WO2022096004A1 - Base et station de base de robot - Google Patents

Base et station de base de robot Download PDF

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Publication number
WO2022096004A1
WO2022096004A1 PCT/CN2021/129371 CN2021129371W WO2022096004A1 WO 2022096004 A1 WO2022096004 A1 WO 2022096004A1 CN 2021129371 W CN2021129371 W CN 2021129371W WO 2022096004 A1 WO2022096004 A1 WO 2022096004A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
tray
station
base
dust collection
Prior art date
Application number
PCT/CN2021/129371
Other languages
English (en)
Chinese (zh)
Inventor
杨勇
宫海涛
廖佰军
罗林斌
Original Assignee
深圳市杉川机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202011239350.5A external-priority patent/CN112493946A/zh
Priority claimed from CN202022571677.4U external-priority patent/CN214259223U/zh
Priority claimed from CN202011240621.9A external-priority patent/CN112497267A/zh
Priority claimed from CN202022576861.8U external-priority patent/CN214604466U/zh
Application filed by 深圳市杉川机器人有限公司 filed Critical 深圳市杉川机器人有限公司
Publication of WO2022096004A1 publication Critical patent/WO2022096004A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the present application relates to the technical field of robot base stations, and in particular, to a base and a robot base station.
  • the purpose of the embodiments of the present application is to provide a base and a robot base station to solve the technical problem in the related art that it is difficult to separate the cleaning element and the cleaning robot.
  • a first locking piece arranged on the seat body and used for temporarily fixing the cleaning piece
  • the cleaning robot carried on the tray when the tray is in the fixing station, the cleaning robot carried on the tray is connected to the cleaning member temporarily fixed on the first locking member; the tray is in the separation station. When in position, the cleaning robot carried on the tray is separated from the cleaning member temporarily fixed on the first locking member.
  • the base body has an accommodating groove, and the tray and the first locking member are disposed in the accommodating groove.
  • the seat body is provided with a first dust collection pipeline and a first dust collection port connected to the first dust collection pipeline, and the tray is provided with an opening for exposing the first dust collection The dust collection opening of the mouth.
  • the first dust collection port is provided with a first sealing member; when the tray is in the fixing position, the first sealing member is provided on the first dust collection port and the tray between the bottom surfaces; when the tray is in the dust collection station, the first dust collection opening is in sealing communication with the dust collection opening through the first sealing member.
  • the base further includes a cleaning mechanism detachably connected to the base body, and the cleaning mechanism is used for cleaning the cleaning member.
  • the cleaning driving member is a motor
  • the cleaning assembly further includes an operating member fixedly connected to the output shaft of the motor and a connecting member fixedly connected to the lower cleaning plate.
  • the free end is provided with an eccentric shaft, the eccentric shaft is arranged away from the axis of the output shaft of the motor, and a slot for the eccentric shaft to be inserted is provided on the connecting piece.
  • the base is the above-mentioned base
  • removal device for moving the tray, moving the cleaning element on the first locking element into the storage device and moving the cleaning element in the storage device to the first locking element on the item;
  • a control system, the first locking member and the removal device are all electrically connected to the control system.
  • the removal device includes a gripper for grabbing the tray or the cleaning element, a gripper connected with the gripper and used for driving the gripper to move up and down in a vertical direction
  • a gripper connected with the gripper and used for driving the gripper to move up and down in a vertical direction
  • a first displacement mechanism and a second displacement mechanism connected with the first displacement mechanism and used for driving the first displacement mechanism to move back and forth in a horizontal direction, the vertical direction being perpendicular to the horizontal direction.
  • the second displacement mechanism includes a rotatable horizontal driving wheel, a rotatable horizontal driven wheel disposed on one side of the rotating wheel in a horizontal direction, and a horizontal driving wheel wrapped around the horizontal driving wheel and all the rotatable horizontal driving wheels.
  • the horizontal synchronous belt on the horizontal driven wheel, the first pressing plate fixedly connected to the fixed plate, and the second pressing plate fixedly connected to the side of the first pressing plate away from the fixed plate are used to drive the horizontal driving
  • the seat body is provided with a first dust collection pipeline and a first dust collection port connected to the first dust collection pipeline, and the tray is provided with an opening for exposing the first dust collection The dust collection opening of the mouth.
  • the tray further has a dust collecting station on the base, and the tray can switch positions between the separation station and the dust collecting station on the base; When the tray is in the fixing station and/or the separation station, the bottom surface of the tray blocks the first dust collection port; when the tray is in the dust collection station, the first dust collection port is closed.
  • the dust port is arranged opposite to the dust collection opening.
  • the robot base station further includes a dust collection container communicated with the first dust collection pipeline and a negative pressure generating device communicated with the dust collection container and used for providing negative pressure.
  • the robot base station further includes a cleaning mechanism detachably connected to the base, the cleaning mechanism includes an upper shell, a lower shell connected to the upper shell, and a cleaning mechanism provided on the upper shell and the upper shell. a cleaning component between the lower shells and used for cleaning the cleaning piece.
  • the upper casing, the cleaning assembly and the lower casing are jointly enclosed to form a cleaning chamber
  • the robot base station further includes a water tank communicated with the cleaning chamber, and a water tank disposed in the cleaning chamber and the cleaning chamber.
  • the cleaning assembly includes an upper cleaning plate, a lower cleaning plate slidably connected below the upper cleaning plate along the length direction of the upper cleaning plate, and driving the upper cleaning plate and the lower cleaning plate Relatively sliding cleaning driver, the upper cleaning plate is provided with a plurality of first comb teeth at intervals along its own length direction, and the lower cleaning plate is provided with a plurality of second combs at intervals corresponding to the plurality of first comb teeth tooth.
  • the working principle of the base of the present application is as follows: in the initial state, the tray is located at the fixed station, the cleaning robot enters the tray from the entrance of the tray, so that the cleaning robot is carried on the tray, and the cleaning member is temporarily fixed on the first locking member. , the cleaning robot is connected with the cleaning piece; then, the tray moves to the separation station, so that the cleaning robot is separated from the cleaning piece.
  • the base of the present application can realize the separation between the cleaning robot and the cleaning piece, and the user does not need to use nails or other props to pull the cleaning piece off the cleaning robot from the gap between the cleaning piece and the cleaning robot, The operation is simple and the user experience is improved.
  • the robot base station of the present application includes the above-mentioned base.
  • the tray In the initial state, the tray is located at the fixed station, the cleaning robot enters the tray from the entrance of the tray, so that the cleaning robot is carried on the tray, and the first locking member temporarily fixes the cleaning member.
  • the removal device moves the tray to the separation station, so that the cleaning robot is separated from the cleaning member; the first locking member releases the cleaning member, and the removal device removes the cleaning member on the first locking member Move into the storage device, and then the removal device moves another cleaning piece of the storage device to the first locking piece, and the first locking piece temporarily fixes the other cleaning piece; the removal device moves the tray to the fixing station, the first locking piece The locking piece releases the other cleaning piece, and at this time, the cleaning robot is connected with the other cleaning piece, thereby completing the replacement of the cleaning piece.
  • the robot base station of the present application can realize the replacement of cleaning parts, completely liberate the hands of the user, greatly reduce the workload of the user, and improve the user experience.
  • FIG. 1 is a schematic three-dimensional structural diagram of a robot base station provided by an embodiment of the present application
  • FIG. 2 is a schematic three-dimensional structural diagram of a robot base station provided by an embodiment of the present application after the casing is omitted;
  • FIG. 3 is a schematic three-dimensional structural diagram of a removal device provided by an embodiment of the present application.
  • FIG. 4 is a schematic three-dimensional structural diagram of a storage device provided by an embodiment of the present application.
  • FIG. 5 is a schematic three-dimensional structural diagram of a base provided by an embodiment of the present application and a schematic diagram of a tray in a fixed station;
  • FIG. 6 is a schematic diagram of a second three-dimensional structure of a base provided by an embodiment of the application and a schematic diagram of a tray located at a separation station;
  • FIG. 7 is a schematic three-dimensional structural schematic diagram of a base provided by an embodiment of the present application and a schematic diagram of a tray located at a dust collecting station;
  • FIG. 8 is a schematic diagram of an exploded structure of a base provided by an embodiment of the present application.
  • FIG. 9 is a schematic cross-sectional structural diagram of a tray provided in an embodiment of the present application at a fixed station;
  • FIG. 10 is a schematic cross-sectional structure diagram of the tray provided in the embodiment of the application at the separation station;
  • FIG. 11 is a schematic cross-sectional structural diagram of a tray located at a dust collection station provided by an embodiment of the application;
  • FIG. 12 is a schematic diagram of an exploded structure of a cleaning mechanism provided by an embodiment of the application.
  • FIG. 13 is a schematic diagram of an exploded structure of a cleaning assembly provided by an embodiment of the present application.
  • 100-storage device 110-storage bin; 111-bracket; 120-hanger; 121-second locking piece; 122-hook; -Fixed plate; 222-guide shaft; 223-linear bearing; 224-screw; 225-nut seat; 226-lifting drive; 227-transmission assembly; 2271-vertical driving wheel; 2272-vertical driven wheel; 2273 - Vertical timing belt; 230 - Second displacement mechanism; 231 - Horizontal driving wheel; 232 - Horizontal driven wheel; 233 - Horizontal timing belt; 234 - First pressure plate; 235 - Second pressure plate; -guide rail; 238-slider; 300-base; 310-seat body; 311-accommodating groove; 312-first dust collection pipeline; 3121-first dust collection port; 3122-first seal; 313-first Two dust collection pipelines; 3131-second dust collection port; 314-chute; 3141-first vertical groove; 3142-second vertical groove; 3143-horizontal
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • an embodiment of the present application provides a base 300 for a cleaning robot (not shown) provided with a detachable cleaning member 900 .
  • the cleaning member 900 may be a roller brush for sweeping or mopping
  • the base 300 includes a base 310 and a tray 320.
  • the base 310 has an accommodating groove 311, and the tray 320 is set in the accommodating groove 311 and used to carry the cleaning robot, so that The compact structure of the base 300 is beneficial to reduce the volume of the base 300 and make the base 300 miniaturized.
  • the tray 320 has a fixed station and a separation station in the accommodating groove 311 , the tray 320 can switch positions between the fixed station and the separation station, and the tray 320 has a The entrance for the cleaning robot to enter, the base 300 further includes a first locking member 330 disposed in the accommodating groove 311 and used to temporarily fix the cleaning member 900; wherein, when the tray 320 is in the fixed station, the cleaning robot carried on the tray 320 It is connected with the cleaning member 900 temporarily fixed on the first locking member 330 ; when the tray 320 is in the separation station, the cleaning robot carried on the tray 320 is separated from the cleaning member 900 temporarily fixed on the first locking member 330 . It can be understood that, the tray 320 may also have other workstations in the accommodating groove 311 according to the actual selection and specific requirements, which is not limited herein.
  • the working principle of the base 300 of the embodiment of the present application is as follows: in the initial state, the tray 320 is located at the fixed station, and the cleaning robot enters the tray 320 from the entrance of the tray 320, so that the cleaning robot is carried on the tray 320, and the cleaning member 900 is temporarily fixed on the tray 320. On the first locking member 330 , at this time, the cleaning robot is connected with the cleaning member 900 ; then, the tray 320 is moved to the separation station, so that the cleaning robot is separated from the cleaning member 900 .
  • the base 300 of the embodiment of the present application can realize the separation between the cleaning robot and the cleaning member 900, and the user does not need to use nails or other props to separate the cleaning member 900 from the cleaning member 900 from the gap between the cleaning member 900 and the cleaning robot.
  • the cleaning robot is easy to operate and improve the user experience.
  • the inner side of the tray 320 is provided with a rotatable guide wheel 321 .
  • the guide wheel 321 can guide the cleaning robot. effect.
  • the first locking member 330 is an electromagnet, and the first locking member 330 attracts the cleaning member 900 by magnetic force.
  • the cleaning member 900 may correspond to the electromagnetic An iron piece or other structure that can be adsorbed by the electromagnet is set at the position of the iron.
  • the electromagnet When the electromagnet is energized, the electromagnet generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily fixed on the electromagnet. If the tray 320 drives the cleaning robot to move from the fixed station to the separation station, since the cleaning member 900 is temporarily fixed on the cleaning member 900 , the cleaning robot and the cleaning member 900 will be separated.
  • the base 300 may further include a control component electrically connected to the electromagnet, and the control component can control whether the electromagnet is energized or not.
  • the first locking member 330 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.
  • the seat body 310 is provided with a first dust collection pipeline 312 and a first dust collection port 3121 connected to the first dust collection pipeline 312 .
  • 320 is provided with a dust collecting opening 322 for exposing the first dust collecting port 3121 .
  • the cleaning robot is further provided with a dust box (not shown in the figure), and the dust box is provided with a dust outlet (not shown in the figure) which is directly opposite to the dust collection opening 322.
  • a negative pressure source (not shown) and a trash can (not shown) are set at the end of the dust pipeline 312 away from the first dust collection port 3121.
  • the cleaning method of the box greatly improves the user experience.
  • the tray 320 also has a dust collecting station in the accommodating groove 311 , and the tray 320 can be separated on the seat body 310 at the separation station and the dust collecting station. Switch positions between stations; as shown in FIG. 9 and FIG. 10 , when the tray 320 is in the fixed station and/or the separation station, the bottom surface of the tray 320 blocks the first dust collection port 3121; as shown in FIG. 11 , the tray 320 In the dust collection station, the first dust collection port 3121 is disposed opposite to the dust collection opening 322 . With this structure, the tray 320 only exposes the first dust collecting port 3121 at the dust collecting station, which can prevent the dust in the air from accumulating at the first dust collecting port 3121 and causing the first dust collecting port 3121 to be dirty and difficult to clean.
  • the first dust collecting port 3121 is provided with a first sealing member 3122; when the tray 320 is in the fixed position, the first sealing member 3122 is provided at the Between the first dust collection port 3121 and the bottom surface of the tray 320; when the tray 320 is in the dust collection station, the first dust collection port 3121 is in sealing communication with the dust collection port 322 through the first seal 3122.
  • the air tightness of the dust collection path can be improved, the dust collection efficiency can be improved, and the dust accumulation at the first dust collection port 3121 can be prevented, causing the first dust collection port 3121 to be dirty and difficult to clean.
  • the groove walls on the opposite sides of the accommodating groove 311 are provided with chute 314, and the tray 320 is provided with a rotatable roller 323 corresponding to the chute 314, The roller 323 is embedded in the chute 314, and the roller 323 cooperates with the chute 314, so that the tray 320 can switch positions between different stations.
  • the chute 314 includes a first vertical slot 3141 and a horizontal slot 3143 communicating with the first vertical slot 3141 .
  • the first vertical slot 3141 extends along a direction perpendicular to the bottom surface of the accommodating slot 311
  • the horizontal groove 3143 extends along the direction parallel to the bottom surface of the accommodating groove 311.
  • the tray 320 when the roller 323 is located at one end of the first vertical groove 3141 close to the bottom surface of the accommodating groove 311, the tray 320 is located at the fixed position; When the tray 320 is in the fixed position, the rollers 323 move along the first vertical slot 3141 and the horizontal slot 3143 successively and finally stay at the end of the horizontal slot 3143 away from the first vertical slot 3141 , that is, the tray 320 first moves along the first vertical slot 3141 to the end of the horizontal slot 3143 close to the first vertical slot 3141, and then move along the horizontal slot 3143 to the end of the horizontal slot 3143 away from the first vertical slot 3141.
  • the cleaning robot carried on the tray 320 and the cleaning member 900 temporarily fixed to the first locking member 330 are separated by moving a certain distance in two different directions.
  • the chute 314 further includes a second vertical slot 3142 , the horizontal slot 3143 is used to connect the first vertical slot 3141 and the second vertical slot 3142 , and the second vertical slot 3142 is perpendicular to the accommodating slot 311
  • the roller 323 is located at the end of the horizontal groove 3143 away from the first vertical groove 3141, pushing the tray 320 and making the roller 323 pass through the horizontal groove 3143 to reach the second The end of the vertical slot 3142 that is close to the bottom surface of the accommodating slot 311 , that is, the tray 320 first moves along the horizontal slot 3143 to the end of the second vertical slot 3142 that is far from the bottom surface of the accommodating slot 311 (that is, the second vertical slot 3142 is close to the horizontal slot).
  • the tray 320 At the dust collecting station, the first dust collecting port 3121 is disposed opposite to the dust collecting opening 322 , and the first dust collecting port 3121 is in sealing communication with the dust collecting opening 322 through the first sealing member 3122 .
  • the base 300 further includes a cleaning mechanism 400 detachably connected to the base body 310 .
  • the cleaning mechanism 400 is used to clean the cleaning member 900 , and the user does not need to Cleaning the cleaning piece 900 manually reduces the workload of the user and improves the user experience.
  • the cleaning mechanism 400 includes a cleaning assembly 410
  • the cleaning assembly 410 includes an upper cleaning plate 411 , which is slidably connected to the upper cleaning plate 411 along the length direction of the upper cleaning plate 411 .
  • the lower cleaning plate 412 under the cleaning plate 411 and the cleaning driving member 413 for driving the upper cleaning plate 411 and the lower cleaning plate 412 to slide relative to each other, the upper cleaning plate 411 is provided with a plurality of first comb teeth 4111 at intervals along its own length direction,
  • the cleaning plate 412 is provided with a plurality of second comb teeth 4121 at intervals corresponding to the plurality of first comb teeth 4111 .
  • the lower cleaning plate 412 is provided with a guide groove 4122
  • the upper cleaning plate 411 is provided with a slide rail 4112 embedded in the guide groove 4122, so that the upper cleaning plate 411 and the lower cleaning plate 412 are slidably connected
  • the driver 413 is electrically connected to the control assembly, and the control assembly can control the working state of the cleaning driver 413 .
  • the cleaning principle of the cleaning component 410 is as follows: when the cleaning component 900 is located at the fixed station, the bristles or mop of the cleaning component 900 are arranged on the cleaning component 410, and the bristles or the mop pass through the gap between two adjacent first comb teeth 4111 And located in the gap between the corresponding adjacent two second comb teeth 4121, the cleaning driver 413 drives the upper cleaning plate 411 and the lower cleaning plate 412 to slide relative to each other, so that the second comb teeth 4121 brush the bristles or the mop and can be removed. dirt to complete the cleaning.
  • the cleaning driving member 413 is a motor
  • the cleaning assembly 410 further includes an operating member 414 fixedly connected to the output shaft of the motor and an operating member 414 fixedly connected to the lower cleaning plate 412
  • the free end of the connecting piece 415 and the operating piece 414 is provided with an eccentric shaft 4141 which is offset from the axis of the output shaft of the motor.
  • the slot 4151 can be a waist-shaped slot.
  • the shape of the slot 4151 can be appropriately modified according to actual selection and specific requirements, which is not limited here.
  • the cleaning mechanism 400 further includes an upper casing 420 and a lower casing 430 detachably connected to the upper casing 420 , and the upper casing 420 and the lower casing 430 can be specifically screwed
  • the connection method realizes detachable connection.
  • the cleaning assembly 410 is sandwiched between the upper shell 420 and the lower shell 430.
  • the upper shell 420, the cleaning assembly 410 and the lower shell 430 are jointly enclosed to form a cleaning cavity. The washed dirt falls into the cleaning cavity, and the user can remove the upper shell 420 and the lower shell 430 to clean the dirt.
  • the cleaning mechanism 400 further includes a lead-out piece 440 sandwiched between the upper shell 420 and the lower shell 430 , and the lead-out piece 440 is provided with a connection that communicates with the cleaning cavity.
  • the dust discharge port 441 referring to FIG. 8, the seat body 310 is provided with a second dust collection pipe 313 and a second dust collection port 3131 connected to the second dust collection pipe 313, the second dust collection port 3131 and the dust discharge port 441 is directly opposite to the communication setting, so that the dirt in the cleaning chamber can be collected.
  • the second dust collecting pipeline 313 is connected in parallel with the first dust collecting pipeline 312, therefore, the second dust collecting pipeline 313 and the first dust collecting pipeline 312 can share a negative pressure source, so as to facilitate the Absorbs and collects dust and dirt.
  • the cleaning mechanism 400 further includes a second sealing member 450 disposed at the dust discharge port 441 , and the second sealing member 450 is an interference fit with the second dust collection port 3131 and the dust discharge port 441, so that the second dust collection port 3131 and the dust discharge port 441 are in sealed communication.
  • the first locking member 330 is fixed on the cleaning mechanism 400 .
  • the first locking member 330 is located in the accommodating in the groove 311.
  • the base 300 of the embodiment of the present application is provided with four first locking members 330 , wherein two first locking members 330 are fixed to the upper shell 420 of the cleaning mechanism 400 , and the other two first locking members 330 are fixed to the cleaning mechanism 400 .
  • Lower housing 430 of mechanism 400 is provided.
  • the lower shell 430 is provided with a water inlet (not shown in the figure) and a water outlet (not shown in the figure) which communicate with the cleaning cavity. Enter water to clean the cleaning parts, and discharge the sewage through the drain port.
  • the cleaning mechanism 400 further includes a third sealing member 460 disposed on the upper shell 420 .
  • the third sealing member 460 When the cleaning member 900 is temporarily fixed on the first locking member 330 , the third sealing member 460 The interference fit between the upper shell 420 and the cleaning member 900 can prevent the leakage of water in the cleaning cavity.
  • the tray 320 when the tray 320 needs to be switched between different stations in the accommodating groove 311 of the base body 310 , the tray 320 can be lifted by a manipulator, so that the rollers 323 of the tray 320 slide along the The slot 314 is moved to the corresponding station.
  • the roller 323 of the tray 320 can also be moved to the corresponding station along the chute 314 by manually lifting the tray 320. limited.
  • the embodiment of the present application further provides a robot base station, including the base 300 as described above.
  • the base 300 of the embodiment of the present application can realize the separation between the cleaning robot and the cleaning member 900, and the user does not need to use a fingernail Or other props can pull the cleaning member 900 off the cleaning robot from the gap between the cleaning member 900 and the cleaning robot, which is easy to operate and improves the user experience.
  • the robot base station further includes a manipulator for lifting the tray 320, the manipulator is electrically connected to the control assembly, and the control assembly can control the manipulator to carry out the lifting operation.
  • Lifting the tray 320 makes the rollers 323 of the tray 320 move to the corresponding station along the chute 314, which is beneficial to realize the automation degree of the robot base station, realize the maintenance-free sweeping and dragging process of the cleaning robot, reduce the user's workload, and improve the user's experience. .
  • an embodiment of the present application provides a robot base station for a cleaning robot provided with a detachable cleaning member 900.
  • the cleaning member 900 may be a roller brush for sweeping or a mop for mopping the floor head.
  • the robot base station includes a storage device 100 for storing the cleaning element 900. By placing the disassembled cleaning element 900 in the storage device 100, the situation that the cleaning element 900 is lost can be prevented.
  • the robot base station further includes a base 300 , and the base 300 includes a base 310 , a tray 320 provided on the base 310 and used to carry the cleaning robot, and a tray 320 provided on the base.
  • the cleaning robot and the cleaning member 900 can be separated or connected together, so as to facilitate the replacement of the cleaning member 900 .
  • the robot base station further includes a removal device 200 and a control system.
  • the removal device 200 is used for moving the tray 320 , moving the cleaning member 900 on the first locking member 330 into the storage device 100 , and The cleaning member 900 in the storage device 100 is moved to the first locking member 330, and both the first locking member 330 and the removing device 200 are electrically connected to the control system.
  • the control system controls the operation of the removing device 200 and the first locking member 330, so that the automation degree of the robot base station can be improved.
  • the operating principle of the robot base station in the embodiment of the present application is as follows: in the initial state, the tray 320 is located at a fixed station, and the cleaning robot enters the tray 320 from the entrance of the tray 320, so that the cleaning robot is carried on the tray 320, and the first locking member 330 temporarily
  • the cleaning member 900 is fixed, at this time, the cleaning robot is connected to the cleaning member 900; then, the removal device 200 moves the tray 320 to the separation station, so that the cleaning robot is separated from the cleaning member 900; then, the first locking member 330 releases the cleaning member 900, the removal device 200 moves the cleaning member 900 on the first locking member 330 into the storage device 100; then, the removal device 200 moves the other cleaning member 900 of the storage device 100 to the first locking member 330, the first A locking member 330 temporarily fixes another cleaning member 900; then, the removal device 200 moves the tray 320 to the fixing position, the first locking member 330 releases the other cleaning member 900, at this time, the cleaning robot and the other cleaning member
  • the storage device 100 is arranged above the base 300
  • the removal device 200 is arranged above the storage device 100 .
  • the compact structure is beneficial to reduce the volume of the robot base station. It can be understood that the layout of the removal device 200 , the storage device 100 and the base 300 can be appropriately modified according to the actual selection and specific requirements, which are not limited herein.
  • the removal device 200 includes a gripper 210 for grabbing the tray 320 or the cleaning member 900 , connected with the gripper 210 and used for driving A first displacement mechanism 220 for the jaws 210 to move up and down along the vertical direction Y and a second displacement mechanism 230 for driving the first displacement mechanism 220 to move back and forth along the horizontal direction X, which are connected to the first displacement mechanism 220.
  • the direction Y is perpendicular to the horizontal direction X.
  • the clamping jaws 210 can move up and down along the vertical direction Y and back and forth along the horizontal direction X, and the position of the clamping jaws 210 can be better adjusted to facilitate grasping the tray 320 or the cleaning member 900 .
  • a handle for the clamping jaw 210 to be hooked is provided on the tray 320 , so that the clamping jaw 210 can drive the tray 320 to move synchronously.
  • 210 is hooked to the groove body, so that the clamping jaws 210 can drive the cleaning element 900 to move synchronously.
  • other methods can also be used to enable the clamping jaws 210 to grab the tray 320 or the cleaning element 900. This is not a unique limitation.
  • the first displacement mechanism 220 includes a fixing plate 221 , a guide shaft 222 fixedly connected to the fixing plate 221 and extending along the vertical direction Y, and a sliding connection.
  • the lifting driving member 226 drives the screw 224 to rotate through the transmission assembly 227.
  • the lifting driving member 226 can be a motor, and the lifting driving member 226 is rotated by the driving screw 224, so that the threaded connection to the nut seat 225 drives the clamping jaw 210 to perform lifting movement, and the guide shaft 222 and the linear bearing 223 can be arranged to improve the clamping force.
  • the claw 210 does the stability of the lifting motion.
  • the lift driver 226 is electrically connected to the control system. It can be understood that, the specific structure of the first displacement mechanism 220 can be appropriately modified according to the actual selection and specific requirements, which is not limited here.
  • the transmission assembly 227 includes a rotatable vertical driving wheel 2271 , a plurality of rotatable vertical driven wheels 2272 , and a vertical driving wheel 2271 wrapped around the vertical driving wheel 2271 .
  • the output shaft of the lift driving member 226 is fixedly connected with the vertical driving wheel 2271, so that the output shaft of the lifting driving member 226 and the vertical driving wheel 2271 can rotate synchronously
  • One end of the screw rod 224 is fixedly connected with the corresponding vertical driven wheel 2272 , so that the screw rod 224 and the corresponding vertical driven wheel 2272 can rotate synchronously, so that the lift driving member 226 can drive the screw rod 224 to rotate.
  • the specific structure of the transmission assembly 227 can be appropriately modified according to the actual selection and specific requirements, which is not limited herein.
  • the clamping claws 210 are respectively provided on opposite sides of the fixing plate 221 , that is, the two clamping claws 210 are respectively arranged on the opposite sides of the fixing plate 221 , correspondingly, the opposite sides of the fixing plate 221
  • Corresponding guide shafts 222, linear bearings 223, screw rods 224, and nut seats 225 are respectively provided, and the two screw rods 224 are respectively fixedly connected with the corresponding vertical driven wheels 2272, so that the removal device 200 can be stably grasped Take the tray 320 or the cleaning member 900.
  • the second displacement mechanism 230 includes a rotatable horizontal driving wheel 231, and a rotatable horizontal driven wheel arranged on one side of the rotating wheel along the horizontal direction X and rotatable. 232.
  • the horizontal synchronous belt 233 wrapped around the horizontal driving pulley 231 and the horizontal driven pulley 232, the first pressing plate 234 fixedly connected to the fixed plate 221, the The second pressing plate 235, the horizontal driving member 236 for driving the horizontal driving wheel 231 to rotate, the guide rail 237 extending along the horizontal direction X, and the sliding block 238 fixedly connected to the fixing plate 221 and slidably connected to the guide rail 237, the first pressing plate A horizontal timing belt 233 is sandwiched between 234 and the second pressing plate 235 .
  • the horizontal driving member 236 can be a motor, and the horizontal driving member 236 drives the horizontal driving wheel 231 to rotate, so that the horizontal synchronous belt 233 wrapped around the horizontal driving wheel 231 and the horizontal driven wheel 232 rotates synchronously, thereby making the fixed connection
  • the fixed plate 221 of the horizontal synchronous belt 233 moves back and forth along the horizontal direction X, that is, the first displacement mechanism 220 and the clamping jaws 210 on it move back and forth along the horizontal direction X.
  • the claw 210 does the stability of the lifting motion.
  • the horizontal driving member 236 is electrically connected to the control system. It can be understood that, the specific structure of the second displacement mechanism 230 can be appropriately modified according to the actual selection and specific requirements, which is not limited here.
  • the inner side of the tray 320 is provided with a rotatable guide wheel 321 .
  • the guide wheel 321 can guide the cleaning robot. effect.
  • the first locking member 330 is an electromagnet, and the first locking member 330 attracts the cleaning member 900 by magnetic force.
  • An iron piece or other structure capable of being adsorbed by an electromagnet is arranged at the position of a locking piece 330.
  • the first locking piece 330 When the first locking piece 330 is energized, the first locking piece 330 generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily It is fixed on the first locking member 330.
  • the tray 320 drives the cleaning robot to move from the fixed station to the separation station, since the cleaning member 900 is temporarily fixed on the cleaning member 900, the cleaning robot and the cleaning member 900 will be separated.
  • the first locking member 330 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.
  • the storage device 100 includes a storage bin 110 , and the storage bin 110 is provided with a bracket 111 for placing the cleaning element 900 , and the bracket 111 can accommodate a plurality of cleaning elements 900, in the storage device 100 of this embodiment, the bracket 111 can accommodate two cleaning members 900.
  • the storage device 100 includes a hanger 120, the hanger 120 can hang a plurality of cleaning parts 900, the hanger 120 is provided with a second locking part 121 and a hook 122, and the cleaning part 900 is hung on the second locking part 121 and the hook 122, In the storage device 100 of this embodiment, the hanger 120 can hang two cleaning members 900 .
  • the second locking member 121 is an electromagnet, and the second locking member 121 attracts the cleaning member 900 by magnetic force.
  • the cleaning member 900 may correspond to the position of the second locking member 121 An iron piece or other structure that can be attracted by the electromagnet is provided.
  • the second locking piece 121 When the second locking piece 121 is energized, the second locking piece 121 generates a magnetic force and attracts the iron piece on the cleaning piece 900, so that the cleaning piece 900 is temporarily fixed on the second locking piece 121 on.
  • the second locking member 121 can also be of other component structures according to actual selection and specific requirements, which is not limited herein.
  • the seat body 310 is provided with a first dust collection pipeline 312 and a first dust collection port 3121 connected to the first dust collection pipeline 312 .
  • 320 is provided with a dust collecting opening 322 for exposing the first dust collecting port 3121 .
  • the cleaning robot is further provided with a dust box, and the dust box is provided with a dust outlet directly opposite to the dust collection opening 322. Under this structure, the first dust collection pipeline 312 can be far away from the first dust collection pipe.
  • One end of the port 3121 is provided with a negative pressure generating device 600 (fan) and a dust collecting container 500, the dust collecting container 500 is communicated with the first dust collecting pipeline 312, and the negative pressure generating device 600 is communicated with the dust collecting container 500 and is used to provide negative pressure , when the negative pressure generating device 600 generates negative pressure to generate suction, the dust or other garbage in the dust box can pass through the dust outlet, the dust collection opening 322, the first dust collection port 3121 and the first dust collection pipeline 312 in sequence.
  • the user After reaching the dust collecting container 500, the user does not need to remove the dust box from the cleaning robot for cleaning, which simplifies the cleaning method of the dust box and greatly improves the user experience.
  • the tray 320 also has a dust collection station on the seat body 310 , and the tray 320 can be in a separation station and a dust collection station on the seat body 310
  • the bottom surface of the tray 320 blocks the first dust collection port 3121; as shown in FIG. 11 , the tray 320 is placed in the collection station During the dust collection station, the first dust collection port 3121 is directly opposite to the dust collection opening 322 .
  • the tray 320 only exposes the first dust collecting port 3121 at the dust collecting station, which can prevent the dust in the air from accumulating at the first dust collecting port 3121 and causing the first dust collecting port 3121 to be dirty and difficult to clean.
  • an accommodating groove 311 is formed on the base body 310 , the tray 320 is arranged in the accommodating groove 311 , and the tray 320 has a fixing tool in the accommodating groove 311 . position, separation station and dust collection station.
  • the structure of the base 300 is compact, which is beneficial to reduce the volume of the base 300 and make the robot base station miniaturized.
  • the first dust collecting port 3121 is provided with a first sealing member 3122; when the tray 320 is in the fixed position, the first sealing member 3122 is provided at the Between the first dust collection port 3121 and the bottom surface of the tray 320; when the tray 320 is in the dust collection station, the first dust collection port 3121 is in sealing communication with the dust collection port 322 through the first seal 3122.
  • the air tightness of the dust collection path can be improved, the dust collection efficiency can be improved, and the dust accumulation at the first dust collection port 3121 can be prevented, causing the first dust collection port 3121 to be dirty and difficult to clean.
  • the groove walls on the opposite sides of the accommodating groove 311 are provided with chute 314, and the tray 320 is provided with a rotatable roller 323 corresponding to the chute 314, The roller 323 is embedded in the chute 314, and the roller 323 cooperates with the chute 314, so that the tray 320 can switch positions between different stations.
  • the chute 314 includes a first vertical slot 3141 and a horizontal slot 3143 communicating with the first vertical slot 3141 .
  • the first vertical slot 3141 extends along a direction perpendicular to the bottom surface of the accommodating slot 311
  • the horizontal groove 3143 extends along the direction parallel to the bottom surface of the accommodating groove 311.
  • the tray 320 when the roller 323 is located at one end of the first vertical groove 3141 close to the bottom surface of the accommodating groove 311, the tray 320 is located at the fixed position; When the tray 320 is in the fixed position, the rollers 323 move along the first vertical slot 3141 and the horizontal slot 3143 successively and finally stay at the end of the horizontal slot 3143 away from the first vertical slot 3141 , that is, the tray 320 first moves along the first vertical slot 3141 to the end of the horizontal slot 3143 close to the first vertical slot 3141, and then move along the horizontal slot 3143 to the end of the horizontal slot 3143 away from the first vertical slot 3141.
  • the cleaning robot carried on the tray 320 and the cleaning member 900 temporarily fixed to the first locking member 330 are separated by moving a certain distance in two different directions.
  • the chute 314 further includes a second vertical slot 3142 , the horizontal slot 3143 is used to connect the first vertical slot 3141 and the second vertical slot 3142 , and the second vertical slot 3142 is perpendicular to the accommodating slot 311
  • the roller 323 is located at the end of the horizontal groove 3143 away from the first vertical groove 3141, pushing the tray 320 and making the roller 323 pass through the horizontal groove 3143 to reach the second The end of the vertical slot 3142 that is close to the bottom surface of the accommodating slot 311 , that is, the tray 320 first moves along the horizontal slot 3143 to the end of the second vertical slot 3142 that is far from the bottom surface of the accommodating slot 311 (that is, the second vertical slot 3142 is close to the horizontal slot).
  • the tray 320 At the dust collecting station, the first dust collecting port 3121 is disposed opposite to the dust collecting opening 322 , and the first dust collecting port 3121 is in sealing communication with the dust collecting opening 322 through the first sealing member 3122 .
  • the robot base station further includes a cleaning mechanism 400 detachably connected to the base 310 , and the cleaning mechanism 400 includes an upper shell 420 , a connection The lower case 430 in the upper case 420 and the cleaning component 410 disposed between the upper case 420 and the lower case 430 and used for cleaning the cleaning element 900 .
  • the user does not need to clean the cleaning member 900 manually, which reduces the workload of the user and improves the user experience.
  • the upper casing 420 and the lower casing 430 are detachably connected, and the two can be detachably connected by but not limited to screw connection, so as to facilitate the separation of the upper casing 420 and the lower casing 430 for cleaning and maintenance.
  • the robot base station It also includes a water tank 700 in communication with the cleaning chamber and a pump (not shown) arranged between the cleaning chamber and the water tank 700 for conveying water.
  • the lower shell 430 is provided with a water inlet and a water outlet.
  • the water tank 700 may include a first water tank 710 and a second water tank 720.
  • the first water tank 710 and the second water tank 720 are both composite water tanks. The water in the first water tank 710 or the second water tank 720 is transported into the cleaning cavity through the water inlet to clean the cleaning parts, and the sewage in the cleaning cavity can be discharged through the water outlet.
  • the cleaning assembly 410 includes an upper cleaning plate 411 , a lower cleaning plate 412 slidably connected below the upper cleaning plate 411 along the length direction of the upper cleaning plate 411 , and a drive
  • the upper cleaning plate 411 and the lower cleaning plate 412 are relatively sliding cleaning drive members 413.
  • the upper cleaning plate 411 is provided with a plurality of first comb teeth 4111 at intervals along its own length direction, and the lower cleaning plate 412 corresponds to a plurality of first comb teeth 4111.
  • a plurality of second comb teeth 4121 are provided at intervals.
  • the lower cleaning plate 412 is provided with a guide groove 4122
  • the upper cleaning plate 411 is provided with a slide rail 4112 embedded in the guide groove 4122, so that the upper cleaning plate 411 and the lower cleaning plate 412 are slidably connected
  • the driving member 413 is electrically connected with the control system, and the control system can control the working state of the cleaning driving member 413 .
  • the cleaning principle of the cleaning component 410 is as follows: when the cleaning component 900 is located at the fixed station, the bristles or mop of the cleaning component 900 are arranged on the cleaning component 410, and the bristles or the mop pass through the gap between two adjacent first comb teeth 4111 And located in the gap between the corresponding adjacent two second comb teeth 4121, the cleaning driver 413 drives the upper cleaning plate 411 and the lower cleaning plate 412 to slide relative to each other, so that the second comb teeth 4121 brush the bristles or the mop and can be removed. dirt to complete the cleaning.
  • the cleaning driving member 413 is a motor
  • the cleaning assembly 410 further includes an operating member 414 fixedly connected to the output shaft of the motor and an operating member 414 fixedly connected to the lower cleaning plate 412
  • the free end of the connecting piece 415 and the operating piece 414 is provided with an eccentric shaft 4141 which is offset from the axis of the output shaft of the motor.
  • the slot 4151 can be a waist-shaped slot.
  • the shape of the slot 4151 can be appropriately modified according to the actual situation and specific requirements, which is not limited here.
  • the cleaning mechanism 400 further includes a lead-out piece 440 sandwiched between the upper shell 420 and the lower shell 430 , and the lead-out piece 440 is provided with a connection that communicates with the cleaning cavity.
  • the dust discharge port 441 referring to FIG. 8, the seat body 310 is provided with a second dust collection pipe 313 and a second dust collection port 3131 connected to the second dust collection pipe 313, the second dust collection port 3131 and the dust discharge port 441 is directly opposite to the communication setting, so that the dirt in the cleaning chamber can be collected.
  • the second dust collecting pipeline 313 is connected in parallel with the first dust collecting pipeline 312, therefore, the second dust collecting pipeline 313 and the first dust collecting pipeline 312 can share a negative pressure source, so as to facilitate the Absorbs and collects dust and dirt.
  • the cleaning mechanism 400 further includes a second sealing member 450 disposed at the dust discharge port 441 , and the second sealing member 450 is an interference fit with the second dust collection port 3131 and the dust discharge port 441, so that the second dust collection port 3131 and the dust discharge port 441 are in sealed communication.
  • the first locking member 330 is fixed on the cleaning mechanism 400 .
  • the first locking member 330 is located in the accommodating in the groove 311.
  • the base 300 of the embodiment of the present application is provided with four first locking members 330 , wherein two first locking members 330 are fixed to the upper shell 420 of the cleaning mechanism 400 , and the other two first locking members 330 are fixed to the cleaning mechanism 400 .
  • Lower housing 430 of mechanism 400 is provided.
  • the cleaning mechanism 400 further includes a third sealing member 460 provided on the upper shell 420 , when the cleaning member 900 is temporarily fixed on the first locking member 330 , the third sealing member 460 is interference fit between the upper shell 420 and the cleaning member 900, which can prevent the water in the cleaning cavity from leaking out.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne une base (300) et une station de base de robot. La base (300) comprend : un corps de base (310) ; un plateau (320) disposé sur le corps de base (310) et utilisé pour supporter un robot de nettoyage, le plateau (320) pouvant commuter entre une position de travail de fixation et une position de travail de séparation, et comportant une entrée pour l'entrée du robot de nettoyage ; et un premier élément de verrouillage (330) utilisé pour fixer temporairement un élément de nettoyage (900). Lorsque le plateau (320) se trouve dans la position de travail de fixation, l'élément de nettoyage (900) fixé sur le premier élément de verrouillage (330) est relié au robot de nettoyage. Lorsque le plateau (320) se trouve dans la position de travail de séparation, l'élément de nettoyage (900) fixé sur le premier élément de verrouillage (330) est séparé du robot de nettoyage.
PCT/CN2021/129371 2020-11-09 2021-11-08 Base et station de base de robot WO2022096004A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
CN202011239350.5 2020-11-09
CN202011239350.5A CN112493946A (zh) 2020-11-09 2020-11-09 一种底座及机器人基站
CN202022576861.8 2020-11-09
CN202022571677.4U CN214259223U (zh) 2020-11-09 2020-11-09 一种底座及机器人基站
CN202011240621.9A CN112497267A (zh) 2020-11-09 2020-11-09 一种机器人基站
CN202011240621.9 2020-11-09
CN202022571677.4 2020-11-09
CN202022576861.8U CN214604466U (zh) 2020-11-09 2020-11-09 一种机器人基站

Publications (1)

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WO2022096004A1 true WO2022096004A1 (fr) 2022-05-12

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PCT/CN2021/129371 WO2022096004A1 (fr) 2020-11-09 2021-11-08 Base et station de base de robot

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WO (1) WO2022096004A1 (fr)

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CN115054158A (zh) * 2022-06-07 2022-09-16 安克创新科技股份有限公司 基站及清洁系统
CN115104954A (zh) * 2022-06-07 2022-09-27 安克创新科技股份有限公司 一种基站及清洁系统
CN115462715A (zh) * 2022-07-29 2022-12-13 深圳银星智能集团股份有限公司 清洁系统
CN115474868A (zh) * 2022-10-12 2022-12-16 深圳赤马人工智能有限公司 一种基站及智能扫地机器人
CN117885112A (zh) * 2024-03-05 2024-04-16 南通理工学院 一种组合式自主导航机器人连接装置

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CN115054158A (zh) * 2022-06-07 2022-09-16 安克创新科技股份有限公司 基站及清洁系统
CN115104954A (zh) * 2022-06-07 2022-09-27 安克创新科技股份有限公司 一种基站及清洁系统
CN115462715A (zh) * 2022-07-29 2022-12-13 深圳银星智能集团股份有限公司 清洁系统
CN115462715B (zh) * 2022-07-29 2023-12-15 深圳银星智能集团股份有限公司 清洁系统
CN115474868A (zh) * 2022-10-12 2022-12-16 深圳赤马人工智能有限公司 一种基站及智能扫地机器人
CN115474868B (zh) * 2022-10-12 2023-12-26 深圳赤马人工智能有限公司 一种基站及智能扫地机器人
CN117885112A (zh) * 2024-03-05 2024-04-16 南通理工学院 一种组合式自主导航机器人连接装置

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