CN219331518U

CN219331518U - Cleaning robot system

Info

Publication number: CN219331518U
Application number: CN202222421879.XU
Authority: CN
Inventors: 裴续; 王彪
Original assignee: Positec Power Tools Suzhou Co Ltd
Current assignee: Positec Power Tools Suzhou Co Ltd
Priority date: 2022-01-07
Filing date: 2022-09-13
Publication date: 2023-07-14
Anticipated expiration: 2032-09-13
Also published as: CN116439612A

Abstract

The application provides a cleaning robot system, comprising: a cleaning robot and a base station for the cleaning robot; the cleaning robot includes: a walking wheel; the base station includes: the base is used for stopping the cleaning robot; the cleaning robot comprises a base, and is characterized in that a limiting device is arranged on the base and comprises a sliding part, when the cleaning robot moves to a preset position, at least one travelling wheel abuts against the sliding part, and the travelling wheel slides relative to the sliding part in a rotating state. The cleaning robot system can effectively prevent the cleaning robot from colliding with the base station under the condition of faults, and damage is caused.

Description

Cleaning robot system

Technical Field

The utility model relates to the technical field of intelligent cleaning, in particular to a cleaning robot system.

Background

Along with the rapid development of intelligent technology, cleaning robots widely enter places such as families or offices, and replace traditional manual cleaning modes, so that hands of consumers are liberated, and cleaning time is saved, for example: mopping machines, sweeping robots, mopping and sweeping integrated machines and the like.

The floor mopping machine or the mopping and sweeping integrated machine needs to be returned to the base station for corresponding maintenance after working for a period of time, for example: filling cleaning water, recycling dust or scraps, replacing cleaning cloth, recharging and the like. When the host enters the station, if the host is in butt joint with the base station, the host can always execute the entering action because the unexpected fault does not have feedback or signal interruption of the received signal. At this time, the host may collide with the main body of the base station, and damage itself and the base station.

Disclosure of Invention

Based on this, it is necessary to provide a cleaning robot system and a base station, which can limit the movement of the cleaning robot when a malfunction occurs, and secure the safety of the cleaning robot and the base station.

The application provides a cleaning robot system, comprising: a cleaning robot and a base station for the cleaning robot;

the cleaning robot includes: a walking wheel;

the base station includes:

the base is used for stopping the cleaning robot; the cleaning robot comprises a base, and is characterized in that a limiting device is arranged on the base and comprises a sliding part, when the cleaning robot moves to a preset position, at least one travelling wheel abuts against the sliding part, and the travelling wheel slides relative to the sliding part in a rotating state.

In one embodiment, the base station has a first docking portion and the cleaning robot has a second docking portion; and the limiting device is also used for preventing the current travelling wheel from moving along the entering direction when one travelling wheel is in collision with the limiting device, and the cleaning robot controls the other travelling wheel to continue rotating and drives the second butt joint part of the cleaning robot to face the first butt joint part of the base station to approach the first butt joint part and the second butt joint part to be connected in a matching way.

In one embodiment, the skid member is a roller structure mounted on the base, and at least two of the roller structures are divided into a first roller structure and a second roller structure independent of each other.

In one embodiment, the roller structure comprises a mounting seat fixedly arranged on the base, a roller shaft arranged on the mounting seat and a roller, wherein the roller is rotatably arranged on the roller shaft.

In one embodiment, the length of the roller is greater than or equal to the axial width of any one of the travelling wheels.

In one embodiment, the cleaning robot further comprises a machine body, the travelling wheels are mounted on the machine body and used for driving the machine body to move, a height H is arranged between a plane where the bottom of the machine body is located and a plane where the lowest point of the travelling wheels is located in the moving state of the cleaning robot, and the height value of the limiting device is smaller than H.

In one embodiment, the base station further comprises a guiding structure, wherein the guiding structure comprises a first bracket and a second bracket which are arranged on the base at intervals, and guiding pieces which are respectively arranged on the first bracket and the second bracket in a rotating mode, the guiding pieces can selectively act on the machine body to guide the cleaning robot to move to the limiting device, and the limiting device is arranged between the first bracket and the second bracket.

In one embodiment, when the cleaning robot is between the first and second brackets, a distance between the first side of the body and a side of the first bracket adjacent to the first side of the body is greater than 0.5mm; or the distance between the second side of the body and the side of the second bracket near the second side of the body is greater than 0.5mm.

In one embodiment, the base station further comprises a first water tank, the first butt joint part is a water outlet of the base station and is communicated with the first water tank, the cleaning robot comprises a second water tank, the second butt joint part is a water inlet of the cleaning robot and is communicated with the second water tank, and water is added to the cleaning robot after the first butt joint part is in butt joint with the second butt joint part.

In one embodiment, the first docking portion is a power output port of the base station, the second docking portion is a charging pole piece of the cleaning robot, and the cleaning robot is charged after the first docking portion is docked with the second docking portion; and/or the number of the groups of groups,

the first butt joint part is the base station dust collection port, the second butt joint part is the dust outlet of the cleaning robot, and the dust collection of the cleaning robot is realized after the first butt joint part is in butt joint with the second butt joint part; and/or the number of the groups of groups,

the first butt joint portion is the base station mop places the district, the second butt joint portion is the mop of cleaning robot, first butt joint portion with the second butt joint portion is docked the back and is realized changing the mop to cleaning robot.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a cleaning robot and a roller-type spacing device according to an embodiment;

FIG. 2 is a schematic view of a wheel engaging a roller limit device according to one embodiment;

FIG. 3 is an exploded view of a wheel and roller spacing device configuration according to one embodiment;

fig. 4 is a schematic diagram illustrating cooperation of a walking wheel and a slip surface type limiting device according to an embodiment;

FIG. 5 is a schematic view of a wheel engaging a ball limiting device according to one embodiment;

FIG. 6 is a schematic diagram of a base station according to one embodiment;

FIG. 7 is a schematic view of the cooperation of the road wheels with the roller-type spacing device during a straight-in approach in one embodiment;

FIG. 8 is a schematic diagram illustrating the cooperation of the road wheel and the roller-type spacing device in the set-up state according to one embodiment;

FIG. 9 is a schematic diagram illustrating the engagement of the road wheels with the roller-type spacing device during a skew entry in one embodiment;

fig. 10 is a schematic diagram illustrating cooperation of the corrected traveling wheel and the roller-type limiting device according to an embodiment.

100. A mobile module; 110. a walking wheel; 200. a base station; 210. a base; 220. a slip structure; 221. a roller structure; 2211. a ball; 2212. a roller; 2213. a first roller structure; 2214. a second roller structure; 222. a roller shaft; 223. a mounting base; 2231. a rotary groove; 2232. a shaft hole; 224. polishing a sliding surface; 230. bearing platform; 231. a bearing surface; 2311. an anti-slip part; 240. a guide seat; 241. a guide surface; 250. a first bracket; 260. a second bracket; 270. a guide structure; 271. a guide member; 280. a mounting frame; 300. a direction of approach; 400. a cleaning robot; 410. a fuselage.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In one embodiment, referring to fig. 1 and 2, a cleaning robot system includes a base station 200 and a cleaning robot 400, the base station 200 includes: base 210 and stop. The base 210 is for docking the cleaning robot 400.

The cleaning robot 400 includes: a body 410, a mobile module 100, and a control module. The body 410 is provided with a second docking portion that mates with the first docking portion. When the cleaning robot 400 moves to a predetermined position on the base 210, the first docking portion is coupled with the second docking portion. The moving module 100 at least comprises two travelling wheels 110 arranged on the body 410 at intervals, and the moving module 100 is used for driving the body 410 to move onto the base 210 along the entering direction 300. The control module is at least used for controlling the moving module 100 and controlling the traveling wheel 110 to stop rotating when the cleaning robot 400 reaches a preset position.

The limiting device is used for preventing the traveling wheel 110 from moving further towards the base station 200 when the traveling wheel 110 reaches a preset position. The limiting device includes a sliding member 220, the sliding member 220 is used for at least one traveling wheel 110 to abut against the sliding member when the cleaning robot 400 moves to a preset position, and the traveling wheel 110 slides relative to the sliding member 220 in a rotating state. In general, when the cleaning robot 400 moves to a preset position, the first docking portion is exactly coupled to the second docking portion, and after the cleaning robot 400 acquires a docking signal, the control module controls the movement module 100 to stop moving. However, when there is a problem in that the cleaning robot 400 is disturbed by the outside or the first docking portion of the base station 200 is blocked, the cleaning robot 400 may always perform the docking action due to the inability of the cleaning robot 400 to acquire the docking signal or the interruption of the docking signal, although the first docking portion and the second docking portion of the cleaning robot 400 are already docked, which may cause damage to the base station 200 and itself.

In one embodiment, the limiting means includes the slip member 220, and when the traveling wheel 110 of the cleaning robot 400 collides with the slip member 220, the cleaning robot 400 always performs the approach motion due to an unexpected failure, which results in the cleaning robot 400 not receiving a signal. At this time, the sliding member 220 slides relative to the traveling wheel 110, so as to avoid damage to the base station and itself caused by further movement of the cleaning robot 400. Specifically, the skid member 220 may be a wheel structure, or may be other smooth surface, which is not limited herein.

In one embodiment, referring to fig. 2 and 3, the skid member 220 is a wheel structure 221 mounted on the base 210. The at least two roller structures 221 are divided into a first roller structure 2213 and a second roller structure 2214 which are independent from each other. The roller structure 221 includes a mounting seat 223 fixedly disposed on the base 210, a roller shaft 222 disposed on the mounting seat 223, and a roller 2212. The roller 2212 is rotatably mounted on the roller shaft 222, so that the roller 2212 stably rotates on the mounting seat 223, and stable skidding of the travelling wheel 110 on the roller 2212 is ensured.

In one embodiment, in the moving state of the cleaning robot 400, a height H is provided between the plane of the bottom of the body 410 and the plane of the lowest point of the travelling wheel 110, and the height of the limiting device is smaller than H. In this way, the body 410 can pass smoothly through the stop device without being blocked. The limiting device is also used for preventing the current travelling wheel 110 from moving along the inbound direction 300 when one of the travelling wheels 110 is in interference with the limiting device. The control module controls the other travelling wheel 110 to continue rotating and drives the second abutting portion to approach the first abutting portion until the first abutting portion is matched with the second abutting portion.

In the above-mentioned cleaning robot system, the base station 200 is provided with the limiting device, and when the cleaning robot 400 is inclined to enter, referring to fig. 9 and 10, one of the traveling wheels 110 is preferably abutted against the limiting device, so as to be prevented from moving along the entering direction 300. At this time, the other travelling wheel 110 continues to rotate under the action of the control module, and drives the second abutting part to approach the first abutting part by taking the abutting travelling wheel 110 as a fulcrum until the first abutting part abuts against the second abutting part; after the butt joint, the two travelling wheels 110 realize braking under the action of the control module, so that the cleaning robot 400 automatically rectifies to a preset position, and the base station 200 and the cleaning robot 400 are ensured to be accurately butt-jointed. In this way, the cleaning robot system can effectively correct the station-entering posture of the cleaning robot 400 by using the limiting device, ensures that the front and rear directions of the travelling wheels 110 are consistent when the cleaning robot 400 stops, and provides a guarantee for accurate butt joint between the cleaning robot 400 and the base station 200.

It should be noted that, when one of the traveling wheels 110 is preferentially abutted against the limiting device, the rotating state can be maintained; or in a stopped rotation state. When the traveling wheel 110 is in contact with the limiting device, the traveling wheel 110 is prevented from moving forward and stopping rotating, and the other traveling wheel 110 needs to keep rotating, i.e. the two traveling wheels 110 of the moving module 100 are driven separately (the start and stop of one traveling wheel 110 does not affect the rotating state of the other traveling wheel 110). Meanwhile, the other travelling wheel 110 continues to rotate and drives the second butt joint part to approach the first butt joint part until the first butt joint part is matched with the second butt joint part, and the travelling wheel 110 can be in interference with the limiting device or can not be in interference with the limiting device yet. However, no matter whether the travelling wheel 110 collides with the limiting device, the control module controls the travelling wheel 110 to stop rotating so that the cleaning robot 400 is entirely located at the preset position as long as the first docking portion is mated with the second docking portion.

When the first docking portion is mated with the second docking portion, the control module may determine by using its own detection function, for example: and detecting the abutting angle or abutting displacement between the first abutting part and the second abutting part. When the butt joint angle between the first butt joint part and the second butt joint part is a preset angle; or when the abutting displacement between the first abutting portion and the second abutting portion is the preset displacement, the control module controls the moving module 100 to stop rotating.

Of course, if the first docking portion and the second docking portion are mated, the two travelling wheels 110 are just in contact with the limiting device, the judging mode of the control module controlling the travelling wheels 110 to stop rotating may be to detect the relationship between the rotation number and displacement of the travelling wheels 110; and can also be used for detecting the pressure condition on the limiting device. For example: detecting the rotation number of the two travelling wheels 110 and the displacement along the entering direction 300, and controlling the moving module 100 to stop rotating when the rotation number of the two travelling wheels 110 is greater than 0 and the displacement along the entering direction 300 is equal to 0 by the control module; or, detecting the pressure at least two positions on the limiting device, and when the pressure at least two positions on the limiting device is greater than or equal to a preset pressure value, controlling the mobile module 100 to stop rotating by the control module.

It should be further noted that the cleaning robot 400 may be, but is not limited to, a floor cleaning machine, a floor sweeping robot, a floor sweeping and mopping machine, etc. Meanwhile, the cleaning robot 400 is docked with the base station 200 while being stopped on the base 210, so that maintenance work such as charging, water injection, dust recovery, cleaning head replacement and the like can be realized. Taking water injection as an example, when the cleaning robot 400 corrects its stop gesture under the action of the limiting device, the water injection port on the machine body 410 is automatically leveled and docked with the base station 200, so that the reliability of automatic water adding docking is ensured, and the core requirement of a user on the automatic water adding function of the machine is met. Meanwhile, the limiting device has various designs, and only needs to stop one traveling wheel 110 from moving forwards, and the other traveling wheel 110 drives the second butt joint part to approach the first butt joint part until the first butt joint part is matched with the second butt joint part.

Further, referring to fig. 2, the limiting device includes a sliding structure 220 mounted on the base 210. The slip structure 220 maintains the rotation of the road wheel 110 by slipping when it collides with the road wheel 110. Therefore, when the traveling wheel 110 is abutted against the sliding structure 220, the traveling wheel 110 is prevented from continuing to advance along the entering direction 300, and still keeps a rotating state, i.e. slides in situ, so that the traveling wheel 110 always has a forward trend, and is kept in close contact with the sliding structure 220, so that the position deviation caused by the swinging force in the deviation correcting process is avoided, and the abutting precision between the first abutting portion and the second abutting portion is affected.

It should be noted that, the sliding structure 220 can prevent the traveling wheel 110 from moving along the entering direction 300, but not stop the rotation of the traveling wheel 110, and the implementation structure can have various designs, for example: the slip structure 220 is designed as a ball structure, a roller 2212, a rotating belt or a bearing, etc., and the traveling wheel 110 is always in a slip-in-place state by utilizing a self-rotation function while preventing the forward movement thereof. Of course, the skid structure 220 may also be designed as a fixed structure with a slip surface 224 such that the road wheel 110 cannot pass over the skid structure 220 to remain in place for skid.

Note that, the "in-station direction 300" refers to a direction in which the cleaning robot 400 enters the base station 200, and may refer to a forward direction of the cleaning robot 400, a backward direction of the cleaning robot 400 (i.e., the cleaning robot 400 enters the base station 200 in a reverse manner), and the like.

Still further, referring to fig. 4, the sliding structure 220 includes two sliding surfaces 224 fixed on the base 210. When the road wheel 110 engages the slip surface 224, the road wheel 110 remains rotated and is prevented from moving in the inbound direction 300. In this way, the sliding surface 224 is utilized to enable the walking wheel 110 to keep in-situ sliding state, so that the walking wheel 110 is tightly abutted against the sliding structure 220, the walking wheel 110 is ensured to be at a preset position, and further the butt joint precision is improved.

It should be noted that, the slip surface 224 may be a concave curved surface or a convex curved surface; or may be a vertical wall surface, etc. When the sliding surface 224 is a concave or convex surface, the sliding surface 224 needs a certain height to block the traveling wheel 110 from easily passing over, for example: the height of the sliding surface 224 is at least half the diameter of the road wheel 110, etc. In addition, the slip surface 224 may be polished or lubricated to reduce friction between the road wheel 110 and the slip surface 224 for smooth slip.

In addition, in other embodiments, referring to fig. 5, balls 2211 capable of 360 ° rotation are provided on the slip surface 224, and when the road wheel 110 is engaged with at least one wheel 2212, the road wheel 110 is kept in a rotated state and is prevented from moving in the entering direction 300, so that the road wheel 110 is slid in place. Of course, to enhance the slip effect, a plurality of balls 2211 may be closely arranged on the slip surface 224 to increase the rolling contact surface.

In one embodiment, referring to FIG. 2, the skid structure 220 is a wheel structure 221 mounted on the base 210. At least two roller structures 221 are divided into a first roller structure 2213 and a second roller structure 2214 which are independent from each other, and a preset distance is reserved between the first roller structure 2213 and the second roller structure 2214, so that when one of the travelling wheels 110 is in collision with the first roller structure 2213, the other travelling wheel 110 can move to be in collision with the second roller structure 2214. Therefore, the preset distance between the first roller structure 2213 and the second roller structure 2214 is reasonably controlled, so that the two corrected traveling wheels 110 can act on the first roller structure 2213 and the second roller structure 2214, so as to ensure the cleaning robot 400 to be stably docked with the base station 200.

It should be noted that, when the two traveling wheels 110 respectively collide with the first roller structure 2213 and the second roller structure 2214, the cleaning robot 400 is at the preset position, and the first docking portion is exactly docked with the second docking portion. In addition, the specific value of the preset distance may be determined according to the axial distance between the two traveling wheels 110.

Of course, in other embodiments, the roller structure 221 may be one, that is, both of the traveling wheels 110 are abutted against the same roller structure 221. At this time, it is necessary to reasonably design the lateral width of the roller structure 221 so that when one of the road wheels 110 collides with one portion of the roller structure 221, the other road wheel 110 can move to collide with the other portion of the roller structure 221.

In addition, referring to fig. 7 and 8, when the cleaning robot 400 moves straight onto the base 210 along the entering direction 300, the front-back directions of the two travelling wheels 110 are consistent, and the two travelling wheels can correspondingly collide with the first roller structure 2213 and the second roller structure 2214 at the same time, so that the cleaning robot 400 is in a straightening state, and the precise butt joint of the cleaning robot and the corresponding structure of the base station 200 is ensured.

Further, referring to fig. 3, the roller structure 221 includes a mounting seat 223 fixedly disposed on the base 210, a roller shaft 222 disposed on the mounting seat 223, and a roller 2212, wherein the roller 2212 is rotatably mounted on the roller shaft 222, such that the roller 2212 rotates stably on the mounting seat 223. When the traveling wheel 110 is abutted against the roller 2212, the two are abutted against each other in a rolling manner, so that the sliding effect on the roller structure 221 of the traveling wheel 110 is better, and the other traveling wheel 110 can be conveniently rotated onto the other roller 2212 better, so that the correction in the butt joint process of the cleaning robot 400 is completed.

It should be noted that, when the roller 2212 is mounted on the roller shaft 222, the surface may not protrude from the mounting seat 223, or may protrude from the mounting seat 223. When the surface of the roller 2212 does not protrude from the mounting seat 223, the width of the mounting seat 223 should be larger than the axial width of the travelling wheel 110, so that the travelling wheel 110 can collide with the roller 2212 in the mounting seat 223.

In addition, the axes of the two roller shafts 222 (i.e., the roller shafts 222 on the first roller structure 2213 and the second roller structure 2214) are disposed in line.

Further, referring to fig. 3, the mounting seat 223 is provided with a rotating groove 2231, and two opposite sidewalls of the rotating groove 2231 are respectively provided with a shaft hole 2232. Opposite ends of the roller shaft 222 are respectively fitted into two shaft holes 2232. The roller 2212 is located in the rotating groove 2231, and at least a portion of the roller 2212 protrudes out of the rotating groove 2231, so that the roller 2212 stably collides with the travelling wheel 110.

In one embodiment, referring to fig. 3, the length of the roller 2212 is greater than or equal to the axial width of any one of the road wheels 110. Thus, the length of the roller 2212 is reasonably controlled, so that the traveling wheel 110 can better abut against the roller 2212 and keep a stable skidding state.

In one embodiment, referring to fig. 2, the base 210 is provided with a platform 230 corresponding to the roller structures 221 one by one. The platform 230 extends along the inbound direction 300 and toward the roller structure 221 so that the road wheel 110 is lifted off the base 210 before traveling to the roller structure 221, so that the cleaning robot 400 can avoid other structures on the base 210.

Further, referring to fig. 2, the supporting platform 230 and the roller structure 221 are disposed at a distance from each other, and a supporting surface 231 is disposed on a side of the supporting platform 230 facing the roller structure 221. The supporting surface 231 is disposed obliquely, and one end of the supporting surface 231 close to the roller structure 221 is lower than one end of the supporting surface 231 far away from the roller structure 221, i.e. the supporting surface 231 is a downward slope with respect to the bearing platform 230. When the travelling wheel 110 collides with the roller structure 221, the supporting surface 231 can support the rear of the travelling wheel 110, so as to avoid the backward movement or sliding of the cleaning robot 400 on the base 210.

The supporting surface 231 may be an inclined plane or an inclined curved surface. In addition, when the cleaning robot 400 completes maintenance cleaning, it is required to travel away from the base station 200. To facilitate climbing of the walking wheel 110, an anti-slip strip may be disposed on the bearing surface 231, for example: a plurality of protruding strips are arranged on the bearing surface 231 in parallel to increase the friction between the travelling wheel 110 and the bearing surface 231.

In one embodiment, referring to fig. 6, the base station 200 further includes a steering structure 270. The guide structure 270 includes a first bracket 250 and a second bracket 260 spaced apart from each other on the base 210, and a guide member 271 rotatably disposed on the first bracket 250 and the second bracket 260, respectively. The guide 271 may selectively act on the body 410 to guide the cleaning robot 400 to move to a stopper disposed between the first and

second brackets

250 and 260. In this way, the guide members 271 on both sides are used to primarily correct the cleaning robot 400 that is in the station, and the deviation correcting amount of the limiting device is reduced, so as to improve the deviation correcting efficiency of the cleaning robot 400 in the base station 200.

Further, referring to fig. 6, the guide member 271 is a guide wheel. The guide wheel can rotate around its own axis on the first bracket 250 or the second bracket 260, and the axis of the guide wheel is maintained to be perpendicular to the horizontal direction, so that the guiding direction of the guide wheel is maintained to be horizontal, thereby making the entry of the cleaning robot 400 more stable.

In one embodiment, referring to fig. 6, if the distance between the first bracket 250 and the second bracket 260 is widened, the entrance of the base station 200 is widened correspondingly, and the cleaning robot 400 is easier to enter the base station 200. However, this tends to cause a serious deviation in the position of the cleaning robot 400 within the base station 200, resulting in the first docking portion and the second docking portion not being mated, thereby seriously affecting the maintenance work of the cleaning robot 400. If the distance between the first bracket 250 and the second bracket 260 is reduced, the entrance of the base station 200 is correspondingly narrowed. Although the degree of skew of the cleaning robot 400 in the coming-in is reduced, the coming-in of the cleaning robot 400 is seriously hindered, and the cleaning robot 400 needs a positioning device with higher configuration accuracy. For this purpose, the distance between the side of the body 410 and the first bracket 250 or the second bracket 260 is greater than 0.5mm; meanwhile, the limiting device is matched, so that the cleaning robot 400 can effectively and quickly rectify deviation after entering the station on the premise of ensuring that the cleaning robot 400 can easily enter the station, and the first butt joint part and the second butt joint part are ensured to be in accurate butt joint.

Specifically, the distance between the side of the body 410 and the first bracket 250 or the second bracket 260 may be 1.1mm.

In one embodiment, the base station 200 further includes a first water tank. The first butt joint part is a water outlet of the base station 200 and is communicated with the first water tank. The cleaning robot 400 includes a second water tank, and the second docking part is a water inlet of the cleaning robot 400 and is communicated with the second water tank. The first docking portion and the second docking portion are docked to achieve water addition to the cleaning robot 400. In this way, the cleaning robot 400 can achieve accurate water injection in the base station 200 by utilizing the first docking portion and the second docking portion to be coupled.

In one embodiment, the first docking portion is a power outlet of the base station 200, the second docking portion is a charging pole piece of the cleaning robot 400, and the cleaning robot 400 is charged after the first docking portion and the second docking portion are docked. In this way, the cleaning robot 400 can be stably charged in the base station 200 by the first docking portion being coupled with the second docking portion.

In one embodiment, the first docking portion is a dust collecting port of the base station 200, the second docking portion is a dust outlet of the cleaning robot 400, and the first docking portion and the second docking portion are docked to collect dust from the cleaning robot 400. In this way, the first docking portion is mated with the second docking portion, so that the cleaning robot 400 is ensured to achieve stable dust cleaning in the base station 200.

In one embodiment, the first docking portion is a mop placement area of the base station 200, the second docking portion is a mop of the cleaning robot 400, and the mop is replaced by the cleaning robot 400 after the first docking portion and the second docking portion are docked. In this way, the cleaning robot 400 can stably complete the mop replacement in the base station 200 by the first docking portion being coupled with the second docking portion.

In one embodiment, referring to fig. 2, the base station 200 further includes a guide 240 connected to the base 210. The guide 240 is provided with a guide surface 241. At least a portion of the guide surface 241 is for docking the cleaning robot 400. Meanwhile, the guide surface 241 is inclined to extend toward the ground in a direction away from the base 210, i.e., is a slope, which is advantageous in reducing difficulty in moving the cleaning robot 400 toward the guide surface 241, thereby facilitating docking of the cleaning robot 400 on the guide surface 241.

In one embodiment, referring to fig. 2, a base station 200, the base station 200 comprises: at least one interface, a base 210 and a stop. The at least one first docking portion is for docking with a second docking portion of the cleaning robot 400. The base 210 for the cleaning robot 400 to rest on is configured to: when one of the traveling wheels 110 collides with the limiting device, the current traveling wheel 110 is prevented from moving along the inbound direction 300, and the other traveling wheel 110 continues to rotate and drives the second abutting portion to approach the first abutting portion until the first abutting portion is matched with the second abutting portion.

The base station 200 is provided with a limiting device, and when the cleaning robot 400 is inclined to enter, one of the traveling wheels 110 is preferentially abutted against the limiting device, so that the cleaning robot is prevented from moving along the entering direction 300. At this time, the other traveling wheel 110 continues to rotate under the action of the control module, and approaches the second docking portion towards the first docking portion until the first docking portion and the second docking portion are docked with each other with the abutting traveling wheel 110 as a fulcrum, so that the cleaning robot 400 automatically rectifies to a preset position, and the base station 200 and the cleaning robot 400 are ensured to be precisely docked. In this way, the cleaning robot system can effectively correct the station-entering posture of the cleaning robot 400 by using the limiting device, ensures that the front and rear directions of the travelling wheels 110 are consistent when the cleaning robot 400 stops, and provides a guarantee for accurate butt joint between the cleaning robot 400 and the base station 200.

It should be noted that, the base station 200 structure of the present embodiment may be designed by adopting the base station 200 structure of any of the above embodiments.

It should be noted that the base station 200 may further include a water injection module and a recovery module. When the cleaning robot 400 stably rests on the base 210, the automatic water injection end of the water injection module is docked with the water injection port of the cleaning robot 400 so as to timely supplement cleaning water to the cleaning robot 400. The recycling module is used for sucking and recycling dust, trash and the like in the cleaning robot 400, and a suction inlet may be provided on the base 210 for automatic suction recycling. When the cleaning robot 400 stably rests on the base 210, the suction inlet corresponds to the discharge outlet of the cleaning robot 400, and the garbage in the cleaning robot 400 is sucked to the recovery module, etc., by the suction motor.

In addition, the base station 200 also includes a mounting bracket 280. The mounting frame 280 is disposed on the base 210 and extends upward in a vertical direction. The recovery module and the water injection module are both mounted on the mounting frame 280. Of course, the limiting device may be mounted on the base 210 or on the mounting frame 280. When the spacing device is mounted on the mounting frame 280, the spacing device is extended in length so that it extends to the proximity base 210 so that it can interact with the road wheel 110.

Further, referring to fig. 2, the limiting device includes a sliding structure 220 mounted on the base 210, and the sliding structure 220 keeps the traveling wheel 110 rotating by sliding when it collides with the traveling wheel 110. Therefore, when the traveling wheel 110 is abutted against the sliding structure 220, the traveling wheel 110 is prevented from continuing to advance along the entering direction 300, and still keeps a rotating state, i.e. slides in situ, so that the traveling wheel 110 always has a forward trend, and is kept in close contact with the sliding structure 220, so that the position deviation caused by the swinging force in the deviation correcting process is avoided, and the abutting precision between the first abutting portion and the second abutting portion is affected.

Further, referring to fig. 2, the skid structure 220 is a roller structure 221 mounted on the base 210. The at least two roller structures 221 are divided into a first roller structure 2213 and a second roller structure 2214 which are independent from each other. The first roller structure 2213 and the second roller structure 2214 have a preset distance therebetween, so that when one of the traveling wheels 110 collides with the first roller structure 2213, the other traveling wheel 110 can move to collide with the second roller structure 2214. Therefore, the preset distance between the first roller structure 2213 and the second roller structure 2214 is reasonably controlled, so that the two corrected traveling wheels 110 can act on the first roller structure 2213 and the second roller structure 2214, so as to ensure the cleaning robot 400 to be stably docked with the base station 200.

In one embodiment, referring to fig. 3, the roller structure 221 includes a mounting seat 223 fixedly disposed on the base 210, a roller shaft 222 disposed on the mounting seat 223, and a roller 2212. The roller 2212 is rotatably mounted on the roller shaft 222, so that the roller 2212 stably rotates on the mounting seat 223, and stable skidding of the travelling wheel 110 on the roller 2212 is ensured.

In one embodiment, referring to fig. 3, the length of the roller 2212 is greater than or equal to the axial width of the road wheel 110. Thus, the length of the roller 2212 is reasonably controlled, so that the traveling wheel 110 can better abut against the roller 2212 and keep a stable skidding state.

In one embodiment, referring to fig. 6, the base station 200 further includes a steering structure 270. The guide structure 270 includes a first bracket 250 and a second bracket 260 spaced apart from each other on the base 210, and a guide member 271 rotatably disposed on the first bracket 250 and the second bracket 260, respectively. The guide 271 may optionally act on the body 410 to guide the cleaning robot 400 to move to the stopper. The limiting device is disposed between the first bracket 250 and the second bracket 260. In this way, the guide members 271 on both sides are used to primarily correct the cleaning robot 400 that is in the station, and the deviation correcting amount of the limiting device is reduced, so as to improve the deviation correcting efficiency of the cleaning robot 400 in the base station 200.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the direct conflict between the first and second features, or the indirect conflict between the first and second features through intermediaries. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Claims

1. A cleaning robot system, comprising: a cleaning robot and a base station for the cleaning robot;

the method is characterized in that:

the cleaning robot includes: a walking wheel;

the base station includes:

2. The cleaning robot system of claim 1, wherein the base station has a first docking portion and the cleaning robot has a second docking portion; and the limiting device is also used for preventing the current travelling wheel from moving along the station entering direction when one travelling wheel is in conflict with the limiting device, and the cleaning robot controls the other travelling wheel to continue rotating and drives the second butt joint part of the cleaning robot to face the first butt joint part of the base station to approach the first butt joint part and the second butt joint part.

3. The cleaning robot system of claim 1, wherein the slip member is a wheel structure mounted on the base, at least two of the wheel structures being divided into a first wheel structure and a second wheel structure independent of each other.

4. The cleaning robot system of claim 3, wherein the roller structure comprises a mount fixedly disposed on the base, a roller shaft disposed on the mount, and a roller rotatably mounted on the roller shaft.

5. The cleaning robot system of claim 4, wherein the length of the roller is greater than or equal to the axial width of any one of the road wheels.

6. The cleaning robot system according to claim 1, further comprising a body, wherein the travelling wheel is mounted on the body and is used for driving the body to move, and in the moving state of the cleaning robot, a height H is located between a plane of the bottom of the body and a plane of a lowest point of the travelling wheel, and the height of the limiting device is smaller than H.

7. The cleaning robot system of claim 6, wherein the base station further comprises a guide structure comprising a first bracket and a second bracket spaced apart from each other on the base, and a guide rotatably provided on the first bracket and the second bracket, respectively, the guide selectively acting on the body to guide the cleaning robot to move to the limiting device, the limiting device being disposed between the first bracket and the second bracket.

8. The cleaning robot system of claim 7, wherein a distance between the first side of the body and a side of the first support adjacent the first side of the body when the cleaning robot is between the first support and the second support is greater than 0.5mm; or the distance between the second side of the body and the side of the second bracket near the second side of the body is greater than 0.5mm.

9. The cleaning robot system of claim 2, wherein the base station further comprises a first water tank, the first docking portion is a water outlet of the base station and is communicated with the first water tank, the cleaning robot comprises a second water tank, the second docking portion is a water inlet of the cleaning robot and is communicated with the second water tank, and water is added to the cleaning robot after the first docking portion is docked with the second docking portion.

10. The cleaning robot system of claim 2, wherein the first docking portion is a power outlet of the base station, the second docking portion is a charging pole piece of the cleaning robot, and the first docking portion and the second docking portion are docked to charge the cleaning robot; and/or the number of the groups of groups,