshing of the gear and the rack provides a stable transmission mode, reduces the possibility of slipping or out of step, and improves the reliability of the system. The meshing transmission mode of the gear and the rack can achieve high-precision linear motion control, and ensure accurate positioning of the transportation mechanism 51 on the transportation track 52, which is particularly important for application scenarios that require accurate operation.

[0226] Of course, in other embodiments, the transportation track 52 can also be provided as a synchronous belt, and the transportation mechanism 51 can include a gear that is in transmission connection with the synchronous belt. Alternatively, the transportation track 52 can be provided as a gear, and the transportation mechanism 51 can include a synchronous belt that is in transmission connection with the gear. Alternatively, the transportation track 52 is a track structure, and the transportation mechanism 51 includes a roller. In the embodiments of the present application, the specific transmission structure between the transportation track 52 and the transportation mechanism 51 is not further limited.

[0227] In a possible implementation, as shown in Figure 3 The cleaning base station 100 can include a door assembly 40 and a dust collection module 12. The door assembly 40 is openable and closable to the base station body 10, and when the door assembly 40 is in a closed state, it can at least partially shield the cloth storage compartment 21. The dust collection module 12 is arranged on the base station body 10, and when the door assembly 40 is in a closed state, it can shield the dust collection module 12. The dust collection module 12 is used to transfer dirt in the cleaning equipment located in the parking area 13 to the dust collection module 12.

[0228] By providing the openable and closable door assembly 40, the cloth storage compartment 21 and the dust collection module 12 can be effectively protected from the external environment, such as dust, moisture and other pollutants, when the door assembly 40 is in a closed state, to ensure the cleanliness and normal function of the internal components. Through the design of the dust collection module 12, the door assembly 40 can automatically dock the cleaning equipment when it is closed, quickly and efficiently transferring dirt and improving cleaning efficiency. When the dust collection module 12 needs to be maintained, the dust collection module 12 can be directly accessed by opening the door assembly 40, facilitating maintenance.

[0229] For example, the door assembly 40 can be openable and closable to the front end face 14 or the rear end face 17 of the base station body 10. Figure 3The door assembly 40 is disposed on the front end face 14 of the base station body 10. By disposing the door assembly 40 on the front end face 14 of the base station body 10, the user can easily access and operate the internal components, such as the cloth storage compartment 21 and the dust collection module 12, for daily maintenance and cleaning. The front-end door design generally does not require additional side or top space to open, which makes the base station body 10 more compactly placed in limited space, optimizing space utilization. The front-end door assembly 40 is generally more in line with the user's operation habits, reducing learning and adaptation time, and improving user satisfaction.

[0230] Continuing to refer to Figure 3 As shown, the door assembly 40 is located outside the dust collection module 12. When the door assembly 40 is opened, the dust collection module 12 can be directly accessed. For example, the dust collection module 12 can be a dust collection box or a dust collection bag, and the dust collection bag can be replaced or the garbage in the dust collection box can be disposed of by opening the door assembly 40.

[0231] In this way, the door assembly 40 can serve as a component that carries the cloth storage compartment 21 and also serves as an opening cover for the base station body 10 when disposing of garbage in the dust collection module 12. That is, one component can perform two functions, which optimizes the internal space layout of the base station body 10 and makes the cleaning base station 100 more compact. Due to the reduction in the number of components, the overall structure of the cleaning base station 100 is simplified, and the material and assembly costs can be reduced. In addition, the simplified design can reduce the need for molds and processing procedures, thereby further saving costs. When cleaning and maintaining, the user only needs to operate one door assembly 40 to access the drying assembly 30 and the dust collection box, improving user experience and operation convenience.

[0232] It should be noted that in some embodiments, the base station body 10 can also not be provided with a dust collection module 12, or the dust collection module 12 can be disposed at other positions. In the embodiments of the present application, the presence or absence of the dust collection module 12 and the position of the dust collection module 12 are not further limited.

[0233] In some embodiments, as shown in Figure 3 As shown, the cloth storage compartment 21 can be formed on the inner side of the door assembly 40 and formed on the door assembly 40. That is, the cloth storage compartment 21 and the door assembly 40 are integrated, and when the door assembly 40 is opened, the cloth storage compartment 21 will also be opened with the door assembly 40 on the base station body 10.

[0234] By integrating the cleaning cloth storage bin 21 inside the door assembly 40, the internal space of the door assembly 40 can be effectively utilized, the external space is reduced, and the overall design is more compact. The cleaning cloth storage bin 21 is located inside the door assembly 40, and the user can quickly access the cleaning cloth assembly 200 by simply opening the door assembly 40, which is convenient for replacement and maintenance. The storage bin is located inside the door assembly 40, which can better protect the cleaning cloth assembly 200 from the external environment, such as dust and moisture, and keep the cleaning cloth clean and dry. The setting of the cleaning tank 131 allows the cleaning device to directly dock and clean the cleaning cloth assembly 200, reducing the operation steps and improving the cleaning efficiency. By cleaning the cleaning cloth assembly 200 in a dedicated cleaning tank 131, the risk of cross contamination is reduced. The user can easily perform the storage and cleaning operation of the cleaning cloth assembly 200, improving the use convenience of the device and the user satisfaction.

[0235] For example, the door assembly 40 can include an outer wall 42 and an inner wall 43, and the inner wall 43 forms the cleaning cloth storage bin 21. The inner wall 43 of the door assembly 40 is provided with a plurality of cleaning cloth storage bins 21, and the cleaning cloth storage bin 21 can be an open structure. The outer wall 42 of the base station body 10 is formed on the side of the outer wall 42 away from the inner wall 43.

[0236] In a possible implementation, the door assembly 40 can be arranged at the front end face 14 of the base station body 10. In the embodiments of the present application, the arrangement position of the door assembly 40 is not limited further.

[0237] The cleaning cloth transfer mechanism 50 in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0238] The cleaning cloth transfer mechanism 50 provided in the embodiments of the present application is used to transfer the cleaning cloth assembly 200 of the cleaning base station 100, as shown in the figure. Figure 4 As shown in the figure, the cleaning cloth transfer mechanism 50 can include a transport mechanism 51, which can include a base 511, a lifting support 512, and a lifting limiting block 513. The lifting support 512 and the lifting limiting block 513 are both arranged in an extendable manner on the base 511. When the lifting support 512 extends away from the base 511 to a picking position, the target bin position of the cleaning cloth assembly 200 can be picked up. When the lifting support 512 extends away from the base 511 to a dismounting position, the cleaning cloth assembly 200 can be placed in the target bin position.

[0239] It should be noted that the target bin position can be a cleaning cloth storage position or a bin position on the cleaning cloth transfer unit. In addition, the picking position and the dismounting position can be the same position, or they can be different positions. The specific arrangement can be determined according to the specific situation, and in the embodiments of the present application, it is not limited further.

[0240] Exemplarily, when the cleaning cloth assembly 200 is located on the transportation mechanism 51, the lifting limiting block 513 is opposite to the cleaning cloth assembly 200, and the lifting limiting block 513 is used at least for abutting against the cleaning cloth assembly 200 when extending to the disassembling position away from the base 511, so as to limit the movement of the cleaning cloth assembly 200 away from the target position.

[0241] It should be noted that the length of the lifting limiting block 513 extending out of the base 511 can be the same as or different from the length of the lifting support 512 extending out of the base 511, and in the embodiment of the present application, the length of the lifting limiting block 513 extending out of the base 511 is not limited further in the disassembling position.

[0242] The cleaning cloth transportation mechanism 50 in the embodiment of the present application can automatically transport the cleaning cloth assembly 200 on the cleaning base 100, and can conveniently and automatically transport the cleaning cloth assembly 200 to be replaced to the target position for the cleaning equipment to replace, and can also automatically transport the cleaning cloth assembly 200 replaced by the cleaning equipment to another target position for storage for next use.

[0243] Through the telescopic function of the lifting support 512 and the lifting limiting block 513, the automatic picking and placing of the cleaning cloth assembly 200 are realized, the manual intervention is reduced, and the operation efficiency is improved. Through the abutment of the lifting limiting block 513 against the cleaning cloth assembly 200 when the cleaning cloth assembly 200 is placed in the target position, a pushing effect is generated, so that the cleaning cloth assembly 200 is transferred from the transportation mechanism 51 to the target position, so as to ensure that the cleaning cloth assembly 200 will not fall off from the target position. Through the automatic and accurate operation, the process of replacing the cleaning cloth assembly 200 can be an automatic process, without manual intervention, so as to improve the automation of the system and reduce the work burden of the user.

[0244] As shown in Figure 5 The base 511 includes a front shell 511a and a rear shell 511b oppositely arranged along the telescopic direction, and a containing space is formed between the front shell 511a and the rear shell 511b, which can accommodate the lifting support 512 and the lifting limiting block 513. The lifting support 512 and the lifting limiting block 513 extend out of the front shell 511a.

[0245] The transport mechanism 51 can further include a first driving assembly 514, a second driving assembly 515, and a control device (not shown in the figure). The first driving assembly 514 is in transmission connection with the lifting support 512, and the first driving assembly 514 is configured to drive the lifting support 512 to perform telescopic movement. The second driving assembly 515 is in transmission connection with the lifting limiting block 513, and the second driving assembly 515 is configured to drive the lifting limiting block 513 to perform telescopic movement. The control device is connected (which can be electrical connection or communication connection) with the first driving assembly 514 and the second driving assembly 515, and the control device is configured to control the lifting support 512 and the lifting limiting block 513 to extend to the disassembly position away from the base 511, and control the lifting limiting block 513 to be retracted later than the lifting support 512. For example, the lifting limiting block 513 can be retracted after the wiping cloth assembly 200 is not followed by the lifting support 512 to retract.

[0246] In a possible implementation, the wiping cloth assembly 200 can include a first magnetic member (not shown in the figure), the lifting support 512 can include a second magnetic member, the wiping cloth storage bin 21 can be provided with a third magnetic member (for example, the third magnetic member can be arranged on the assembly portion 411, or the outer wall 42 of the door group can be used as the third magnetic member, etc.), and the wiping cloth receiving unit 132 can be provided with a fourth magnetic member.

[0247] For example, when the wiping cloth assembly 200 is located in the wiping cloth storage bin 21, and the lifting support 512 is retracted to the first magnetic member, the attraction force between the first magnetic member and the second magnetic member is less than the attraction force between the first magnetic member and the third magnetic member, the lifting limiting block 513 is controlled to be retracted.

[0248] When the wiping cloth assembly 200 is located in the wiping cloth receiving unit 132, and the lifting support 512 is retracted to the first magnetic member, the attraction force between the first magnetic member and the second magnetic member is less than the sum of the attraction force between the first magnetic member and the fourth magnetic member and the gravity of the wiping cloth assembly 200, the lifting limiting block 513 is controlled to be retracted.

[0249] In some other embodiments, when the wiping cloth receiving unit 132 does not have the fourth magnetic member, when the wiping cloth assembly 200 is located in the wiping cloth receiving unit 132, and the lifting support 512 is retracted to the first magnetic member, the attraction force between the first magnetic member and the second magnetic member is less than the gravity of the wiping cloth assembly 200, the lifting limiting block 513 is controlled to be retracted.

[0250] The automatic control of the transport mechanism 51 can be realized by the control device controlling the first driving assembly 514 and the second driving assembly 515, so as to realize automatic taking of the wiping cloth assembly 200 or automatic disassembly of the wiping cloth assembly 200, reduce manual intervention, and improve user experience.

[0251] By controlling the lifting limiting block 513 to be withdrawn later than the lifting support 512, it can be ensured that the cloth assembly 200 is stably connected with the target bin, that is, it can be ensured that the cloth assembly 200 can be separated from the lifting support 512 and connected with the target bin, and the lifting support 512 is prevented from bringing the cloth assembly 200 back to the transport mechanism 51 in the process of retraction, so as to cause the cloth assembly 200 to fall off or fail to be disassembled.

[0252] Continuing to refer to Figure 5 As shown, the base 511 can be provided with a guide plate 516, which is movably connected with the base 511 in a first direction (x direction) perpendicular to the extension direction (y direction) of the lifting limiting block 513.

[0253] Figure 6 Part of the structure of a cloth transport mechanism 50 provided by the embodiment of the present application is shown. Figure 6 One side of the guide plate 516 away from the extension direction of the lifting limiting block 513 is shown in FIG. 5B.

[0254] As shown in FIG. 5C, Figure 6 The guide plate 516 can include a first guide portion 5161, and the lifting limiting block 513 is provided with a second guide portion 5131 matched with the first guide portion 5161.

[0255] As shown in FIG. 5D, Figure 7 The first guide portion 5161 can include a matching surface 5162, and the second guide portion 5131 moves along the matching surface 5162 when the guide plate 516 moves in the first direction (x direction). The matching surface 5162 is a slope structure, and the inclination direction of the slope structure is configured to convert the movement of the guide plate 516 in the first direction (x direction) into the extension and retraction movement of the lifting limiting block 513.

[0256] As shown in FIG. 5E, Figure 7 When the guide plate 516 moves in the positive direction of the x direction, the position where the first guide portion 5161 cooperates with the second guide portion 5131 gradually moves toward the extension direction of the lifting limiting block 513, thereby driving the second guide portion 5131 to extend outward.

[0257] In this way, by setting the matching surface 5162 between the first guide part 5161 and the second guide part 5131 as a slope structure, the movement of the guide plate 516 in the first direction (x direction) can be effectively converted into the vertical extension and retraction movement of the lifting limiting block 513, realizing the conversion between movements in different directions and increasing the functionality of the system. By integrating the movement conversion into the base 511, space is saved, making the entire system more compact and suitable for use in environments with limited space. The smooth movement of the slope structure reduces mechanical friction and impact, reduces operating noise, and provides a quieter working environment. By utilizing the slope structure to realize movement conversion, the need for complex mechanical transmission devices is reduced, simplifying the overall structural design and reducing manufacturing and maintenance costs. In addition, this also allows precise control of the movement of the lifting limiting block 513, and by adjusting the movement distance of the guide plate 516, the extension and retraction degree of the lifting limiting block 513 can be precisely controlled.

[0258] In one possible implementation, one of the first guide part 5161 and the second guide part 5131 is a groove structure. The other of the first guide part 5161 and the second guide part 5131 is a sliding block structure. The matching surface 5162 is formed on the inner wall 43 of the groove structure.

[0259] In the embodiments of the present application, the first guide part 5161 is a groove structure, and the second guide part 5131 is a sliding block structure. Of course, in other embodiments, the second guide part 5131 can also be provided as a groove structure, and the first guide part 5161 can be provided as a sliding block structure. In the embodiments of the present application, the specific structure of the first guide part 5161 and the second guide part 5131 is not further limited.

[0260] By designing one of the first guide part 5161 and the second guide part 5131 as a groove structure and the other as a sliding block structure, and forming the matching surface 5162 on the inner wall 43 of the groove structure, since the groove structure and the sliding block structure are relatively simple, easy to manufacture and assemble, the production cost and complexity are reduced. In addition, the movement of the sliding block structure in the groove structure provides precise guiding function, ensuring the accuracy of the movement path and reducing deviation and error. The cooperation of the groove structure and the sliding block structure provides a smooth movement path, reduces friction and jamming phenomenon, and ensures smooth operation of the system. The slope structure of the matching surface 5162 can be designed and adjusted as needed to realize specific movement conversion and force transmission functions, adapting to different application requirements.

[0261] Continuing to refer to Figure 7As shown, the outer side of the lifting limiting block 513 can be provided with a guide structure 5112. The guide structure 5112 includes a first guide groove 5113 and a groove wall 5114 fixed to the base 511. Part of the structure of the lifting limiting block 513 is embedded in the first guide groove 5113, and the lifting limiting block 513 is movably connected with the first guide groove 5113.

[0262] For example, the lifting limiting block 513 performs telescopic motion along the extension direction of the first guide groove 5113. The extension direction of the first guide groove 5113 is the same as the telescopic direction of the lifting limiting block 513, which is the y direction in the embodiment of the present application.

[0263] In this way, the first guide groove 5113 provides a clear motion path for the lifting limiting block 513, ensuring that it maintains accurate direction and position during telescopic motion, reducing deviation and error. The structure of the guide groove and the groove wall 5114 provides additional support and stability to prevent the lifting limiting block 513 from shaking or tilting during motion. By embedding part of the structure of the lifting limiting block 513 in the first guide groove 5113, the motion of the lifting limiting block 513 is more compact, saving space and suitable for use in environments with limited space.

[0264] In addition, such a guide structure 5112 is relatively simple, easy to manufacture and assemble, reducing production cost and complexity. Due to the simple structure, the wearing parts of the guide groove and the lifting limiting block 513 are easy to check and replace, simplifying the maintenance process.

[0265] Figure 8 As shown, the lifting limiting block 513 can include a top rod 5132, a first roller 5133, an axle 5134, and a second roller 5135. The first roller 5133 and the second roller 5135 are connected by the axle 5134, the axle 5134 is fixedly connected with the top rod 5132, and the first roller 5133 and the top rod 5132 are embedded in the first guide groove 5113. The second roller 5135 serves as the second guide part 5131, and the side wall surface of the first roller 5133 is closer to the wall surface of the guide structure 5112 than the side wall surface of the top rod 5132. Figure 8 For example, the top rod 5132 extends along the telescopic direction of the lifting limiting block 513, the axle 5134 is perpendicular to the top rod 5132 and extends along the z direction, and the first roller 5133 and the second roller 5135 are respectively located at both ends of the axle 5134 and are fixedly connected with the axle 5134. In this way, the first roller 5133 and the second roller 5135 can rotate synchronously.

[0266]

[0267] ​It can be understood that the top rod 5132 can be provided with a containing cavity containing the first roller 5133, and the number of the first roller 5133 is at least one, and when the number of the first roller is multiple, the first rollers can be arranged at intervals along the extension direction of the top rod 5132. In the embodiment of the present application, the number of the first roller is not limited further.

[0268] In this way, the first roller 5133 and the second roller 5135 jointly provide a guiding function, ensuring that the movement of the lifting limiting block 513 in the first guide groove 5113 is more stable and smooth, and reducing shaking and deviation. By using the first roller 5133 and the second roller 5135, the lifting limiting block 513 and the guide structure 5112 and the first guide part 5161 are all in rolling connection, that is, the first roller 5133 and the guide structure 5112 of the guide structure 5112 are in rolling friction, and the second roller 5135 and the first guide part 5161 are also in rolling friction, which can reduce the movement resistance of the top rod 5132, enable the lifting limiting block 513 to move more easily in the guide groove, improve the efficiency and response speed of the system, and also reduce surface contact and wear, prolong the service life of the lifting limiting block 513 and the guide groove. The rolling characteristics of the first roller 5133 and the second roller 5135 provide a smooth movement path, reduce the phenomenon of jamming, and ensure smooth operation of the lifting limiting block 513.

[0269] In a possible implementation manner, as shown in Figure 9 The guide plate 516 can include a second guide groove 5163 and a guide column 5164. The guide column 5164 is fixedly connected with the base 511, and part of the structure of the guide column 5164 is movably arranged in the second guide groove 5163 along the first direction (x direction). For example, the guide column 5164 is fixedly connected with the base 511 by a fastener. Of course, in other embodiments, the guide column 5164 can also be fixedly connected by other means.

[0270] Referring to Figure 9 The second guide groove 5163 extends along the first direction (x direction), and the length of the second guide groove 5163 in the first direction (x direction) is used to limit the movement stroke of the guide plate 516 along the first direction (x direction).

[0271] It should be noted that in the embodiment of the present application, the length of the second guide groove 5163 in the first direction (x direction) is not limited, and can be set according to actual conditions.

[0272] In the embodiments of the present application, the movement of the guide column 5164 in the second guide groove 5163 provides precise guiding function, ensuring the movement path of the guide plate 516 in the first direction (x direction) is accurate, reducing deviation and error. The length of the second guide groove 5163 in the first direction (x direction) directly limits the movement stroke of the guide plate 516, preventing it from exceeding the predetermined operating range, improving the safety and reliability of the system. The cooperation of the guide column 5164 and the second guide groove 5163 provides additional stability, preventing the guide plate 516 from shaking or tilting during movement. The second guide groove 5163 and the guide column 5164 have simple structure, easy to manufacture and assemble, which can reduce production cost and complexity.

[0273] In some embodiments, continuing to refer to Figure 6 As shown, two lifting limit blocks 513 can be provided outside one lifting support 512. The distribution direction of the two lifting limit blocks 513 is perpendicular to the first direction (x direction) and the extension direction of the lifting limit block 513, and the lifting support 512 is located between the two lifting limit blocks 513. In the embodiments of the present application, the distribution direction of the two lifting limit blocks 513 is the z direction. Of course, in other embodiments, it can also be arranged in other directions, and in the embodiments of the present application, the distribution direction of the two lifting limit blocks 513 is not limited further.

[0274] In this way, the symmetrical distribution of the two lifting limit blocks 513 provides additional support and stability for the lifting support 512, preventing the support from tilting or shaking during lifting. By providing lifting limit blocks 513 on both sides, the movement path of the lifting support 512 can be more accurately controlled, reducing deviation and error and improving operation accuracy. This design provides redundant limiting function, even if one lifting limit block 513 fails, the other lifting limit block 513 can still provide the necessary support and limitation, increasing the safety of the system.

[0275] As Figure 10 shown, the second driving assembly 515 can include a second motor 5151 and a second gear (not shown in the figure). The second motor 5151 is in transmission connection with the second gear, and the second motor 5151 is used to drive the second gear to rotate. The base 511 is provided with a second rack 5111 extending in the first direction (x direction), and the second gear is in transmission connection with the second rack 5111. The second driving assembly 515 is fixedly connected with the guide plate 516. The second rack 5111 is fixedly connected with the base 511.

[0276] For example, the second rack 5111 can be a separate structure from the base 511, and fixedly connected to the base 511 by fasteners. Alternatively, the second rack 5111 can be an integral structure with the base 511, directly formed on the base 511. In this embodiment, the connection relationship between the second rack 5111 and the base 511 is not further limited.

[0277] By driving the second gear and rack 5111 through the second motor 5151, precise control of the guide plate 516's position can be achieved, ensuring the guide plate 516's motion accuracy in the first direction (x-direction). The gear and rack transmission method has efficient force transmission capability, effectively converting the motor's rotational motion into the linear motion of the guide plate 516, thereby improving system efficiency. By fixing the second drive assembly 515 to the guide plate 516, additional connecting parts can be reduced, making the system design more compact and saving space. The gear and rack transmission system has good reversibility, easily achieving forward and reverse motion of the guide plate 516, increasing system flexibility. The structure of the gear and rack is relatively simple and readily available, thus reducing costs.

[0278] In some embodiments, a lifting limit block 513 may correspond to a guide plate 516 (e.g., Figure 10 (As shown). In the distribution direction (z-direction) of the two lifting limit blocks 513, the guide plate 516 is located on the side of the lifting limit block 513 away from the lifting bracket 512, and the two guide plates 516 corresponding to the two lifting limit blocks 513 are connected by a connector 5165. The second drive assembly 515 is fixed to the connector 5165 so that the two guide plates 516 are driven by a second drive assembly 515.

[0279] For example, the two guide plates 516 can be a separate structure (not shown in the figure) connected by a connector 5165.

[0280] Of course, in some other embodiments, the connector 5165 can be integrated with the two guide plates 516, which can reduce the number of connecting parts, thereby reducing assembly difficulty and cost.

[0281] The two guide plates 516 are connected together by the connecting piece 5165 and driven by a second driving assembly 515, ensuring the synchronous movement of the two lifting limit blocks 513, avoiding structural distortion or instability caused by asynchronization. The number of required drivers can also be reduced, thereby reducing the overall cost of the system. Since only one driving assembly is required, the complexity of the control system is greatly reduced, simplifying the control logic and operation of the system. In addition, by using the connecting piece 5165 and the single second driving assembly 515, the occupied space of the system can be reduced, making the design more compact and suitable for use in environments with limited space.

[0282] For example, the connecting piece 5165 forms an assembly groove between the two guide plates 516, and the second driving assembly 515 is arranged in the assembly groove.

[0283] By embedding the second driving assembly 515 in the assembly groove, the internal space of the connecting piece 5165 can be effectively utilized, reducing the external occupied space of the system and making the overall design more compact. The assembly groove provides a protective shell for the second driving assembly 515, reducing the influence of external environment (such as dust, moisture, physical impact, etc.) on the second driving assembly 515, improving the durability and reliability of the system. The second driving assembly 515 is located at the center position of the connecting piece 5165, which helps to optimize the force transmission path and reduce unnecessary mechanical stress and wear.

[0284] In some other embodiments, as shown in Figure 6 One lifting limit block 513 can correspond to one guide plate 516. In the distribution direction (z direction) of the two lifting limit blocks 513, the guide plate 516 is located on the side of the lifting limit block 513 away from the lifting support 512. The number of lifting supports 512 can be multiple, and the multiple lifting supports 512 are arranged at intervals along the first direction (x direction). The guide plates 516 corresponding to the lifting limit blocks 513 corresponding to the multiple lifting supports 512 are connected by the connecting piece 5165. The second driving assembly 515 is fixed to the connecting piece 5165, so that the guide plates 516 corresponding to the lifting limit blocks 513 corresponding to the multiple lifting supports 512 are driven by the second driving assembly 515.

[0285] The plurality of guide plates 516 are connected together by the connecting piece 5165, and a second driving assembly 515 is used to ensure the synchronous movement of all the lifting supports 512, avoiding structural instability or inconsistent operation caused by asynchronization. Using a single second driving assembly 515 to control multiple lifting supports 512 reduces the number of drivers, thereby reducing the overall cost of the system. Since only one second driving assembly 515 is needed, the system design and control logic are simplified, reducing the complexity of the control system and development time. By using the connecting piece 5165 and the single second driving assembly 515, the occupied space of the system is reduced, making the design more compact and suitable for use in environments with limited space.

[0286] Continuing to participate Figure 6 As shown, the connecting piece 5165 forms an assembly groove between the two guide plates 516, and the second driving assembly 515 is arranged in the assembly groove.

[0287] By embedding the second driving assembly 515 in the assembly groove, the internal space of the connecting piece 5165 can be effectively utilized, reducing the external occupied space of the system and making the overall design more compact. The assembly groove provides a protective shell for the second driving assembly 515, reducing the influence of external environment (such as dust, moisture, physical impact, etc.) on the second driving assembly 515, improving the durability and reliability of the system. The second driving assembly 515 is located at the center position of the connecting piece 5165, which helps to optimize the force transmission path and reduce unnecessary mechanical stress and wear.

[0288] It can be understood that in the embodiments of the present application, the part with a first guide part 5161 and a second guide groove 5163 and a guide column 5164 can be used as a guide plate 516, and the connecting part between the plurality of guide plates 516 can be used as a connecting piece 5165. In the embodiments of the present application, the plurality of guide plates 516 and the connecting piece 5165 are arranged as an integrated structure, which can facilitate processing and reduce costs.

[0289] Figure 11 A partial structure schematic view at the lifting support 512 is shown.

[0290] As Figure 11 shown, the base 511 is provided with a guide rod 5115 located at the outer peripheral side of the lifting support 512. The guide rod 5115 extends along the extension direction of the lifting support 512, and the guide rod 5115 passes through part of the structure of the lifting support 512 and is movably connected with the lifting support 512.

[0291] Exemplarily, the number of guide rods 5115 can be multiple, and the multiple guide rods 5115 are arranged outside the lifting support 512. In the embodiment of the present application, the number of guide rods 5115 is not limited further.

[0292] In this way, the guide rods 5115 can provide additional support and guiding functions for the lifting support 512, prevent the lifting support 512 from shaking or tilting during the extension and retraction process, and improve the stability of the system. The guide rods 5115 ensure that the lifting support 512 moves along a predetermined path, reducing deviation and error and improving movement accuracy. The use of the guide rods 5115 simplifies the design of the system, reduces the need for complex guiding mechanisms, and reduces production costs.

[0293] Continuing to refer to Figure 11 As shown, the first driving assembly 514 can include a first motor 5141 and a first gear 5142. The first motor 5141 is in driving connection with the first gear 5142, and the first motor 5141 is configured to drive the first gear 5142 to rotate. The lifting support 512 is provided with a first rack 5121 extending along the extension direction (y direction) of the lifting support 512, and the first gear 5142 is in driving connection with the first rack 5121.

[0294] Through the driving connection between the first motor 5141 and the first gear 5142 and the first rack 5121, the position of the lifting support 512 can be controlled accurately, and the movement accuracy of the lifting support 512 in the extension direction can be ensured. The gear and rack transmission mode has high force transmission capacity, can effectively convert the rotary motion of the motor into the linear motion of the guide plate 516, and thus improves the efficiency of the system. The gear and rack transmission system has good reversibility, can easily realize the forward and reverse movement of the lifting support 512, and increases the flexibility of the system. The gear and rack structure is relatively simple and easy to obtain, and thus the cost can be reduced.

[0295] The working process of the transportation mechanism 51 will be described below.

[0296] In one possible implementation, the target position can include a first position and a second position, wherein the first position can be located on the cloth carrying unit, and the second position can be the cloth storage bin 21.

[0297] For example, the first storage position is arranged in a horizontal direction, and is used to receive the cleaning cloth assembly 200 disassembled from the cleaning device and to receive the cleaning cloth assembly 200 to be installed on the cleaning device. The second storage position is arranged in a vertical direction or a horizontal direction, and is used to store the cleaning cloth assembly 200 to be replaced by the cleaning device. When the cleaning cloth storage 21 is located on the door assembly 40, the second storage position is arranged in the vertical direction. When the cleaning cloth storage 21 is located in the upper space of the parking area 13, the second storage position is arranged in the horizontal direction.

[0298] The pickup position and the disassembly position can be different for different target storage positions.

[0299] For example, the pickup position can include a first pickup position and a second pickup position. When the lifting support 512 extends to the first pickup position away from the base 511, the cleaning cloth assembly 200 located in the first storage position can be taken. When the lifting support 512 extends to the second pickup position away from the base 511, the cleaning cloth assembly 200 located in the second storage position can be taken.

[0300] For example, the disassembly position can include a first disassembly position and a second disassembly position. When the lifting support 512 extends to the first disassembly position away from the base 511, the cleaning cloth assembly 200 can be placed in the first storage position. When the lifting support 512 extends to the second disassembly position away from the base 511, the cleaning cloth assembly 200 can be placed in the second storage position.

[0301] By arranging the target storage position to include the first storage position and the second storage position, the applicability of the system can be improved, the accuracy of picking up and placing can be improved, and it can be ensured that the cleaning cloth assembly 200 can be accurately picked up or placed in any target storage position, thereby improving the accuracy of the system.

[0302] In some embodiments, the cleaning cloth assembly 200 can include a first magnetic member, and the lifting support 512 can include a second magnetic member. When the transport mechanism 51 is opposite to the first storage position and the lifting support 512 is located at the first pickup position, the attractive force of the second magnetic member to the first magnetic member is at least greater than the gravity of the cleaning cloth assembly 200.

[0303] In this way, the structure of the cleaning cloth assembly 200 can be simplified. The mutual attraction between the first magnetic member and the second magnetic member can help to automatically align and fix the cleaning cloth assembly 200, ensure its stability during picking up, placing and storing, and reduce the risk of misalignment and sliding. The magnetic connection makes the picking up and placing process of the cleaning cloth assembly 200 simpler and faster, without the need for complex mechanical locking or manual adjustment, thereby improving the operation efficiency. Since the magnetic connection does not require mechanical buckling or clamping, physical contact and friction are reduced, thereby reducing the wear of the components and improving the durability of the system.

[0304] In some other embodiments, the first storage position is provided with a third magnetic member, and the second storage position is provided with a fourth magnetic member. When the transport mechanism 51 is opposite to the first storage position and the lifting support 512 is located at the first picking position, the attraction force of the second magnetic member to the first magnetic member is greater than the sum of the attraction force of the third magnetic member to the first magnetic member and the gravity of the wiping cloth assembly 200.

[0305] When the second storage position is arranged along the vertical direction, the transport mechanism 51 is opposite to the second storage position, and the lifting support 512 is located at the second picking position, the attraction force of the second magnetic member to the first magnetic member is greater than the attraction force of the fourth magnetic member to the first magnetic member.

[0306] When the second storage position is arranged along the horizontal direction, the transport mechanism 51 is opposite to the second storage position, and the lifting support 512 is located at the second picking position, the attraction force of the second magnetic member to the first magnetic member is greater than the difference between the attraction force of the fourth magnetic member to the first magnetic member and the gravity of the wiping cloth assembly 200.

[0307] In this way, the structure of the first storage position and the second storage position can be simplified, and the difficulty of picking and placing can be reduced, thereby reducing the cost and improving the efficiency.

[0308] For example, the first magnetic member can be a component with magnetic attraction capability, such as a positive magnet, and the second magnetic member, the third magnetic member, and the fourth magnetic member can be metal members. Alternatively, the first magnetic member can be a metal member, and the second magnetic member, the third magnetic member, and the fourth magnetic member can be metal members, as long as they can realize mutual magnetic attraction.

[0309] It should be noted that, in the embodiments of the present application, whether the wiping cloth assembly 200 is provided with the first magnetic member, whether the transport mechanism 51 is provided with the second magnetic member, whether the first storage position is provided with the third magnetic member, and whether the second storage position is provided with the fourth magnetic member are not limited further. In some embodiments, the wiping cloth assembly 200 can be provided with the first magnetic member.

[0310] It should be noted that the distance of the lifting support 512 extending when located at the first picking position is a first distance. The distance of the lifting support 512 extending when located at the second picking position is a second distance. The first distance and the second distance are both greater than zero. The first distance and the second distance can be the same or different. Specifically, they can be set according to specific conditions, and the size relationship between the first distance and the second distance is not limited further in the embodiments of the present application.

[0311] In this way, the lifting support 512 is allowed to extend different distances at different positions, so that the wiping cloth transport mechanism 50 can transport wiping cloth assemblies 200 at different positions, thereby improving the versatility and applicability of the mechanism.

[0312] It should be noted that the distance of the extension of the lifting support 512 when located at the first disassembly position is a third distance. The distance of the extension of the lifting support 512 when located at the second disassembly position is a fourth distance. The third distance and the fourth distance are both greater than zero. The third distance and the fourth distance are the same or different. Specifically, the third distance and the fourth distance can be set according to specific circumstances. In the embodiments of the present application, the size relationship between the third distance and the fourth distance is not further limited.

[0313] In this way, the lifting support 512 can extend different distances at different positions, so that the cloth transfer mechanism 50 can transfer the cloth assembly 200 at different positions, thereby improving the versatility and applicability of the mechanism.

[0314] In a possible implementation, the detection device can also be used to detect whether the base 511 has a cloth assembly 200, and to detect whether the target position has a cloth assembly 200. The control device is connected (electrically connected or communicatively connected) with the detection device, and the control device is used to control the lifting support 512 to pick up the cloth assembly 200 located at the target position or to place the cloth assembly 200 on the transport mechanism 51 at the target position according to the information detected by the detection device.

[0315] Through the combination of the detection device and the control device, automatic detection and processing of the cloth assembly 200 are realized, manual intervention is reduced, and the automation level of the system is improved. The automatic detection and control mechanism can quickly identify the presence or absence of the cloth assembly 200 and make corresponding operation decisions, significantly improving work efficiency. The detection device provides real-time feedback, ensuring that the lifting support 512 only operates when needed, reducing the possibility of misoperation and incorrect placement, and improving the accuracy of the system. Through precise control of the picking and placing of the cloth assembly 200, unnecessary repeated operations and resource waste are avoided, and resource utilization is improved.

[0316] For example, the detection device can include multiple detection pieces, and different detection pieces can be used to detect different information. For example, a Hall sensor, an infrared sensor, an image acquisition device, and a distance sensor can be used to detect whether the transport mechanism 51 is located at a predetermined position.

[0317] The infrared sensor can be used to detect whether the base 511 has a cloth assembly 200, and to detect whether the target position has a cloth assembly 200. In the embodiments of the present application, the specific type of detection piece is not further limited.

[0318] Figure 12 A structural schematic diagram of a transport mechanism 51 of a cloth transfer mechanism 50 provided in an embodiment of the present application is shown. Figure 12 A structural schematic diagram of a walking mechanism 53 of the transport mechanism 51 is shown.

[0319] As Figure 12As shown, the base 511 is provided with a walking mechanism 53 cooperating with the transport track 52. The walking mechanism 53 is in rolling cooperation with the transport track 52, and the base 511 can reciprocate along the transport track 52 through the walking mechanism 53. Exemplarily, the walking mechanism 53 can include a first transmission member 531 and a transmission rod 532 extending out of the base 511 along a first direction (x direction). In the first direction (x direction), the transmission rod 532 is provided with a first transmission member 531 at each end outside the base 511. The first transmission member 531 is used to roll with the transport track 52.

[0320] Exemplarily, the transport track 52 is provided with a second transmission member, and the first transmission member 531 is in transmission connection with the second transmission member, so as to roll the first transmission member 531 with the transport track 52. In some embodiments, the transport track 52 can be used as the second transmission member, that is, the transport track 52 is the second transmission member. Or the transport track 52 can be regarded as a mounting groove for the second transmission member.

[0321] Through the cooperation of the transport track 52 and the walking mechanism 53, the base 511 can quickly move between different positions, improving the efficiency of the transfer of the cloth assembly 200. The transport track 52 provides a clear movement path, ensuring that the base 511 can accurately reach the designated position, reducing positioning errors. The rolling cooperation of the walking mechanism 53 and the transport track 52 reduces friction, making the movement of the base 511 more stable, reducing vibration and noise. The rolling cooperation design reduces the wear and tear between moving parts, prolonging the service life of the equipment. The transport track 52 limits the movement range of the base 511, thereby reducing the risk of accidental collision and derailment, improving operation safety. The structure of the transport track 52 and the walking mechanism 53 is relatively simple, easy to check and maintain, reducing maintenance cost and complexity.

[0322] In some embodiments, the first transmission member 531 can be a gear structure, and the second transmission member can be a rack structure.

[0323] In some other embodiments, the first transmission member 531 can be a synchronous belt, and the second transmission member can be a gear structure. Or the first transmission member 531 is a gear structure, and the second transmission member is a synchronous belt. Or the first transmission member 531 is a roller, and the second transmission member is a track structure. In the embodiments of the present application, the specific structure of the first transmission member 531 and the second transmission member is not further limited.

[0324] In this way, the design flexibility of the first transmission member 531 and the second transmission member can be improved, and a suitable transmission member can be selected according to actual needs. By setting the first transmission member 531 as a gear structure and the second transmission member as a rack structure, high-precision linear transmission can be provided, and reliable power transmission can also be provided, reducing the possibility of slipping. In addition, the gear and rack structure is simple and easy to assemble, which can reduce the assembly difficulty. The synchronous belt can reduce noise during transmission and provide a quieter operating environment. The synchronous belt can absorb vibration and impact within a certain range, protecting other components of the transmission system. The synchronous belt does not need to be lubricated, reducing maintenance requirements. The combination of the roller and the track provides smooth linear motion, which is suitable for applications that require smooth movement. The rolling contact reduces friction, reducing energy consumption and wear. The structure of the roller and the track is simple, easy to install and maintain.

[0325] As shown in Figure 12 , the base 511 of the transport mechanism 51 can also be provided with a third driving assembly 533. The third driving assembly 533 is used to drive the first transmission member 531 to rotate. For example, the third driving assembly 533 can drive the transmission rod 532 to rotate, and in turn drive the first transmission member 531 located at both ends of the transmission rod 532 to rotate.

[0326] For example, as shown in Figure 13 , the third driving assembly 533 can include a third motor 5331, a worm gear 5332 and a worm 5333. The output end of the third motor 5331 is connected with the worm 5333, the worm 5333 is in transmission connection with the worm gear 5332, the worm gear 5332 is in transmission connection with the transmission rod 532, and the transmission rod 532 is in transmission connection with the first transmission member 531.

[0327] As shown in Figure 13 , the transmission rod 532 can be provided with a transmission gear 5321, and the worm gear 5332 is in transmission connection with the transmission gear 5321.

[0328] By setting the worm gear 5332 and the worm 5333, high-torque transmission can be achieved. In addition, the worm 5333 has a self-locking feature, that is, the worm gear 5332 cannot drive the worm 5333 in the opposite direction without external force. This feature improves the safety of the system, preventing accidental movement during power failure or stoppage, and also allows the transport mechanism 51 to stay at a certain position without moving, thereby completing the picking or placing action at that position.

[0329] The assembly relationship between the cloth transfer mechanism 50 and the base body 10 will be described below with reference to the accompanying drawings.

[0330] In one possible implementation, as shown in Figure 14As shown, the cleaning base station 100 can include a first support plate 151 and a second support plate 161 arranged opposite in a first direction (x direction) perpendicular to the extension direction of the lifting limiting block 513. Among them, the two transport rails 52 are arranged opposite on the side of the first support plate 151 facing the second support plate 161 and the side of the second support plate 161 facing the first support plate 151, and the extension directions of the two transport rails 52 are the same.

[0331] It should be noted that the first support plate 151 is formed on the side of the first side 15 of the base station body 10 facing the cleaning tank 131, and the second support plate 161 is formed on the side of the second side 16 of the base station body 10 facing the cleaning tank 131.

[0332] By arranging the first support plate 151 and the second support plate 161 on the cleaning base station 100, a firm support structure can be provided for the transport rails 52, ensuring the stability and reliability of the transport rails 52. The transmission rod 532 extends in the first direction (x direction) and is provided with a first transmission member 531 at both ends, which is in rolling engagement with the transport rails 52. In this way, one drive motor can be used to drive the walking parts at both ends of the base 511, thereby reducing the number of drive components and simplifying the structure and reducing the cost. Better balance and support can also be provided, so that the movement of the two ends of the base 511 remains synchronized, preventing the base 511 from tilting or shaking during transportation and causing the transport rails 52 to jam. The rolling engagement of the first transmission member 531 with the transport rails 52 reduces friction, reduces energy consumption and wear, and improves the efficiency and service life of the system. The design of the transmission rod 532 and the transmission member ensures accurate positioning of the base 511 on the transport rails 52, reduces positioning errors, and improves operation accuracy.

[0333] For ease of description, in the first direction (x direction), the end of the base 511 facing the first support plate 151 is referred to as the first end 511c of the base 511, and the end of the base 511 facing the second support plate 161 is referred to as the second end 511d of the base 511. The first end 511c of the base 511 and the second end 511d of the base 511 are both provided with a positioning bearing 5116, and the center axis of rotation of the positioning bearing 5116 is parallel to the first direction (x direction) (see Figure 6 As shown).

[0334] As shown in Figure 15 The first support plate 151 and the second support plate 161 are both provided with a third guide groove 1511 cooperating with the positioning bearing 5116, and the extension direction of the third guide groove 1511 is the same as the extension direction of the transport rails 52. At least part of the structure of the positioning bearing 5116 is embedded in the third guide groove 1511, and the outer ring of the positioning bearing 5116 forms a rolling connection with the side wall of the third guide groove 1511.

[0335] The cloth transfer mechanism 50 in the embodiments of the present application provides additional support and guidance for the system by setting the positioning bearing 5116 and the third guide groove 1511, ensuring the stability of the base 511 when moving on the transportation track 52, preventing tilting and shaking. The third guide groove 1511 provides a clear movement path for the base 511, in which the positioning bearing 5116 rolls, ensuring accurate movement of the base 511 in the predetermined direction, improving positioning accuracy. The rolling connection of the positioning bearing 5116 reduces friction between the base 511 and the third guide groove 1511, reducing energy consumption and wear, improving the efficiency and service life of the system. The design of rolling connection makes the movement of the base 511 more stable, reduces vibration and noise, and improves the operating environment.

[0336] In one possible implementation, continuing to refer to Figure 6 As shown, the base 511 can be a quadrilateral structure. The first end 511c of the base 511 and the second end 511d of the base 511 are each provided with two positioning bearings 5116. The two positioning bearings 5116 located at the same end of the base 511 in the first direction (x direction) are spaced apart along the extension direction of the transportation track 52. The distance between the two positioning bearings 5116 is configured to not interfere with the components of the base station body 10 when the transportation mechanism 51 moves along the transportation track 52.

[0337] In some embodiments, the distance between the two positioning bearings 5116 located at the same end can be as large as possible, which can reduce the risk of interference between the transportation mechanism 51 and the internal components of the base station body 10.

[0338] By providing two positioning bearings 5116 at each end of the base 511, a wider support base is provided, increasing the stability of the base 511 during movement, preventing tilting and shaking. The positioning bearings 5116 are spaced apart to ensure accurate guidance of the base 511 along the transportation track 52, reducing movement deviation and improving positioning accuracy. By reasonably configuring the distance between the positioning bearings 5116, it is ensured that there is no interference with other components of the base station body 10 when the transportation mechanism 51 moves, avoiding potential mechanical conflicts and damage. The design of avoiding interference reduces the risk of accidental collision, improves the safety of the system, especially when running at high speed. This design allows the distance and position of the bearings to be adjusted according to specific application requirements, to adapt to different space layouts and operation requirements.

[0339] Continuing to refer to Figure 6As shown, the base 511 can further include universal ball bearings 5117. Exemplarily, two universal ball bearings 5117 are provided at the first end 511c of the base 511 and the second end 511d of the base 511. The two universal ball bearings 5117 at the same end of the base 511 in the first direction (x direction) are spaced apart along the extension direction of the transportation track 52, and the two universal ball bearings 5117 are respectively arranged close to the two positioning bearings 5116. The universal ball bearing 5117 at the first end 511c of the base 511 is in abutment with the first support plate 151 at the end of the base 511 away from the first direction (x direction), and the universal ball bearing 5117 at the second end 511d of the base 511 is in abutment with the second support plate 161 at the end of the base 511 away from the first direction (x direction).

[0340] In this way, the universal ball bearings 5117 allow the base 511 to move and rotate freely in multiple directions, providing greater flexibility to adapt to complex movement requirements. By providing multiple universal ball bearings 5117 at each end of the base 511, a wider support base is provided, increasing the stability of the base 511 during movement and preventing tilting and shaking. The universal ball bearings 5117 reduce friction between the base 511 and the first support wall and the second support plate 161 through rolling contact, reducing energy consumption and wear, and improving the efficiency and service life of the system. The universal ball bearings 5117 provide a smooth movement path, making the base 511 move more smoothly on the track, reducing vibration and noise. Reasonably configuring the position and spacing of the universal ball bearings 5117 ensures that they do not interfere with other components of the base station body 10 when the transportation mechanism 51 moves, avoiding potential mechanical conflicts and damage. The use of universal ball bearings 5117 reduces the risk of jamming and blockage, improving the safety of the system.

[0341] In the embodiments of the present application, the spacing between the positioning bearings 5116 and the universal ball bearings 5117 is not further limited as long as the functions thereof can be achieved.

[0342] The embodiments of the present application also provide a cleaning system, which includes a cleaning device and a cleaning base station 100 according to any one of the above embodiments. The cleaning device is a mop robot or a mop-sweeping integrated robot. The cleaning device is detachably connected with the cloth assembly 200.

[0343] Exemplarily, the cleaning device includes but is not limited to a mop robot, a mop-sweeping integrated robot, a sweeping robot, a scrubber, a dust collector, a window cleaning robot, a swimming pool cleaning robot, a carpet cleaning machine, a multifunctional cleaning robot, etc.

[0344] The cleaning system in the embodiments of the present application, by setting the cleaning base station 100, by integrating the cleaning cloth storage bin 21 in the base station body 10, the cleaning cloth assembly 200 can be stored centrally, which is convenient for storing the cleaning cloth assembly 200, and the corresponding cleaning cloth assembly 200 can be replaced when cleaning different areas, avoiding cross contamination.

[0345] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0346] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation to the present application.

[0347] In the description of the present application, it should be understood that the terms "include" and "have" and any variations thereof used herein are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units need not be limited to those clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0348] Unless otherwise expressly provided and limited, the terms "mount", "connect", "connect", "fix", and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or can be integrated; can be directly connected, or indirectly connected through an intermediate medium; can be connected inside two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated.

[0349] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cloth transfer mechanism characterized by comprising: A cleaning base station for transporting a cloth assembly, comprising: A transport mechanism, including a base, a lifting support and a lifting limiting block, the lifting support and the lifting limiting block are both telescopically arranged on the base, when the lifting support extends to a picking position away from the base, the cloth assembly in a target position can be picked up, when the lifting support extends to a disassembling position away from the base, the cloth assembly can be placed in the target position; wherein, When the cloth assembly is on the transport mechanism, the lifting limiting block is opposite to part of the cloth assembly, the lifting limiting block is used for abutting against the cloth assembly at least when extending to the disassembling position away from the base, so as to limit the cloth assembly from moving away from the target position.

2. The cloth transfer mechanism according to claim 1, characterized by, The transport mechanism further comprises: A first driving assembly, in transmission connection with the lifting support, the first driving assembly is used for driving the lifting support to telescopically move; A second driving assembly, in transmission connection with the lifting limiting block, the second driving assembly is used for driving the lifting limiting block to telescopically move; A control device, connected with the first driving assembly and the second driving assembly, the control device is used for controlling the lifting support and the lifting limiting block to extend to the disassembling position away from the base, and controlling the lifting limiting block to be retracted later than the lifting support.

3. The cloth transfer mechanism according to claim 2, characterized by, A guide plate is arranged in the base, the guide plate is movably connected with the base in a first direction, the first direction is perpendicular to the telescopic direction of the lifting limiting block; wherein, The guide plate comprises a first guide part, a second guide part is arranged on the lifting limiting block and matched with the first guide part; The first guide part comprises a matching surface, when the guide plate moves along the first direction, the second guide part moves along the matching surface; wherein, The matching surface is a slope structure, the inclination direction of the slope structure is configured to convert the movement of the guide plate along the first direction into the telescopic movement of the lifting limiting block.

4. The cloth transfer mechanism according to claim 3, characterized by The second driving assembly comprises a second motor and a second gear; The second motor is in transmission connection with the second gear, the second motor is used for driving the second gear to rotate; A second rack is arranged on the base and extends along the first direction, the second gear is in transmission connection with the second rack; The second driving assembly is fixedly connected with the guide plate; The second rack is fixedly connected with the base.

5. The cloth transfer mechanism according to claim 3 or 4, characterized by One of the first guide part and the second guide part is a groove structure; The other one of the first guide part and the second guide part is a sliding block structure; The matching surface is formed on the inner wall of the groove structure.

6. The cloth transfer mechanism according to claim 3 or 4, characterized by A guide structure is arranged on the outside of the lifting limiting block; The guide structure comprises a first guide groove and a groove wall, the groove wall is fixed on the base, part of the structure of the lifting limiting block is embedded in the first guide groove, and the lifting limiting block is movably connected with the first guide groove; The lifting limiting block performs telescopic movement along the extension direction of the first guide groove.

7. The cloth transfer mechanism according to claim 6, characterized by The lifting limiting block comprises a top rod, a first roller, an axle and a second roller; The first roller and the second roller are connected through the wheel shaft, the wheel shaft is fixedly connected with the top rod, and the first roller and the top rod are embedded in the first guide groove. The second roller serves as the second guide part, and the side wall surface of the first roller is closer to the wall surface of the groove wall than the side wall surface of the top rod.

8. The cloth transfer mechanism according to claim 3 or 4, characterized by The guide plate comprises a second guide groove and a guide column; The guide column is fixedly connected with the base, and part of the structure of the guide column is movably arranged in the second guide groove in the first direction; The second guide groove extends in the first direction, and the length of the second guide groove in the first direction is used to define the moving stroke of the guide plate in the first direction.

9. The cloth transfer mechanism according to claim 3 or 4, characterized by, The outer side of one of the lifting supports is provided with two lifting limiting blocks. The distribution direction of the two lifting limiting blocks is perpendicular to the first direction and the extension direction of the lifting limiting blocks, and the lifting support is located between the two lifting limiting blocks.

10. The cloth transfer mechanism of claim 9, wherein, One of the lifting limiting blocks corresponds to one of the guide plates. In the distribution direction of the two lifting limiting blocks, the guide plates are located on the side of the lifting limiting blocks away from the lifting support, and the two guide plates corresponding to the two lifting limiting blocks are connected through a connecting piece. The second driving assembly is fixed to the connecting piece, so that the two guide plates are driven by one second driving assembly. The connecting piece forms an assembly groove between the two guide plates, and the second driving assembly is arranged in the assembly groove.

11. The cloth transfer mechanism of claim 9, wherein, One of the lifting limiting blocks corresponds to one of the guide plates. In the distribution direction of the two lifting limiting blocks, the guide plates are located on the side of the lifting limiting blocks away from the lifting support. The number of the lifting supports is multiple, and the multiple lifting supports are arranged at intervals in the first direction. The guide plates corresponding to the lifting limiting blocks corresponding to the multiple lifting supports are connected through a connecting piece. The second driving assembly is fixed to the connecting piece, so that the guide plates corresponding to the lifting limiting blocks corresponding to the multiple lifting supports are driven by one second driving assembly. The connecting piece forms an assembly groove between the two guide plates, and the second driving assembly is arranged in the assembly groove.

12. The cloth transfer mechanism according to any one of claims 2 to 4, wherein The base is provided with a guide rod, and the guide rod is located on the outer circumferential side of the lifting support. The guide rod extends along the extension direction of the lifting support, penetrates part of the structure of the lifting support, and is movably connected with the lifting support. The first driving assembly comprises a first motor and a first gear. The first motor is in transmission connection with the first gear, and the first motor is used to drive the first gear to rotate. The lifting support is provided with a first rack extending along the extension direction of the lifting support, and the first gear is in transmission connection with the first rack.

13. The towel transfer mechanism of any one of claims 1-4, wherein, The target position comprises a first position and a second position, the first position is arranged in a horizontal direction, and is used for receiving the cleaning cloth assembly dismounted from the cleaning device and receiving the cleaning cloth assembly to be mounted on the cleaning device, and the second position is arranged in a vertical direction or a horizontal direction, and is used for storing the cleaning cloth assembly to be replaced by the cleaning device; The picking position comprises a first picking position and a second picking position, when the lifting support extends to the first picking position away from the base, the cleaning cloth assembly in the first position can be taken, and when the lifting support extends to the second picking position away from the base, the cleaning cloth assembly in the second position can be taken; The dismounting position comprises a first dismounting position and a second dismounting position, when the lifting support extends to the first dismounting position away from the base, the cleaning cloth assembly can be placed in the first position, and when the lifting support extends to the second dismounting position away from the base, the cleaning cloth assembly can be placed in the second position.

14. The cloth transfer mechanism of claim 13, wherein, The cleaning cloth assembly comprises a first magnetic member, and the lifting support comprises a second magnetic member; When the conveying mechanism is opposite to the first position and the lifting support is located at the first picking position, the attraction of the second magnetic member to the first magnetic member is at least greater than the gravity of the cleaning cloth assembly; The first position is provided with a third magnetic member, and the second position is provided with a fourth magnetic member; When the conveying mechanism is opposite to the first position and the lifting support is located at the first picking position, the attraction of the second magnetic member to the first magnetic member is greater than the sum of the attraction of the third magnetic member to the first magnetic member and the gravity of the cleaning cloth assembly; When the second position is arranged in a vertical direction, the conveying mechanism is opposite to the second position, and the lifting support is located at the second picking position, the attraction of the second magnetic member to the first magnetic member is greater than the attraction of the fourth magnetic member to the first magnetic member; When the second position is arranged in a horizontal direction, the conveying mechanism is opposite to the second position, and the lifting support is located at the second picking position, the attraction of the second magnetic member to the first magnetic member is greater than the difference between the attraction of the fourth magnetic member to the first magnetic member and the gravity of the cleaning cloth assembly.

15. The cloth transfer mechanism of claim 14, wherein, The lifting support extends to the first picking position by a first distance; The lifting support extends to the second picking position by a second distance; The first distance and the second distance are greater than zero; The first distance and the second distance are the same or different; The lifting support extends to the first dismounting position by a third distance; The lifting support extends to the second dismounting position by a fourth distance; The third distance and the fourth distance are greater than zero; The third distance and the fourth distance are the same or different.

16. The towel transfer mechanism of any one of claims 2-4, wherein, Further comprising a detection device; The detection device is used for detecting whether the cleaning cloth assembly is on the base and detecting whether the target position has the cleaning cloth assembly. The control device is connected with the detection device, and is used for controlling the lifting support to take or place the cleaning cloth assembly on the transport mechanism at the target position according to information detected by the detection device.

17. The towel transfer mechanism of any one of claims 1-4, wherein, The cloth transport mechanism further comprises a transport track; The base is provided with a walking mechanism matched with the transport track, the walking mechanism is in rolling connection with the transport track, and the base can reciprocate along the transport track through the walking mechanism.

18. The towel transfer mechanism of claim 17, wherein, The cleaning base comprises a first support plate and a second support plate oppositely arranged along a first direction, wherein the first direction is perpendicular to the extension direction of the lifting limiting block; Two transport tracks are oppositely arranged on one side of the first support plate facing the second support plate and one side of the second support plate facing the first support plate, and the extension directions of the two transport tracks are the same; The walking mechanism comprises a first transmission member and a transmission rod, and the transmission rod extends to outside of the base along the first direction; In the first direction, two ends of the transmission rod outside the base are respectively provided with a first transmission member; The first transmission member is used for rolling connection with the transport track.

19. The towel transfer mechanism of claim 18, wherein, In the first direction, one end of the base facing the first support plate is a first end of the base, and the other end of the base facing the second support plate is a second end of the base; The first end of the base and the second end of the base are both provided with a positioning bearing, and the rotation center axis of the positioning bearing is parallel to the first direction; The first support plate and the second support plate are both provided with a third guide groove matched with the positioning bearing, and the extension direction of the third guide groove is the same as the extension direction of the transport track; At least part of the structure of the positioning bearing is embedded in the third guide groove, and the outer ring of the positioning bearing is in rolling connection with the side wall of the third guide groove.

20. The towel transfer mechanism of claim 19, wherein, The base is a quadrilateral structure; The first end of the base and the second end of the base are both provided with two positioning bearings; The two positioning bearings on the same end of the base in the first direction are spaced apart along the extension direction of the transport track; The spacing between the two positioning bearings is configured to not interfere with the components of the cleaning base when the transport mechanism moves along the transport track.

21. The cloth transfer mechanism according to claim 19 or 20, characterized in that, Further comprising a universal ball bearing; The first end of the base and the second end of the base are both provided with two universal ball bearings; The two universal ball bearings on the same end of the base in the first direction are spaced apart along the extension direction of the transport track, and the two universal ball bearings are respectively arranged close to the two positioning bearings; The universal ball bearing on the first end of the base abuts against the first support plate at one end away from the base in the first direction, and the universal ball bearing on the second end of the base abuts against the second support plate at one end away from the base in the first direction.

22. The towel transfer mechanism of any of claims 18-20, wherein, The transport mechanism is provided with a third driving assembly; The third driving assembly is in driving connection with the first transmission member, and the third driving assembly is configured to drive the first transmission member to rotate; The transportation track is internally provided with a second transmission member, and the first transmission member is in transmission connection with the second transmission member, so that the first transmission member is in rolling cooperation with the transportation track; The first transmission member is a gear structure, and the second transmission member is a rack structure; or, The first transmission member is a synchronous belt, and the second transmission member is a gear structure; or, The first transmission member is a gear structure, and the second transmission member is a synchronous belt; or, The first transmission member is a roller, and the second transmission member is a track structure. The third driving assembly comprises a third motor, a worm gear and a worm; 23. The towel transfer mechanism of claim 22, wherein, An output end of the third motor is connected with the worm, the worm is in transmission connection with the worm gear, and the worm gear is in transmission connection with the first transmission member. The base station body and the cloth transfer mechanism according to any one of claims 1-23 are arranged on the base station body.

24. A cleaning base station, characterized by, The base station body is internally provided with a cloth receiving unit and a plurality of cloth storage bins, the cloth receiving unit is configured to receive a cloth assembly detached from a cleaning device and to receive a cloth assembly to be installed on the cleaning device, and the cloth storage bins are configured to store cloth assemblies to be replaced by the cleaning device.

25. The cleaning dock of claim 24, wherein, The cloth transfer mechanism is configured to transport the cloth assemblies between the cloth receiving unit and the plurality of cloth storage bins. The types of the cloth assemblies stored in the plurality of cloth storage bins are at least partially different. The base station body is provided with an identification module, the identification module is configured to detect whether the cloth assemblies arranged on the cloth storage bins correspond to the cloth storage bins and to detect the types of the cloth assemblies on a transportation mechanism of the cloth transfer mechanism.

26. The cleaning station of claim 25, wherein, The transportation mechanism comprises a control device, the control device is connected with the identification module, and the control device is configured to control the transportation mechanism to move to the cloth storage bin matching the type of the cloth assembly according to the type of the cloth assembly detected by the identification module. The cloth assemblies of different types are different in color, and the identification module comprises a color camera; or, 27. The cleaning dock of claim 26, wherein, The cloth assemblies of different types are different in material, and the identification module comprises a visual identification system. The cleaning device is a floor mopping robot or a sweeping and mopping integrated robot.

28. A cleaning system characterized by, ​

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