WO2023011170A1 - Robot base station, robot system, base module, and functional parts of base station - Google Patents

Abstract

A robot base station, a robot system, a base module, and functional parts (4, 5, 6) of the base station. The robot base station comprises: a base (1) for parking a robot (100); and a plurality of functional parts (4, 5, 6), each of the functional parts (4, 5, 6) being provided with at least one functional module, and different functional modules providing different services for the robot (100). Any one of the plurality of functional parts (4, 5, 6) can be combined and assembled with the base (1), and at least some of the plurality of functional parts (4, 5, 6) can be combined and assembled and then combined and assembled with the base (1), so as to form base stations having are formed. By modularly designing the robot base station, it is only necessary to combine the functional parts (4, 5, 6) with the base (1) according to actual needs of users to obtain base stations that meet the needs of different users.

Description

Functional parts of robot base station, robot system, base module and base station

cross reference

This application refers to the Chinese patent application No. 202110898511.X entitled "Robot base station, robot system, base module and functional parts of the base station" submitted on August 5, 2021, which is fully incorporated by reference into this application.

technical field

The present application relates to the technical field of electrical equipment, and in particular to a robot base station, a robot system, a base module and functional parts of the base station.

Background technique

At present, there are many types of base stations on the market to serve different types of robots with different functions. As the functions of the robot base station become more perfect, more and more functional modules are integrated on the robot base station. The robot base station integrates multiple functional modules, which leads to the large size and high cost of the robot base station. For such a large, complete and costly product, the market response is not ideal. Different users have different needs. Even if such a large and complete base station is used, some functional modules will be idle.

Contents of the invention

Aspects of the present application provide a robotic base station. The robotic base station includes:

Base for parking the robot;

A plurality of functional parts, one functional part is provided with at least one functional module, and different functional modules provide different services for the robot;

Wherein, any one of the plurality of functional parts can be combined with the base, and at least some of the functional parts can be combined and assembled with the base to form different functional quantities. , Base stations with different function combinations.

In another embodiment of the present application, a robot system is provided. The robot system includes a robot and a robot base station; wherein,

Base for parking the robot;

A plurality of functional parts, one functional part is provided with at least one functional module, and different functional modules provide different services for the robot;

Wherein, any one of the plurality of functional parts can be combined with the base, and at least some of the functional parts can be combined and assembled with the base to form different functional quantities. , Base stations with different function combinations to adapt to different types of robots.

In yet another embodiment of the present application, a base module of a base station is provided. The base station module includes:

a module housing having a docking cavity for docking the robot;

The first connecting structure is arranged on the module shell and is used to connect at least one functional component to obtain base stations with different numbers of functions and different combinations of functions;

Multiple reserved docking devices are used for docking different functional parts respectively.

In yet another embodiment of the present application, a functional component of a base station is provided. Features of the base station include:

The housing is provided with a first connection structure and a second connection structure, wherein the second connection structure is used to connect the base module of the base station, and the first connection structure is used to connect the second functional part;

At least one functional module is arranged in the housing, and different functional modules provide different services for the robot.

In the solution of the embodiment of the present application, through the modular design of the robot base station, it is only necessary to assemble the base station according to the actual needs of the user. Similar to building blocks, what kind of functional parts the user needs can be assembled on the base of the base station. Functional parts to combine a personalized base station. In addition, for manufacturers, this modular design provides high flexibility in production lines. For example, to improve the structure of a certain functional part, only the production line of this functional part needs to be adjusted, and other functional parts do not need to be adjusted. The cost of product replacement is low and the efficiency is high.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

FIG. 1 is an overall structural diagram of a robot base station provided by an embodiment of the present application;

FIG. 2 is an exploded diagram of a robot base station provided by an embodiment of the present application;

FIG. 3 is another exploded diagram of a robot base station provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of the robot base station as a whole and the drying module provided by an embodiment of the present application;

Fig. 5 is a schematic diagram of the combination of the base and the second functional part provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a first functional component provided by an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a storage module provided by an embodiment of the present application;

Fig. 8 is a schematic structural diagram of a dust collection drawer provided by an embodiment of the present application;

Fig. 9 is a schematic diagram of a base structure provided by an embodiment of the present application;

Fig. 10 is a sectional view of a base provided by an embodiment of the present application;

Fig. 11 is a schematic diagram of a robot system provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

FIG. 1 is an overall structure diagram of a robot base station provided by an embodiment of the present application; FIG. 2 is an exploded view of the robot base station provided by an embodiment of the present application. Referring to FIG. 1 and FIG. 2 , the embodiment of the present application provides a robot base station, which includes: a base 1 and a plurality of functional parts (such as the functional parts labeled 4, 5 and 6). The base 1 is used for parking of the robot. A functional part is provided with at least one functional module, and different functional modules provide different services for the robot. Any one of the multiple functional components can be combined with the base 1, and at least some of the multiple functional components can be combined and assembled with the base 1 to form base stations with different numbers of functions and different combinations of functions.

Specifically, the robot may be a cleaning robot, for example, having cleaning functions such as washing and sweeping the floor, or a special robot for collecting sewage, etc., and the expression of robot is uniformly used hereinafter. After the robot has been working for a period of time, the robot needs to return to the robot base station, and then the robot base station provides services for the robot, such as replenishment of cleaning water required by the robot, sewage discharge, charging, and cleaning of the cleaning parts on the robot (such as sweeping parts of the sweeper) , mopping parts of the scrubbing robot or mopping parts of the sweeping and dragging integrated robot, etc.), replacement of cleaning parts services, etc.

In the robot base station provided by the embodiment of the present application, different types and different numbers of functional parts can be selected to be combined with the base 1 of the robot base station, and each functional part can be integrated with at least one functional module to form different Functional robot base station to meet the needs of serving robots. Users only need to choose different functional parts according to their own needs, and assemble them on the base to get the robot base station they need.

What needs to be explained here is that the functional modules integrated on each functional part can also be realized by assembling. For example, the functional part has an integrated framework, and users can install one or more functional modules they want on the integrated framework. One or more electrical interfaces are provided on the integrated frame, and the electrical interfaces can be connected to the mains through wires, and can also be connected to the base of the base station through wires. Alternatively, one or more waterway interfaces are provided on the integrated frame, and the waterway interfaces can be connected to the sewer through pipelines, and can also be connected to the base through pipelines. Among the functional modules installed on the integrated frame, the functional modules that require electrical connection (that is, electricity leakage) can be connected to the electrical connection port on the integrated frame through wires, and the functional modules that require waterway connection can be connected to the waterway interface on the integrated frame through pipes etc.

With the solution provided in this embodiment, users or designers only need to assemble a personalized base station through simple assembly, similar to building blocks. When users purchase the robot base station they need, they only need to purchase modules (functional parts) with corresponding functions to meet their requirements. When the user wants to upgrade the robot base station, he only needs to purchase the required modules and assemble them on his original robot base station to meet the requirements, which is not only convenient and practical, but also saves certain economic costs for the user. For manufacturers, this modular design provides high flexibility in production lines. For example, to improve the structure of a certain functional part, only the production line of this functional part needs to be adjusted, and other functional parts do not need to be adjusted. The cost of product replacement is low and the efficiency is high.

The technical solutions provided by the embodiments of the present application will be further described in detail below.

A robot base station provided in the embodiment of the present application, referring to FIG. 2 and FIG. 3 , a base 1 is provided with a first connection structure 2 . The first connecting structure 2 and the second connecting structure 3 are provided at different positions on each of the multiple functional parts. The first connection structure 2 is adapted to the second connection structure 3 for connecting two components. These two components can be two functional parts, or a functional part and a base.

During specific implementation, in order to reduce the occupied area of the base station, one or more functional components may be assembled on the base along the height direction. That is, as shown in FIG. 2 , the top surface of the base 1 is provided with a first connecting structure 2 . Correspondingly, the bottom surface of the functional part is provided with the second connection structure 3 , and the top surface is provided with the first connection structure 2 . As shown in Fig. 3, the second connection structure 3 is arranged on the bottom surface of the functional part, and the first connection structure 2 and the second connection structure 3 correspond to each other, and the first connection structure 2 is arranged on the top surface of the functional part. The first connection structure 2 is used to connect with the second connection structure 3 on another functional component.

In another solution of the embodiment of the present application, the first connecting structure may be provided on the side surface and the top surface of the base. In this way, functional parts can be assembled on the top, right side, left side, rear side, etc. of the base. What needs to be added here is: the above-mentioned left, right and rear orientations are distinguished by the orientation of the robot dock entrance. The side of the pedestal with the docking entrance is the front side of the base station, and the side facing away from the front side is the rear side. The left and right sides are then easily determined.

Similarly, except that the top and bottom surfaces of the functional components can be connected to other functional components or base stations, the left, right and rear sides of the functional components can also be connected to other functional components or base stations, which is not specifically limited in this embodiment.

Referring to a specific embodiment shown in FIG. 2 , the first connecting structure 2 on the base includes: a first guiding structure 21 and a first connecting hole 22 . The first guiding structure 21 is a guiding groove, and the first connecting hole 22 is disposed on the edge of the base 1 . Similarly, the first connecting structure 2 on the functional part also includes a first guiding structure 21 and a first connecting hole 22, but the first connecting hole 22 is arranged on the edge of the functional part. The second connection structure 3 includes: a second guide structure 31 and a second connection hole 32; the second guide structure 31 includes a guide protrusion adapted to the guide groove, and the second connection hole 32 corresponds to the position of the first connection hole 22 , so as to connect with the connecting piece passing through the second connecting hole 32 and the first connecting hole 22 . In essence, the first guide structure and the second guide structure are interchangeable, for example, the first guide structure is a guide protrusion, and the second guide structure is a guide groove; the specific implementation can be designed according to the actual product structure requirements. The guide protrusion can be a guide post of any shape (such as cylinder, ellipse, prism, etc.), and the corresponding guide groove is a guide sleeve adapted to the guide post.

When connecting the base 1 and the functional parts, firstly, the first guide structure 21 and the second guide structure 31 cooperate with each other, so that the base 1 and the functional part or two functional parts are aligned, and the first connection hole 22 and the second connection hole 32 The positions are corresponding, and the connecting parts (such as screws) pass through the first connecting hole 22 and the second connecting hole 32 to connect the base with the functional parts. When multiple functional parts are assembled on the base, one functional part can be assembled on the base first through the first guiding structure on the base and the second guiding structure on the functional part, and then through the first guiding structure and the second guiding structure on the functional part. The second guide structure is to assemble another functional part on top of the previous functional part. If there is another functional part to be assembled, it can be assembled in the same way. Because of the effect of the first guide structure and the second guide structure, the connection holes (may include the first connection hole and the second connection hole) on each functional part correspond to the first connection hole position on the base, and only one bolt can be used. Complete the connection between the base station and multiple functional parts, which is simple, convenient and highly efficient in assembly.

What needs to be added here is: in the above solution, the first connection structure and the second connection structure are provided on the functional parts. If the first connecting structure is realized by a structure including the first guiding structure and the first connecting hole, in fact the second connecting structure may not include the second connecting hole, but only include the second guiding structure. The connecting member (such as a bolt) passes through the first connecting hole in the first connecting structure on the functional part and the first connecting hole on the base to complete the connection.

In a solution provided by the embodiment of the present application, both the first connection hole 22 and the second connection hole 32 are arranged on the edge of the base 1 or the functional part, and such arrangement is mainly to facilitate the connection using the connecting part. In addition, in the embodiment of the present application, the numbers of the first guide structures 21 and the second guide structures 31 provided on the base 1 or the functional parts respectively include but are not limited to 2, 3, 4, etc., and basically The number of the first connection hole 22 and the second connection hole 32 provided on the seat 1 or the functional part may include a plurality, such as 4, 6 or 8, etc., which are not specifically limited here.

Referring to the embodiments shown in FIGS. 2 to 4 , the plurality of functional components include: a first functional component 4 , a second functional component 5 and a third functional component 6 . The first functional part 4 is provided with at least one of a sewage collection function module, a water supply function module, a storage function module, and a sterilization module. There are various implementations of the first functional part 4, which may be provided with a single module, or may be provided with any of the above four modules. For example, when the robot is a sewage collection robot, in order to meet the working needs of the robot, the robot base station serving it is equipped with a sewage collection function module. The sewage function module can collect the sewage in the sewage tank of the robot, which does not require user participation. Dump the waste water from the waste water tank on the robot. When the robot is a mopping robot, the robot base station serving it is equipped with a sewage collection function module and a water supply function module. The sewage collection function module can collect the sewage generated after the robot works and clean the sewage generated by the mopping robot. It can supply the robot with cleaning fluid required for its work and/or cleaning fluid for cleaning the mopping robot.

Further, referring to FIG. 4 and FIG. 5 , the second functional part 5 is provided with a dust collection function module; the third functional part 6 is provided with a drying module. The dust collection function module is used to collect dust and impurities in the robot dust box or dust bucket. The drying module is used to dry the robot or dry the base station.

Referring to the specific embodiment shown in FIG. 6 , the first functional part 4 has a hollow cavity, and at least one of a sewage collection functional module, a water supply functional module, and a sterilizing module can be optionally arranged in the hollow cavity. The water supply function module includes a clean water tank 10, and a water outlet hole is provided at the bottom of the clean water tank 10, and the water outlet hole communicates with the base 1 through a clean water pipe, and is used to deliver cleaning liquid to the base 1 and/or the robot. The sewage collection function module includes a sewage tank 101, and the bottom of the sewage tank 101 is provided with a water inlet hole, which communicates with the base 1 through a sewage pipe, and is used to recover sewage on the base 1 and/or sewage collected by the robot. The sterilizing module is used to generate sterilizing substances to sterilize at least one object among the clean water tank, the base, and the robot docked on the base. For example, when the first functional part 4 is only equipped with a water supply function module, the clean water tank 10 is arranged in the hollow cavity, and is detachably connected to the first functional part 4 through a connecting structure. When the user needs to provide the robot base station and/or robot with When cleaning water, only need to take out the clean water tank 10, put the clean water into the clean water tank 10, then put the clean water tank 10 back into the hollow cavity of the first functional part 4, install the connecting structure to fix the clean water tank, and then put the clean water tank 10 through the pipeline. The water outlet hole of 10 is connected with the base 1, at this moment, the first functional part 4 can provide clean water for the base 1 and/or the robot. Specifically, a cleaning tank is provided on the base of the robot base station, and a plurality of water spray ports are arranged in the cleaning tank. Spray the liquid on the cleaning parts (such as rags, etc.) on the robot. Further, the base of the robot can also be provided with a water supply docking device, one end of the water supply docking device communicates with the water outlet of the clean water tank 10 through a pipeline, and the other end of the water supply docking device is docked on the base. The water injection port of the robot is communicated to inject the liquid in the clean water tank 10 into the water tank of the robot.

The robot base station will produce some sewage when cleaning the robot. At the same time, the robot may also collect some sewage after cleaning. After the sewage is collected by the robot base station, it can be discharged through external pipes, such as the sewer. When it is inconvenient for the robot base station to connect to an external sewage pipeline, a sewage collection function module can be installed in the hollow cavity of the first functional module. The sewage in the base 1 below the functional module is pumped into the sewage tank 101 . The sewage tank 101 is detachably connected to the first functional part 4 through a connection structure. After the sewage tank is full of sewage, the user can take out the sewage tank 101 and empty it. At the same time, in order to ensure that the robot base station will not produce more bacteria after working for a long time, a sterilization module is set on the first functional part 4, and the water tank (such as a clean water tank) and the base 1 (such as the base at least one object in the robot (such as a rag) docked on the base station is sterilized.

Further, referring to Fig. 6 and Fig. 7, the first functional part 4 has a storage function module; there is a gap between the fresh water tank 10 and the dirty water tank 101; the storage function module is arranged in the gap. As shown in FIG. 7 , guide rails are provided on the side of the storage function module, and guide grooves matching with the guide rails are provided in the hollow cavity of the first functional part 4 , so that the storage function module can be drawn up and down. Installing a storage module in the gap between the clean water tank 10 and the dirty water tank 101 can not only make full use of the inner space of the hollow cavity of the first functional module, but also reasonably store various accessories or cleaning items of the robot base station, The appearance of the base station is more concise. As shown in Figure 6, one possible way is that the fresh water tank 10 and the dirty water tank 101 can be arranged left and right, the storage function module is located in the middle of the clean water tank 10 and the sewage tank 101, and the storage function module can be pulled up along the vertical direction Out, thus saving space, but also more in line with the user's operating habits.

Further, referring to FIG. 7 , the storage function module includes a storage bracket 120 , and the storage bracket 120 has a plurality of placement areas for accommodating a plurality of accessories, such as cleaning fluid and cleaning brushes. For example, as shown in FIG. 7 , the storage bracket 120 has a cleaning solution placement area 13 , a rag placement area 14 , other accessory placement areas 15 and a brush placement area 16 . The cleaning solution storage area 13 is used for accommodating bottled cleaning solution, which is convenient for users to use. Or in another solution of the present application, the cleaning solution storage area 13 has a cleaning solution storage structure, a cleaning solution pump and a pumping tube. The cleaning liquid pump pumps out a certain amount of cleaning liquid according to the set metering, and then outputs it to the cleaning tank or clean water tank of the base station through the pump liquid pipe. When the robot is a robot with mopping function, the rag placement area 14 can be used to accommodate spare rags used by the robot. The other accessory placement area 15 is used to accommodate other functional accessories used by the robot, which are not specifically limited here. Different models or types of robots have different additional accessories, such as spare charging cables, sewer pipes, etc. The brush placement area 16 is used for accommodating the brush, and the user can use the brush to clean the cleaning tank of the base station. The storage bracket 120 is provided with a plurality of placement areas, which can not only reasonably store various objects, place each object in a partition, avoid secondary pollution, but also make full use of the internal space of the hollow cavity of the first functional part 4, so that The structure of the first functional part 4 is more compact.

Further, in order to enable the storage bracket 120 to better fit into the gap between the fresh water tank 10 and the dirty water tank 101, and to occupy a smaller volume, the height and width of the storage bracket 120 are at least as large as the clean water tank 10 or the dirty water tank 101. At least one of them is the same. The width of the receiving bracket 120 can be set according to the width of the gap, which is not specifically limited here. Based on this setting method, the volume of the receiving bracket 120 can be better adapted to the gap, and will not protrude or sag in the gap, so that the gap between the fresh water tank 10 and the dirty water tank 101 can be reasonably used, and the The volume of the storage bracket 120 is maximized, which is more convenient for better storage of accessories.

Further, continue to refer to FIG. 7 , in the embodiment of the present application, a possible implementation of the storage bracket 120 is that the storage bracket 120 includes a top board 1201 , a bottom board 1202 and a plurality of vertical boards arranged between the top board 1201 and the bottom board 1202 1203. The top board 1201 , the bottom board 1202 and a plurality of vertical boards 1203 form a storage space, and a plurality of accessories are stored in the storage space. Through reasonable arrangement, multiple accessories are placed in the storage space, and at the same time of storage, multiple accessories will not occupy the space outside the storage space, so as not to increase the volume of the base station.

Continuing to refer to FIG. 7 , in some practicable embodiments of the present application, the receiving bracket 120 is a rectangular structure adapted to the gap. A suspension structure 1204 is provided at a region near the top plate 1201 of the rectangular structure. The central area of the rectangular structure is provided with a supporting frame 1205, which constitutes a cleaning solution placement area 13, which can be used to place accessories such as cleaning solution. After the cleaning liquid is in the support frame 1205, the side walls on opposite sides of the support frame 1205 play a certain role in clamping the cleaning liquid to ensure the positional stability of the cleaning liquid.

A clamping space is formed between the side wall of the support bracket 1205 and at least one vertical plate 1203, and the clamping space cooperates with the suspension structure 1204 to form a brush placement area 16. The suspension structure 1204 can be used to hang the hair brush, and the rod body of the hair brush is located at In the clamping space, the side wall of the support bracket 1205 and at least one vertical plate 1203 clamp and fix the rod body of the brush to ensure the position stability of the brush.

In order to allow the storage bracket 120 to accommodate more accessories, at least one transverse partition 1206 is provided between at least one pair of opposite vertical plates 1203 . The space between the opposite vertical boards 1203 can be divided into a plurality of placement areas by the transverse partition 1206 , for example, a rag placement area 14 and other accessory placement areas 15 can be formed separately. Through reasonable use of the storage space and reasonable arrangement, various accessories of different shapes can be placed in the rectangular structure of the storage bracket 120 .

Further, in order to prevent the remaining liquid on the brush from remaining in the storage space, a liquid leakage hole 1207 is provided on the bottom plate. The liquid leakage hole 1207 is connected to the sewage recovery device, and the liquid dripping from the brush can flow out from the liquid leakage hole 1207, and then be collected by the sewage recovery device, so as to ensure the dryness of the storage space and reduce the growth of bacteria and the generation of peculiar smell.

In a solution provided by the embodiment of the present application, as shown in Figure 5 and Figure 8, the second functional part 5 includes a housing 51, a dust collection pump (not shown in the figure), a dust collection bag 52, and a dust collection drawer 53 , drawer pop-up mechanism 54 and drawer lock 55. Wherein, the housing 51 is provided with a drawer cavity, and the dust collecting drawer 53 is arranged in the drawer cavity. The dust collection drawer 53 is provided with a dust collection connection hole 56 , the dust collection bag 52 is arranged in the dust collection drawer 53 , and the pocket of the dust collection bag 52 is connected with the dust collection connection hole 56 . The dust collection connection hole 56 communicates with the dust collection pump through the dust collection pipeline. The drawer pop-up mechanism 54 is used to apply a pop-up force to the dust collection drawer 53 . The drawer lock 55 is used to connect the dust collection drawer 53 to the housing 51 when the dust collection drawer 53 is closed, that is, to keep the dust collection drawer in a closed state. The dust bag 52 in the drawer cavity is mainly used to filter dust and impurities in the air, so that these dust and impurities are collected in the dust bag 52 . When the user assembles the second functional part 5, the first functional part 4 may be set above the second functional part 5, so the dust collection drawer 53 is arranged in front of the second functional part 5, and is pushed and pulled back and forth. Take out or install dust collection drawer 53. In other words, along the height direction of the base station, the second functional component is located above the base station, and the pulling direction of the dust collection drawer is perpendicular to the height direction.

The drawer pop-up mechanism 54 provided at the bottom of the drawer cavity is mainly used to apply a pop-up force to the dust collection drawer 53 to facilitate the extraction of the dust collection drawer 53 by the user. The drawer pop-up mechanism 54 may be a spring, and when the dust collection drawer 53 is in a closed state, the spring is in a deformed state, such as a compressed state. After the user releases the drawer lock, the dust collection drawer 53 is ejected from the drawer cavity of the housing under the action of the spring restoring force. When the dust collection bag 52 of the robot base station is full or after the user checks that the dust collection bag 52 is full of dust and impurities, the user only needs to control the drawer lock 55 through the control device (shown in the figure) or manually release the drawer lock 55, Under the action of the drawer ejection mechanism 54, the dust collection drawer is ejected, which is convenient for the user to grab and take out the dust collection drawer 53 completely, and then take out the dust collection bag 52 from above the dust collection drawer 53 and replace it. In the embodiment of the present application, the conventional way of taking out the dust bag 52 from above the dust collecting robot is changed to facilitate the modular design of the second functional part 5 and provide convenience for the user to replace the dust bag 52 .

Further, referring to FIG. 8 , the drawer lock 55 includes: a drawer lock 551 , an elastic rotating swing arm 552 and a drawer release button 553 . Wherein, the drawer lock 551 is arranged on the dust collection drawer 53 ; one end of the elastic rotating swing arm 552 is connected with the drawer lock 551 , and the other end is connected with the drawer release button 553 . The drawer release button 553 can drive the elastic rotating swing arm 552 to disconnect the elastic rotating swing arm 552 from the drawer lock 551 .

In a specific achievable technical solution, the drawer lock 551 is arranged on the lower end surface of the dust collection drawer 53 , and the drawer lock 551 has a stop arm 5511 . As shown in FIG. 8 , the stopper arm 5511 has a first side abutting against the elastic rotating swing arm 552 and a second side opposite to the first side. A first slope 5512 may be provided on the second side. When the dust collection drawer 53 is locked, the first side of the drawer lock 551 abuts against one end of the elastic rotating swing arm 552 . When the dust collection drawer 53 needs to be pulled open, the release button is pressed, and the release button drives the elastic rotating swing arm 552 to move downward, and the contact relationship between the elastic rotating swing arm 552 and the drawer lock 551 is disconnected, and the dust collection drawer 53 is in position. Under the action of the drawer ejection mechanism 54, the drawer is ejected from the drawer cavity for a certain distance, and then the user can take out the dust collection drawer 53 smoothly. The elastic rotating swing arm 552 may be disposed at the bottom of the housing 51 . A through hole is provided at a corresponding position on the bottom of the housing 51 , and one end of the elastic rotating swing arm 552 protrudes into the housing through the through hole to abut against the stop arm 5511 . One end of the elastic swing arm 552 stops against the protrusion 5521 . Specifically, as shown in FIG. 8 , the stop protrusion 5521 includes a second slope 5523 and a stop surface 5522 . As shown in the cross section of FIG. 8 , the stop surface 5522 is an arc surface. In the process of pushing the dust collection drawer 53 in the closing direction, the first inclined surface 5512 of the drawer lock 551 and the second inclined surface 5523 of the elastic rotating swing arm 552 abut against each other, and under the force of the downward inclined surface, the elastic rotating swing arm 552 The stop protrusion 5521 is pressed down to move, when the dust collection drawer 53 is pushed into the drawer cavity to a certain position, that is, after the stop arm 5511 crosses the stop protrusion 552 of the elastic rotating swing arm 552 along the pushing direction, the elastic The rotating swing arm 552 bounces up under the action of elastic force, and the stop protrusion 5521 abuts against the drawer lock 551, so that the dust collection drawer 53 is locked in the drawer cavity.

In a solution provided by the embodiment of the present application, referring to Fig. 2, Fig. 9 and Fig. 10, the base 1 includes a base 11 and an upper end cover 12; the upper end cover 12 is arranged on the base 11 to form a space for parking the robot. An air duct 71 is provided on the upper end cover 12, and the air outlet duct 7 of the drying module communicates with the air duct 71 to input drying air into the space. An air duct 71 is arranged on the upper end cover 12, and under the guide action of the air duct 71, not only can the drying airflow output by the drying module be evenly dispersed in the space of the base 1, but also the drying airflow can be diverted. To the area that needs to be dried, the drying efficiency of the drying module is improved. In another solution provided by the embodiment of the present application, a ventilation pipe is provided on the upper end cover 12, and the ventilation pipe (not shown in the figure) communicates with the air outlet channel 7 of the drying module. The drying airflow output by the drying module is evenly distributed in the area to be dried.

Further, referring to FIG. 9 and FIG. 10 , the base 11 is provided with a first guide channel 8 and a second guide channel 9 communicating with the air duct 71 ; the dry air flows to the base 11 through the first guide channel 8 surface, to dry the upper surface of the base 11 and the bottom of the robot; the drying air flows to the lower surface of the base 11 through the second guide channel 9, to dry the lower surface of the base 11 and the ground. When the robot base station cleans the robot, it is inevitable that some water will splash under the base 11 and accumulate in the area below and near the base 11. If it is not dried in time, people passing by the nearby area may slip and enter The accumulated water between the bottom of the base and the ground is also a good breeding ground for bacteria. By setting the second guide channel 9 on the base 11, one end of the second guide channel 9 communicates with the air duct 71, and the other end communicates with the guide channel on the upper end cover of the base provided on the base 11. When the drying module outputs the drying air flow , the drying air flow can pass through the second guide channel 9 and the guide channel of the upper end cover of the base, and dry the lower area and the nearby area of the base 11 .

In a solution provided by an embodiment of the present application, each functional module of the robot base is provided with electrical equipment. When each functional module is integrated into the corresponding functional part, each functional module and the corresponding functional part are electrically connected through wires. When multiple functional modules are integrated on one functional component, the multiple functional modules can be electrically connected to the electrical interface on the functional component through wires. Each functional part is then electrically connected to the base through wires. In another solution provided by the embodiment of the present application, by arranging metal conductive elements in the first guide structure 21 and the second guide structure 31, when multiple functional parts and the base 1 are combined and connected, the functional parts pass through the first The first guide structure and the second guide structure are electrically connected to the main control board in the base 1, and two adjacent functional parts can also be electrically connected through the first guide structure and the second guide structure; Connect to the main control board of the base. Each functional part will be provided with a wire that electrically connects the first guiding structure and the second guiding structure, and the functional modules that need electricity in one functional part are electrically connected to the first guiding structure, or the second guiding structure, or the first guiding structure. The wire between the guiding structure and the second guiding structure.

The embodiment of the present application also provides a robot system, including a robot and a robot base station. The base station of the robot described in this embodiment can be realized by using the base station structure provided in the above embodiments, and details are not described here. FIG. 11 shows a cross-section of the base 11 and the upper end cover 12 of the base of the robot base station, and a schematic top view of the robot 100 docked on the base.

Furthermore, the base and functional components of the base station described in the above embodiments provided in this application can be disassembled into individual products or modules for sale. Users can purchase only the base to charge the robot, and can also choose to purchase single or multiple functional parts to assemble a personalized base station. To this end, the various embodiments of the present application respectively provide base module embodiments of the base station and functional parts of the base station. Wherein, the base station module includes: a module shell, a first connection structure and a plurality of reserved docking devices. Wherein, the module shell has a docking cavity for docking the robot. The first connecting structure is arranged on the module shell and is used for connecting at least one functional component to obtain base stations with different numbers of functions and different combinations of functions. Multiple reserved docking devices are used for docking different functional parts respectively. The structure of the module shell can refer to the structure of the above-mentioned embodiments and some accompanying drawings (as shown in FIGS. 2 and 3 ). In simple terms, the module housing may include a base 11 and an upper end cover 12, and the upper end cover 12 is connected with the base 11 to form a docking space for a robot to be docked. For the first connection structure, reference may be made to the corresponding content in the foregoing embodiments.

The plurality of reserved docking devices may include, but is not limited to, at least two of the following:

Dust collection docking device 121, water supply docking device 122, sewage recovery docking device, charging docking device 123 for powering functional parts. In order to realize the stability of docking between the robot and the base station, a docking device 124 is also provided on the base station.

For example, robots include but are not limited to sweeping robots. In order to realize the docking with each docking device on the base station, the robot is equipped with a docking port that matches each docking device. After the robot completes a stage of cleaning operations, it can automatically return to the on the base station, so as to complete the docking with each docking device on the base station through each docking port.

After the docking between the robot and the base station is completed, the positioning and docking requirements of the robot can be met based on the docking docking device 124 . The electrical connection between the robot and the base station is realized through the charging docking device 124, and the charging demand of the robot is met by using the power supply device on the base station. The connection between the robot and the dust collection device on the base station is realized through the dust collection docking device 121, and the dust collection device is used to extract the garbage inside the robot. The connection between the robot and the water supply device on the base station is realized through the water supply docking device 122, and the water in the water supply device is used to meet the needs of the robot for adding water. At the same time, the mopping rag of the robot can be cleaned by using the cleaning device, and the cleaned sewage can be discharged based on the sewage recovery docking device to meet the needs of the robot for self-cleaning.

Continuing to refer to FIG. 11 , one implementation of the dust collection docking device 121 is that the dust collection docking device 121 includes a dust collection port. In the embodiment of the present application, the dust collection device includes a dust collection barrel and a suction device, and the dust collection device is directly connected with the dust collection docking device 121 through a fluid channel. After the robot stops in place, the dust collection port is connected with the dust discharge port on the robot. After the dust collection port is docked with the dust discharge port, the suction device on the base station works to generate negative pressure, so as to extract the garbage in the robot from the dust discharge port to clean up the garbage inside the robot.

Further, in order to ensure the airtightness between the dust collection port and the dust discharge port, a docking seal is provided at the dust collection port, so that after the robot is docked in place, the dust collection port is docked with the dust discharge port of the robot, and can pass through The butt seal is sealed to ensure airtightness and ensure the efficiency of dust collection device to extract garbage.

Continuing to refer to FIG. 11 , a possible realization of the water supply docking device is that the water supply docking device 122 includes at least a water supply expansion tube. After the robot docks in place, the position of the water supply telescopic pipe corresponds to the position of the water inlet on the robot, and the water supply telescopic pipe moves to extend into the water inlet. In the embodiment of the present application, the water supply device includes but is not limited to a water tank installed in the base station, and the water supply telescopic pipe communicates with the water tank. After the robot is docked in place, the position of the water supply telescopic pipe is connected with the water inlet on the robot, and the water inlet is connected with the mopping water tank of the robot. After the water supply telescopic pipe corresponds to the position of the water inlet, the water supply telescopic pipe moves to extend into the water inlet, and the water supply docking device is opened, so that the water in the water tank flows into the water inlet of the robot through the water supply telescopic pipe, so as to automatically add water to the robot’s floor mopping water tank .

According to different needs, users can install different functional parts on the module shell through the assembly structure, and realize the docking between the robot and the functional parts through the corresponding docking device. For example, the robot docks on the base through the docking device to complete the docking with the base station.

When the robot has a charging demand, the charging device can be installed on the module shell, and the connection between the robot and the power supply device can be realized through the charging docking device, and the power supply device in the base station can be used to meet the charging demand of the robot.

When the robot needs dust collection, the dust collection device can be installed on the module shell, and the connection between the robot and the dust collection device can be realized through the dust collection docking device, and the dust collection device mounted on the base station can be used to extract the garbage inside the robot.

When the robot needs to add water, the water supply device can be installed on the module shell, and the connection between the robot and the water supply device can be realized through the water supply docking device, and the water in the water supply device in the base station can be used to meet the robot's water supply needs.

When the robot needs to be cleaned, the cleaning device and the water supply device can be installed on the module shell. The cleaning device can be used to clean the mopping cloth of the robot. cleaning needs.

In the technical solution provided by the embodiment of the application, by setting the assembly structure and multiple reserved docking devices on the base module, the user can install different functional parts on the module shell according to different needs, so as to meet the different needs of the robot , so as to obtain base stations with different numbers of functions and different combinations of functions. In turn, the base station integrates multiple functions to provide different services for the robot, meet the needs of the robot for automatic docking, automatic cleaning, automatic charging, automatic water addition, and automatic dust collection, reduce user intervention, improve the degree of automation of the robot, and improve Robotic cleaning efficiency.

Each functional component provided in the embodiment of the present application can be used as a separate accessory for selection by the user. For example, the user can choose at least one of the cleaning device, the water supply device, the dust collecting device and the power supply device according to different needs, and the user can independently install different functional parts in the module shell, thereby realizing a base with different functions to meet different needs.

It should be noted that, for the implementation of the base station base module provided in the embodiment of the present application, if the structure does not conflict, you can refer to and learn from the implementation of the base station base module in the above-mentioned embodiments, which will not be repeated here. Let me repeat them one by one.

Yet another embodiment of the present application provides functional parts of a base station. The functional part includes a housing and at least one functional module. Wherein, the casing is provided with a first connection structure and a second connection structure, wherein the second connection structure is used for connecting the base module of the base station, and the first connection structure is used for connecting the second functional part. At least one functional module is arranged in the housing, and different functional modules provide different services for the robot.

The above-mentioned functional components may be the first functional component, the second functional component, and the second functional component mentioned in the above-mentioned embodiments. For specific structures, please refer to the corresponding content above, which will not be repeated here.

Likewise, the specific implementation structures of the above-mentioned first connection structure and the second connection structure can be referred to the above-mentioned embodiments and will not be repeated here.

The solutions provided by the embodiments of the present application will be described below in conjunction with specific application scenarios.

Application Scenario 1

The cleaning robot used in the user's home has the functions of mopping and vacuuming. The cleaning robot is provided with a water tank and a water supply assembly. The water supply component quantifies the cleaning liquid in the water tank or supplies water to the mopping rag according to the control instruction of the robot controller. The bathroom or kitchen space of the user's home is relatively large, and the robot base station can be placed near the faucet and the sewer. In this way, the user does not need to install the first functional piece. The first functional part is integrated with a sewage collection function module and a water supply function module. The user only needs to purchase the base and the second functional part (integrated with the dust collection function module). The base is placed in the kitchen, then the second functional part is installed on the base, the second functional part is electrically connected to the base, and then the plug on the base is inserted into the socket. The water supply docking device reserved on the base can be connected to the faucet by the user using the water pipe; the sewage port reserved on the base can be led to the drain in the kitchen by the user through the sewer pipe. After the installation is complete, the user can activate the base station. For example, after the robot has been working for a period of time, the rags it mops the floor are covered with stains, and the dust box on the robot is also full, so the robot needs to enter the robot base station for maintenance. The robot travels to the base station according to the planned path, and docks on the base of the base station. The dust outlet on the robot is docked with the dust collection docking device on the base, so as to communicate with the dust collection function module of the second functional part on the base through the dust collection docking device. The water injection port of the robot is docked with the water supply docking device on the base. The user starts the base station to work, and the second functional part of the base station extracts the dust and impurities in the dust collection box; the valve of the water injection port and the water supply docking device is opened, and the water from the faucet enters the water tank of the robot through the upper water port and the water injection port. The robot starts to enter the self-cleaning working mode. The rag on the robot rotates or linearly reciprocates and contacts the cleaning structure in the cleaning tank of the base. At the same time, the water tank of the robot continuously drains water to the rag. Clean, and squeeze out the cleaning sewage. The cleaning sewage is discharged to the water outlet through the sewage outlet on the base. In addition, after the robot docks on the base, the charging connection end on the robot is electrically connected to the charging port on the base, and the base can provide power for the robot.

Application Scenario 2

Users don't want to spend too much, just buy the base module of the base station. The base module has the functions of charging and cleaning the rag.

Application Scenario 3

The user has purchased the base module of the base station and used it for a while, and found that he still wants to increase the price and add more functions. The user has purchased multiple functional parts with different functions through e-commerce or physical stores. After buying home, the user only needs to sequentially assemble (or splice) multiple functional parts on the base through the standard guide structure (such as the first guide structure and the second guide structure mentioned above), and then use multiple A bolt column passes through the connecting holes on the functional parts to the connecting holes on the base to realize the fixed connection; thus, the upgrading of the base station is completed. Users do not need to purchase the latest model of the overall base station to replace the original base station as a whole.

Application Scenario 4

The base station provided in this embodiment is suitable for base stations of various types of robots, such as: household sweeping robots, household mopping robots, and commercial cleaning robots (such as for shopping malls, hotels, restaurants, etc.). For a commercial cleaning robot, its corresponding supporting base station can also adopt the design concept of this embodiment. That is, a modular design is adopted, such as the design of the base and multiple optional functional parts.

To sum up, in the solution of the embodiment of the present application, through the modular design of the robot base station, only the base station needs to be assembled according to the actual needs of the user, similar to building blocks, what kind of functional parts the user needs, on the base of the base Combine and assemble the corresponding functional parts to form a personalized base station. In addition, for manufacturers, this modular design provides high flexibility in production lines. For example, to improve the structure of a certain functional part, only the production line of this functional part needs to be adjusted, and other functional parts do not need to be adjusted. The cost of product replacement is low and the efficiency is high.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (20)

1. A robot base station, characterized in that it comprises:

   Base for parking the robot;

   A plurality of functional parts, one functional part is provided with at least one functional module, and different functional modules provide different services for the robot;

   Wherein, any one of the plurality of functional parts can be combined with the base, and at least some of the functional parts can be combined and assembled with the base to form different functional quantities. , Base stations with different function combinations.
2. The robot base station according to claim 1, wherein a first connection structure is provided on the base;

   A first connection structure and a second connection structure are provided at different positions on each of the plurality of functional parts;

   The first connecting structure is adapted to the second connecting structure for connecting two functional parts or connecting the functional part and the base.
3. The robot base station according to claim 2, wherein the top surface of the base is provided with the first connection structure;

   The bottom surface of each functional component among the plurality of functional components is provided with the second connection structure, and the top surface is provided with the first connection structure.
4. The robot base station according to claim 2, wherein the first connecting structure comprises: a first guiding structure and a first connecting hole; the first guiding structure is a guiding groove, and the first connecting hole is arranged at the the edge of the base or the functional part;

   The second connection structure includes: a second guide structure and a second connection hole; the second guide structure includes a guide protrusion adapted to the guide groove, and the second connection hole is connected to the first connection hole. The positions of the holes are corresponding so as to be connected to the first connecting hole through the connecting piece passing through the second connecting hole.
5. The robot base station according to any one of claims 1 to 4, wherein the plurality of functional parts include:

   The first functional part is provided with at least one of the sewage collection functional module, water supply functional module, storage functional module, and sterilization module;

   The second functional part is provided with a dust collection function module;

   The third functional part is provided with a drying module.
6. The robot base station according to claim 5, wherein the first functional part has a hollow cavity, and at least one of a sewage collection function module, a water supply function module, and a sterilization module is selectively arranged in the hollow cavity;

   The water supply function module includes a clean water tank, and a water outlet hole is provided at the bottom of the clean water tank, and the water outlet hole communicates with the base through a clean water pipeline, and is used to deliver water to the base and/or the robot. cleaning liquid;

   The sewage collection function module includes a sewage tank, and the bottom of the sewage tank is provided with a water inlet hole, and the water inlet hole communicates with the base through a sewage pipe, and is used to recover the sewage on the base and/or or sewage within said robot;

   The sterilizing module is used to generate sterilizing substances to sterilize at least one object among the clean water tank, the base, and the robot docked on the base.
7. The robot base station according to claim 6, wherein the first functional part has a storage function module;

   There is a gap between the clean water tank and the dirty water tank;

   The storage function module is arranged in the gap.
8. The robot base station according to claim 7, wherein the storage function module includes a storage bracket, and the storage bracket has a plurality of placement areas for accommodating a plurality of accessories.
9. The robot base station according to claim 8, wherein the height and width of the receiving bracket are at least the same as at least one of the clean water tank or the dirty water tank.
10. The robot base station according to claim 8, wherein the storage bracket comprises a top plate, a bottom plate, and a plurality of vertical plates arranged between the top plate and the bottom plate;

    The top board, the bottom board and the plurality of vertical boards enclose a storage space, and a plurality of the accessories are stored in the storage space.
11. The robot base station according to claim 10, wherein the receiving bracket is a rectangular structure adapted to the gap;

    A suspension structure is provided at a region of the rectangular structure close to the top plate;

    The central area of the rectangular structure is provided with a support bracket, and a clamping space is formed between the side wall of the support bracket and at least one of the vertical plates;

    At least one transverse partition is arranged between at least one pair of opposite vertical plates;

    The bottom plate is provided with a liquid leakage hole.
12. The robot base station according to claim 5, wherein the second functional part comprises a housing, a dust collection pump, a dust collection bag, a dust collection drawer, a drawer pop-up mechanism and a drawer lock; wherein,

    The housing is provided with a drawer cavity, and the dust collecting drawer is arranged in the drawer cavity;

    The dust collection drawer is provided with a dust collection connection hole, the dust collection bag is arranged in the dust collection drawer, and the mouth of the dust collection bag is connected with the dust collection connection hole;

    The dust collection connection hole communicates with the dust collection pump through a dust collection pipe;

    The drawer pop-up mechanism is used to apply a pop-up force to the dust collection drawer;

    The drawer lock keeps the dust collection drawer in a closed state.
13. The robot base station according to claim 12, characterized in that, along the height direction of the base station, the second functional part is located above the base station;

    The drawing direction of the dust collection drawer is perpendicular to the height direction.
14. The robot base station according to claim 12, wherein the drawer lock comprises: a drawer lock, an elastic rotating swing arm and a drawer release button; wherein,

    The drawer lock is arranged on the dust collection drawer;

    One end of the elastic rotating swing arm is connected to the drawer lock, and the other end is connected to the drawer release button;

    The drawer release button can drive the elastic rotating swing arm to disconnect the elastic rotating swing arm from the drawer lock.
15. The robot base station according to claim 5, wherein the base comprises a base and an upper end cover;

    The upper end cover is arranged on the base to form a space for parking the robot;

    An air duct is provided on the upper end cover, and the air outlet duct of the drying module communicates with the air duct to input drying air into the space.
16. The robot base station according to claim 15, wherein the base is provided with a first diversion channel and a second diversion channel communicated with the air duct;

    The drying air flows to the upper surface of the base through the first guide channel, so as to dry the upper surface of the base and the bottom of the robot;

    The drying air flows to the lower surface of the base through the second guide channel, so as to dry the lower surface of the base and the ground.
17. A robot system, characterized in that it includes a robot and a robot base station; wherein,

    Base for parking the robot;

    A plurality of functional parts, one functional part is provided with at least one functional module, and different functional modules provide different services for the robot;

    Wherein, any one of the plurality of functional parts can be combined with the base, and at least some of the functional parts can be combined and assembled with the base to form different functional quantities. , Base stations with different function combinations to adapt to different types of robots.
18. A base module of a base station, characterized in that it comprises:

    a module housing having a docking cavity for docking the robot;

    The first connecting structure is arranged on the module shell and is used to connect at least one functional component to obtain base stations with different numbers of functions and different combinations of functions;

    Multiple reserved docking devices are used for docking different functional parts respectively.
19. The base module according to claim 18, wherein the plurality of reserved docking devices include at least two of the following:

    Dust collection docking device, water supply docking device, sewage recovery docking device, charging docking device for power supply of functional parts.
20. A functional part of a base station, characterized in that it includes:

    The housing is provided with a first connection structure and a second connection structure, wherein the second connection structure is used to connect the base module of the base station, and the first connection structure is used to connect the second functional part;

    At least one functional module is arranged in the housing, and different functional modules provide different services for the robot.

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