Cleaning robot system

Abstract

A cleaning robot system includes a self-moving cleaning device and a base station. The self-moving cleaning device includes a machine main body, a cleaning element and a movement mechanism. The movement mechanism is connected to the machine main body and the cleaning element to drive the cleaning element to be lifted and lowered relative to the machine main body. The cleaning element and the movement mechanism are detachably connected by means of a first magnetic attraction assembly. The cleaning element is provided with a first magnetically attractable part. The base station is provided with an electromagnet. A magnetic attraction force between the energized electromagnet and the first magnetically attractable part is greater than a difference between a magnetic attraction force of the first magnetic attraction assembly and a gravitational force of the cleaning element.

1 . A cleaning robot system, comprising:
 a self-moving cleaning device, wherein the self-moving cleaning device comprises a machine main body, a cleaning element and a movement mechanism, the movement mechanism being connected to the machine main body and the cleaning element to drive the cleaning element to be lifted and lowered relative to the machine main body, the cleaning element and the movement mechanism being detachably connected by means of a first magnetic attraction assembly, the cleaning element being provided with a first magnetically attractable part; and   a base station, the base station being provided with an electromagnet,   wherein a magnetic attraction force between the energized electromagnet and the first magnetically attractable part is greater than a difference between a magnetic attraction force of the first magnetic attraction assembly and a gravitational force of the cleaning element.   
     
     
         2 . The cleaning robot system according to  claim 1 , wherein the base station is provided with an accommodating cavity for accommodating the self-moving cleaning device, and the electromagnet is arranged on a bottom wall of the accommodating cavity; and
 the first magnetically attractable part is located below the first magnetic attraction assembly.   
     
     
         3 . The cleaning robot system according to  claim 2 , wherein the first magnetic attraction assembly comprises a first matching part and a second matching part, the first matching part is arranged on the movement mechanism, and the second matching part is arranged on the cleaning element; and
 one of the first matching part and the second matching part is a magnetic part, and the other of the first matching part and the second matching part is a magnetic part or a magnetically attractable part.   
     
     
         4 . The cleaning robot system according to  claim 3 , wherein an output end of the movement mechanism comprises a sleeve, the first matching part being arranged inside the sleeve, the sleeve having an opening facing downward;
 the cleaning element comprises a connecting portion adapted to extend into the sleeve, the second matching part being arranged at a top end of the connecting portion; and   the first matching part and the second matching part attracted to each other are both located inside the sleeve.   
     
     
         5 . The cleaning robot system according to  claim 4 , wherein a rotating portion extending into the sleeve is further arranged at the output end of the movement mechanism, and the first matching part is mounted on a lower end face of the rotating portion. 
     
     
         6 . The cleaning robot system according to  claim 5 , wherein the movement mechanism further includes a driving portion and a transmission portion, and the driving portion performs at least one of driving the sleeve to move by the transmission portion or driving the rotating portion to rotate by the transmission portion. 
     
     
         7 . The cleaning robot system according to  claim 4 , wherein a guiding portion is arranged inside the sleeve, and the guiding portion is configured to guide the second matching part to be attached to the first matching part. 
     
     
         8 . The cleaning robot system according to  claim 7 , wherein the guiding portion is a boss, the first matching part is located on a side of the boss away from the opening of the sleeve, and a side of the boss away from the first matching part is configured as a guiding inclined surface. 
     
     
         9 . The cleaning robot system according to  claim 2 , wherein the base station further comprises:
 a washing disk, the washing disk being arranged on a bottom wall of the accommodating cavity and configured to interfere with the cleaning element of the self-moving cleaning device to remove soiling on the cleaning element,   wherein the washing disk is arranged above the electromagnet in a covering manner; and   the washing disk is detachably connected to the bottom wall of the accommodating cavity.   
     
     
         10 . The cleaning robot system according to  claim 9 , wherein the washing disk comprises:
 a cleaning cavity, and a washing portion arranged inside the cleaning cavity, the washing portion being configured to interfere with the cleaning element of the self-moving cleaning device, the cleaning cavity being configured to accommodate soiling,   wherein a mounting groove is formed in the bottom wall of the accommodating cavity, a shape of an outer edge of the washing disk matches a shape of the mounting groove, and the washing disk is capable of being constrained within the mounting groove to limit movement of the washing disk relative to the base station in a horizontal direction.   
     
     
         11 . The cleaning robot system according to  claim 10 , wherein a sewage sump is arranged inside the cleaning cavity, and a section of a sewage pipe arranged on the base station extends to the sewage sump. 
     
     
         12 . The cleaning robot system according to  claim 11 , wherein a notch is formed in a side wall of the cleaning cavity, and the sewage pipe is fixed to the washing disk through the notch and extends into the sewage sump. 
     
     
         13 . The cleaning robot system according to  claim 11 , wherein the base station comprises a sewage tank, a first end of the sewage pipe is in communication with the sewage sump, and a second end of the sewage pipe is in communication with the sewage tank. 
     
     
         14 . The cleaning robot system according to  claim 10 , wherein the washing portion is arranged on the bottom wall of the cleaning cavity and protrudes from a surface of the cleaning cavity; and
 the washing portion comprises a connecting end connected to a side wall of the cleaning cavity, and a free end extending to a peripheral side of the sewage tank.   
     
     
         15 . The cleaning robot system according to  claim 14 , wherein a first washing protrusion is arranged at a top of the washing portion. 
     
     
         16 . The cleaning robot system according to  claim 10 , wherein the washing disk further comprises a water guiding portion, the water guiding portion is arranged on an inner bottom wall of the cleaning cavity and protrudes from a surface of the cleaning cavity; and
 a water guiding groove is formed at a top of the water guiding portion, the water guiding groove is in communication with a water outlet in the base station, and the water guiding groove is configured to contain a cleaning liquid and interfere with the cleaning element.   
     
     
         17 . The cleaning robot system according to  claim 16 , wherein the base station comprises a clean water tank, the clean water tank is located above the accommodating cavity and configured to accommodate the cleaning liquid; and
 a water outlet is formed in a cavity wall of the accommodating cavity, and is in communication with the clean water tank, and the cleaning liquid in the clean water tank is capable of being injected into the water guiding groove through the water outlet.   
     
     
         18 . The cleaning robot system according to  claim 16 , wherein the water guiding portion is provided with a liquid discharging port in communication with the water guiding groove. 
     
     
         19 . The cleaning robot system according to  claim 18 , wherein the liquid discharging port is in communication with a bottom of the water guiding groove. 
     
     
         20 . The cleaning robot system according to  claim 1 , wherein the first magnetically attractable part is magnetically conductive iron sheet.