CN216020823U

CN216020823U - Base station convenient for cleaning robot to smoothly return

Info

Publication number: CN216020823U
Application number: CN202121950308.4U
Authority: CN
Inventors: 朱泽春; 王卫卫; 颜果; 何园凯
Original assignee: Sharkninja China Technology Co Ltd
Current assignee: Sharkninja China Technology Co Ltd
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-03-15
Anticipated expiration: 2031-08-18

Abstract

The utility model relates to a base station convenient for a cleaning robot to return smoothly, and belongs to the technical field of intelligent cleaning equipment. The cleaning robot comprises a machine body and a traveling wheel component, surface cleaning subassembly and walking control subassembly, the driving wheel subassembly is including the drive wheel of locating bottom of the body both sides, the surface cleaning subassembly is including locating the bottom of the body rear end wipe ground spare and locate the bottom of the body and be located the roller brush of wiping ground spare preceding, the basic station includes guide board and washing tank, be equipped with the washing muscle in the washing tank, wipe ground spare and support and press the spin cleaning on the washing muscle in the washing tank, the guide board is including the guide face that climbs domly and correspond the roller brush that corresponds the drive wheel, the guide face is including the guide plane of tilt up and by the guide plane to the guide cambered surface that the washing tank direction extension formed, cleaning machines people's front end is equipped with the response detecting element, the guide cambered surface is equipped with the response element corresponding with the response detecting element so that the walking control subassembly control cleaning machines people falls first when returning to the basic station and retreats return to the basic station.

Description

Base station convenient for cleaning robot to smoothly return

Technical Field

The utility model relates to the technical field of intelligent cleaning equipment, in particular to a base station convenient for a cleaning robot to return smoothly.

Background

When the cleaning robot with the mop and the charging electrode plate at the rear end returns to the base station to charge or backwash the mop, the front end of the cleaning robot usually moves to a certain position in the base station towards the base station and then retreats and turns around, so that the rear end of the cleaning robot moves towards the base station and is butted. In the process, the cleaning robot is controlled to exit from the U-turn by the received sensing signal.

Because the washing tank of basic station has certain height, can set up an inclined plane at the basic station and supply cleaning robot to get into smoothly, cleaning robot's roller brush is outstanding its chassis, and in the butt joint in-process with the basic station, can offset with the inclined plane, produces frictional resistance, influences cleaning robot and climbs the inclined plane.

In addition, since the docking efficiency is highest when the cleaning robot enters the base station in a direction facing the base station, if a signal for exiting the u-turn is received while the attitude is not adjusted, the cleaning robot can only exit and turn around in a skewed attitude, and then adjust the attitude again while returning, which may reduce the docking efficiency with the base station. Particularly, when the front end of the cleaning robot just contacts the base station and receives a signal of exiting the u-turn, the situation that the posture of the cleaning robot is not completely adjusted or is not adjusted to an ideal posture easily occurs.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a base station convenient for a cleaning robot to smoothly return, which can improve the efficiency of butt joint with the base station when the cleaning robot returns to the base station for charging or backwashing.

In order to achieve the above object, the utility model provides a base station convenient for a cleaning robot to smoothly return, wherein the cleaning robot comprises a machine body, a traveling wheel assembly, a surface cleaning assembly and a walking control assembly, the traveling wheel assembly comprises driving wheels arranged on two sides of the bottom of the machine body, the surface cleaning assembly comprises a ground wiping part arranged at the rear end of the bottom of the machine body and a roller brush arranged at the bottom of the machine body and positioned in front of the ground wiping part, the base station comprises a guide plate and a cleaning tank, a cleaning rib is arranged in the cleaning tank, the ground wiping part is positioned in the cleaning tank and is pressed on the cleaning rib for rotary cleaning, the guide plate comprises a climbing surface corresponding to the driving wheels and a guide surface corresponding to the roller brush, the guide surface comprises an upward inclined guide plane and a guide arc surface formed by the guide plane extending towards the cleaning tank, and an induction detection element is arranged at the front end of the cleaning robot, the guide cambered surface is provided with an induction element corresponding to the induction detection element so that the walking control assembly controls the cleaning robot to turn around first and then retreat to return to the base station when the cleaning robot returns to the base station.

Optionally, in one embodiment, the inductive element is disposed adjacent to the guide plane.

Optionally, in an embodiment, the induction element is disposed at a bottom of the guiding arc.

Optionally, in an embodiment, the guide arc surface includes a first guide arc surface formed by extending the guide plane toward the washing tank, and a second guide arc surface formed by extending the first guide arc surface toward the washing tank, and an inclination angle of the guide plane is smaller than an inclination angle of the second guide arc surface and larger than an inclination angle of the first guide arc surface.

Optionally, in an embodiment, the induction element is disposed at a bottom of the first guiding arc surface.

Optionally, in an embodiment, a bottom of the first guiding arc surface is provided with a mounting groove for installing the induction element, and an end surface of the induction element is not higher than an end surface of the mounting groove.

Alternatively, in one embodiment, the climbing surfaces are distributed on the left and right sides of the guide surface, and the guide surface extends from the climbing surface on one side to the climbing surface on the other side.

Optionally, in an embodiment, the sensing element is a magnetic strip, the magnetic strip is transversely disposed at the bottom of the first guiding arc surface, and at least one end of the magnetic strip is located at the bottom of the climbing surface.

Optionally, in one embodiment, the climbing surface is provided with a driving wheel positioning groove.

Optionally, in one embodiment, the bottom of the guide plate is provided with a non-slip mat.

Compared with the prior art, the utility model has the advantages that:

in the butt joint process of the cleaning robot and the base station, the driving wheel is positioned on the climbing surface, the roller brush is positioned on the guide surface, the guide surface is sequentially provided with the guide plane and the guide arc surface from outside to inside, the guide plane is favorable for guiding the roller brush into the guide surface, and the guide arc surface can reduce the abutting of the roller brush and the guide surface and reduce the advancing resistance.

Meanwhile, when the cleaning robot enters the base station, the front end of the cleaning robot advances towards the base station, and when the cleaning robot reaches a certain position, the cleaning robot quits and turns around, so that the rear end provided with the ground wiping piece or the charging electrode plate advances towards the base station until the cleaning robot is in butt joint with the base station. In the process, the induction detection element arranged at the front end of the cleaning robot approaches and feeds back a signal of quitting the U-turn after detecting the induction element arranged at the base station. The induction element is arranged on the guide arc surface of the base station, and when the induction detection element of the cleaning robot senses the induction element, the front end of the induction detection element passes through the guide plane and partially enters the base station. In the process of passing through the guide plane, the cleaning robot can adjust the machine body which does not reach the ideal posture, so that when the cleaning robot returns to the base station after exiting and turning around, the posture of the cleaning robot does not need to be adjusted or only needs to be slightly adjusted, and the butt joint efficiency of the cleaning robot and the base station is improved.

Drawings

FIG. 1 is a schematic diagram of a cleaning system according to an embodiment of the present invention;

FIG. 2 is a top view of a cleaning robot in an embodiment of the present invention;

fig. 3 is a bottom view of the cleaning robot according to the embodiment of the present invention;

fig. 4 is a schematic structural diagram of a base station according to an embodiment of the present invention;

FIG. 5 is an exploded view of a base station in accordance with an embodiment of the present invention;

FIG. 6 is a schematic structural view of a guide plate and a cleaning tank according to an embodiment of the present invention;

FIG. 7 is a sectional view of the guide plate and the wash tank according to the embodiment of the present invention;

fig. 8 is a bottom view of the guide plate and the wash tank according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the following embodiments and accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without any inventive step, are within the scope of protection of the utility model.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the word "comprise" or "comprises", and the like, in the context of this application, is intended to mean that the elements or items listed before that word, in addition to those listed after that word, do not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

Referring to fig. 1, the present embodiment provides a cleaning system including a cleaning robot 100 and a base station 200 for facilitating smooth return of the cleaning robot 100.

Referring to fig. 2 and 3, the cleaning robot 100 includes a body 101, a travel wheel assembly, a surface cleaning assembly, and a walking control assembly. The travel wheel assembly includes drive wheels 102 provided at both sides of the bottom of the body 101. The surface cleaning assembly includes a floor cleaning member disposed at the rear end of the bottom of the body 101 and a roller brush 104 disposed at the bottom of the body 101 in front of the floor cleaning member.

The floor wiping part can be fixed, and the floor wiping part is driven to move relative to the ground in the moving process of the cleaning robot 100 so as to wipe, wipe and clean the ground; or may be a rotary type, and rotates with respect to the floor surface under the driving action of the cleaning robot 100 to perform mopping cleaning on the floor surface. When the floor scrubbing element is stationary, it may be semi-circular or crescent shaped. When the floor mopping piece is of a rotary type, the shape of the floor mopping piece can be a circle, a triangle-like shape, a quadrangle-like shape and the like, wherein the triangle-like shape is formed by arranging circular arcs at the positions of three corners of the triangle, and the quadrangle-like shape is formed by arranging circular arcs at the four corners of the square.

The floor mopping piece of the embodiment is a circular rotating piece 103 arranged at two sides of the rear end of the bottom of the machine body 101, and a nylon mop with a large friction coefficient can be selected for mopping. The circular rotating pieces 103 can be driven to rotate by a ground wiping motor, and the number of the ground wiping motors can be two, and the two circular rotating pieces 103 are respectively driven to rotate; it can also be provided as one, and the two circular rotating members 103 are driven to rotate by another transmission mechanism, such as a worm gear.

The roller brush 104 comprises a roller and a brush arranged on the circumferential surface of the roller, the bottom of the machine body 101 is further provided with a dust box 105, and a dust inlet of the dust box 105 is communicated to one side of the roller brush 104. The roller is driven to rotate by the roller brush motor, and the dust on the ground is lifted by the brush and is sucked into the dust box 105 through the dust inlet. Referring to fig. 4 to 6, the base station 200 for facilitating smooth return of the cleaning robot provided in this embodiment includes a maintenance station 201, a guide plate 202, and a cleaning tank 203, wherein a cleaning rib 204 is disposed in the cleaning tank 203, and the cleaning rib 204 may be a linear rib or an arc rib. After the cleaning robot 100 enters the base station 200, the circular rotating member 103 is located in the cleaning tank and pressed against the cleaning rib 204 to be rotationally cleaned, and the cleaning rib 204 and the circular rotating member 103 are scraped, so that dirt is separated from the circular rotating member 103.

The upper part of the maintenance station 201 is further provided with a cleaning water tank 2011 and a sewage tank 2012, the cleaning water tank 2011 can be used for replenishing water to the floor mopping piece or cleaning the floor wiping piece, and the sewage tank 2012 is used for recycling sewage after the floor wiping piece is cleaned in the cleaning tank 203.

The guide plate 202 and the cleaning tank 203 may be integrally formed and detachably mounted on the bottom of the maintenance station 201, for example, fixed on the bottom of the maintenance station 201 by a snap connection, and may be taken out separately for cleaning at any time.

Referring to fig. 6 and 7, the guiding plate 202 includes a slope 2021 corresponding to the driving wheel and a guiding surface 2022 corresponding to the roller brush 104, the guiding surface 2022 includes an upwardly inclined guiding plane 20221 and a guiding arc formed by the guiding plane 20221 extending towards the washing tank, the front end of the cleaning robot 100 is provided with an inductive detecting element, and the guiding arc is provided with an inductive element 204 corresponding to the inductive detecting element, so that the walking control assembly controls the cleaning robot 100 to return to the base station 200 after turning around.

The base station 200 may send out an indication signal in real time through the signal generator, and the cleaning robot 100 may receive the indication signal through the signal receiver, and enter the base station 200 according to the guidance of the indication signal when it is required to return to the base station 200 to charge or clean the floor parts.

The front end and the rear end of the cleaning robot 100 of the embodiment are both provided with signal receivers, when the cleaning robot 100 returns to the base station 200, the cleaning robot 100 firstly receives the indication signal sent by the base station 200 through the signal receiver at the front end, walks to the entrance of the base station 200 under the guidance of the indication signal, turns around after the induction detection element senses the induction element 204, receives the indication signal sent by the base station 200 through the signal receiver at the rear end, completely enters the base station 200 under the guidance of the indication signal, and simultaneously enables the floor cleaning piece at the rear end of the cleaning robot 100 to be in butt joint with the cleaning tank 203 of the base station 200, so that the cleaning robot 100 can complete charging work or floor cleaning work at the position.

The indication signal may be an infrared signal, for example, an infrared transmitting tube is installed on the base station 200, infrared receiving tubes are installed at front and rear ends of the cleaning robot 100, and the cleaning robot 100 receives the infrared signal transmitted by the infrared transmitting tube of the base station 200 through the infrared receiving tubes.

In this embodiment, when the cleaning robot 100 enters the base station 200, the height of the cleaning tank is buffered by the guide plate 202, so that the driving wheel 102 of the cleaning robot 100 quickly feeds the floor wiping member into the cleaning tank 203 via the slope 2021, and the roller brush 104 at the bottom of the cleaning robot 100 is guided by the guide surface 2022, and the width of the guide surface 2022 is not less than the length of the roller brush 104.

The roller brush 104 of the cleaning robot 100 is arranged to protrude from the bottom surface, the bristles are abutted against the ground, the guide arc surface of the guide surface 2022 is downward to form an avoidance space, the roller brush 104 is avoided being avoided, the chassis of the cleaning robot is prevented from being lifted due to the abutting of the roller brush 104, the climbing pressure on two sides is reduced, and therefore the slipping phenomenon is caused. The cleaning robot 100 is more stably introduced into the base station 200 to charge or clean the floor mopping.

The rear end of the cleaning robot 100 is also provided with two charging electrode plates, and meanwhile, two charging electrodes are arranged in the base station 200, and after the cleaning robot 100 enters the base station, the two charging electrode plates can be respectively in butt joint with the two charging electrodes for charging.

When the cleaning robot 100 enters the base station 200, the front end of the cleaning robot first moves toward the base station 200, and when the cleaning robot reaches a certain position, the cleaning robot exits from the reversing so that the rear end provided with the floor wiping part or the charging electrode sheet moves toward the base station 200 until the cleaning robot is completely docked with the base station 200. In this process, the induction detecting element arranged at the front end of the cleaning robot 100 approaches and detects the induction element 204 located on the base station guiding arc surface, and then feeds back a signal of exiting the u-turn. The sensing element 204 is disposed on the guiding arc surface of the base station, and when the sensing detection element of the cleaning robot 100 senses the sensing element 204, the front end thereof has partially entered the base station. In the process from the front end contacting the base station to the partial entering of the base station, the cleaning robot 100 can adjust the body which does not reach the ideal posture, so that when the cleaning robot returns to the base station after exiting and turning around, the posture of the cleaning robot does not need to be adjusted or only needs to be slightly adjusted, and therefore the butt joint efficiency of the cleaning robot 100 and the base station 200 is improved.

The induction elements 204 can be arranged at two sides of the guiding cambered surface, and can also be arranged on the guiding cambered surface; can be integrally manufactured on the guiding cambered surface in an embedded mode, and can also be detachably installed at the bottom of the guiding cambered surface. Referring to fig. 8, the sensing element 204 of the present embodiment is detachably mounted at the bottom of the guiding arc, and a mounting groove 205 for mounting the sensing element 204 is further provided at the bottom of the guiding arc, so that the sensing element 204 can be conveniently dismounted and repaired when a fault occurs in the sensing element 204.

In addition, the floor wiping part of the cleaning robot 100 may protrude out of the edge of the cleaning robot 100, and if the cleaning robot 100 enters too many positions of the base station 200, the floor wiping part may interfere with both sides of the base station when rotating to turn around, thereby causing a position deviation during the turning around. The mounting position of the sensing element 204 is adjacent to the guide plane 20221 where the driving wheels of the cleaning robot do not enter the climbing surface.

The guiding arc surface of the present embodiment includes a first guiding arc surface 20222 formed by extending the guiding plane 20221 toward the direction of the cleaning tank 203 and a second guiding arc surface 20223 formed by extending the first guiding arc surface 20222 toward the direction of the cleaning tank 203. The inclination angle of the guide plane 20221 is smaller than the inclination angle of the second guide arc-shaped surface 20223 and larger than the inclination angle of the first guide arc-shaped surface 20222, which is favorable for the guide arc-shaped surface 20222 to form a concave avoiding portion.

The inductive element 204 is located at the bottom of the first guiding arc 20222. The installation groove 205 for installing the sensing element 204 is arranged at the bottom of the first guiding cambered surface 20222, and the end surface of the sensing element 204 is not higher than the end surface of the installation groove 205, so that the sensing element 204 is prevented from being worn. Meanwhile, the edge of the mounting groove 205 is abutted against the ground, and the guide arc surface can be supported.

In this embodiment, the slope 2021 is distributed on both left and right sides of the guide surface 2022, and the guide plane 2022 extends from one slope to the other slope. The sensitivity of the sensing can be improved.

The sensing element 204 may be an infrared sensing element, a magnetic sensing element, or the like. The sensing element 204 of this embodiment is a magnetic stripe, which is transversely disposed at the bottom of the first guiding arc 20222 and has at least one end located at the bottom of the climbing surface 2021, so as to improve the sensitivity of sensing. The sensing detection elements of the cleaning robot 100 are hall elements disposed at the bottom of the front end thereof, and at least one is disposed.

In order to further improve the stability of the cleaning robot 100 during charging or cleaning the floor mopping pieces in the base station 200, the climbing surface 2021 is provided with driving wheel positioning grooves 205, the cleaning robot 100 enters the base station 200 to feed the floor scrubbing pieces into the cleaning tank 203, and simultaneously, the two driving wheels 102 sink into the driving wheel positioning grooves 205 to prevent the rear sliding along the climbing surface 2021 without the driving force.

When cleaning the ground cleaning component in the base station 200, the cleaning robot 100 will cause the guide plate 202 to rock, and in order to prevent the guide plate 202 from shifting greatly, an anti-slip mechanism, such as a non-slip mat, may be disposed at the bottom of the guide plate 202, and the non-slip mat may be disposed at the bottom of the guide plate 202 by integral molding, or may be disposed at the bottom of the guide plate 202 detachably.

Claims

1. The utility model provides a basic station convenient to cleaning machines people returns smoothly, cleaning machines people includes organism, the subassembly of advancing, surface cleaning subassembly and walking control subassembly, the subassembly of advancing is including the drive wheel of locating bottom of the body both sides, the surface cleaning subassembly is including locating the piece of wiping ground of bottom of the body rear end and locating bottom of the body just is located wipe the preceding roller brush of ground piece, the basic station is including guide board and washing tank, be equipped with the washing muscle in the washing tank, wipe ground that the piece is located the washing tank and support to press the spin cleaning on the washing muscle, its characterized in that:

the guide plate includes corresponding the drive wheel climb domatic with correspond the guide face of roller brush, the guide face include tilt up's guide plane and by the guide plane is to the guide cambered surface that the washing tank direction extension formed, cleaning machines people's front end is equipped with the response detecting element, the guide cambered surface be equipped with the response detecting element corresponding response element turns around earlier then retreats back to the basic station when making walking control assembly control cleaning machines people return to the basic station.

2. The base station for facilitating smooth return of a cleaning robot of claim 1, wherein the sensing element is disposed adjacent to the guide plane.

3. The base station for facilitating smooth return of a cleaning robot as claimed in claim 1, wherein the induction element is provided at a bottom of the guide arc surface.

4. The base station for facilitating smooth return of a cleaning robot as claimed in claim 1, wherein the guide arc surface comprises a first guide arc surface formed by extending the guide plane toward the cleaning tank and a second guide arc surface formed by extending the first guide arc surface toward the cleaning tank, and an inclination angle of the guide plane is smaller than an inclination angle of the second guide arc surface and larger than an inclination angle of the first guide arc surface.

5. The base station for facilitating smooth return of a cleaning robot as claimed in claim 4, wherein the induction element is provided at a bottom of the first guide arc surface.

6. The base station for facilitating smooth return of a cleaning robot as claimed in claim 5, wherein a bottom of the first guide arc surface is provided with a mounting groove for installing the sensing member, and an end surface of the sensing member is not higher than an end surface of the mounting groove.

7. The base station for facilitating smooth return of a cleaning robot as claimed in claim 5, wherein the slope surfaces are distributed on both left and right sides of the guide surface, and the guide surface extends from a slope surface on one side to a slope surface on the other side.

8. The base station for facilitating smooth return of a cleaning robot as claimed in claim 7, wherein the sensing element is a magnetic stripe, the magnetic stripe is transversely disposed at the bottom of the first guiding arc surface and at least one end of the magnetic stripe is located at the bottom of the climbing surface.

9. The base station for facilitating smooth return of a cleaning robot of claim 1, wherein the ramp surface is provided with a driving wheel positioning groove.

10. The base station for facilitating smooth return of a cleaning robot as claimed in claim 1, wherein the guide plate is provided with a non-slip mat at a bottom thereof.