WO2023169129A1

WO2023169129A1 - Base station for maintenance of sweeping robot

Info

Publication number: WO2023169129A1
Application number: PCT/CN2023/075129
Authority: WO
Inventors: 吴大涛; 张乐乐; 孟向伟; 金静阳
Original assignee: 杭州萤石软件有限公司
Priority date: 2022-03-09
Filing date: 2023-02-09
Publication date: 2023-09-14

Abstract

A base station for the maintenance of a sweeping robot, the base station comprising: a base station base (10); a maintenance tray (20), which comprises an execution tray body (21); coupling mechanisms (90), which are arranged on the execution tray body (21); and a lifting mechanism (30), which provides adjustable support for the maintenance tray (20), the adjustable support being configured to allow the execution tray body (21) to translate and move up and down between a first height position and a second height position in a first direction, the second height position being adjacent to a bottom mounting position of a wiping module (80) on a sweeping robot (70), and the first height position being lower than the second height position. The sweeping robot (70) generates a continuous coupling force at the bottom mounting position for sucking the wiping module (80), and the coupling mechanisms (90) are configured to generate a controllable coupling force, which is greater than the continuous coupling force, on the wiping module (80) to allow the wiping module (80) to be mounted on or dismounted from the sweeping robot (70) on the basis of the cooperation of the controllable coupling force/continuous coupling force and the translation and lifting of the execution tray body (21).

Description

Base station for maintaining sweeping robots

Technical field

The present application relates to the field of sweeping machines, and in particular to a base station for maintaining sweeping robots.

Background technique

The sweeping robot can perform floor cleaning tasks, in which the sweeping robot can selectively realize the function of dust removal and cleaning based on the configuration of the hardware module, or the function of wiping the floor using wiping media such as rags, or the function of dust removal and cleaning. Wipe cleaning combination function.

Among them, the dust removal and cleaning function can be considered as the basic function of the sweeping robot, which can be realized based on the built-in cleaning module of the sweeping robot; while the wiping and cleaning function can be considered as an additional function of the sweeping robot, which can be based on the sweeping robot. Detachable wiping module is available.

Therefore, for a sweeping robot that needs to be equipped with a wiping and cleaning function, it may be faced with the need to disassemble and assemble the wiping module.

Contents of the invention

In an embodiment of the present application, a base station for maintaining a sweeping robot is provided, which can realize automatic disassembly and assembly of the wiping module of the sweeping robot.

One embodiment provides a base station for maintaining a sweeping robot. The base station includes: a base station base; a maintenance tray including an execution tray; and a coupling mechanism arranged on the execution tray. ; Lifting mechanism, the lifting mechanism provides adjustable support for the maintenance tray, and the adjustable support is used to translate the execution plate body along the first direction between the first height position and the second height position. Lifting; wherein, the second height position is adjacent to the installation position of the bottom of the sweeping robot at the wiping module, and the first height position is lower than the second height position; wherein the sweeping robot is at the The bottom installation position generates a continuous coupling force for adsorbing the wiping module, and the coupling mechanism is used to generate a controllable coupling force for the wiping module that is greater than the continuous coupling force, based on the The controllable coupling force/the continuous coupling force and the translational lifting of the execution plate realize the disassembly and assembly of the wiping module in the sweeping robot.

In some examples, optionally, when the sweeping robot equipped with the wiping module is parked at the base of the base station, the execution plate is driven from the first position by the lifting mechanism. The height position rises to the second height position. When the execution plate reaches the second height position, the coupling mechanism contacts the wiping module and generates the controllable coupling force; when the coupling mechanism After the controllable coupling force is generated, the execution disk body is driven by the lifting mechanism to descend from the second height position to the first height position, and the coupling mechanism moves along with the execution disk The controllable coupling force is continuously generated during the descending process of the body, so that the wiping module overcomes the continuous coupling force generated by the sweeping robot and descends with the execution plate body, thereby realizing the wiping module from Automatic disassembly of the sweeping robot.

In some examples, the wiping module to be installed is placed on the execution plate, and the coupling mechanism begins to generate the controllable coupling force; when the sweeping robot that needs to install the wiping module stops at the When the base station base is mentioned, the execution disk body rises from the first height position to the second height position driven by the lifting mechanism, and the coupling mechanism moves along with the lifting process of the execution disk body. The controllable coupling force is generated to maintain the stable placement of the wiping module on the execution plate; when the execution plate reaches the second height position, the wiping module reaches the The bottom installation position of the sweeping robot, and the coupling mechanism stops generating the controllable coupling force, so that the wiping module is detachably installed under the constraints of the continuous coupling force generated by the sweeping robot. is provided at the bottom installation position of the sweeping robot to realize the automatic installation of the wiping module on the sweeping robot; after the coupling mechanism stops generating the controllable coupling force, the execution plate is positioned at the Driven by the lifting mechanism, the coupling mechanism descends from the second height position to the first height position, and the coupling mechanism still stops generating the controllable coupling force during the descending process of the execution plate body.

In some examples, the wiping module to be installed is placed on the execution disk. When the sweeping robot that needs to install the wiping module is parked at the base of the base station, the execution disk is in the lifting mechanism. Driven by, the coupling mechanism rises from the first height position to the second height position, and the coupling mechanism does not generate the controllable coupling force during the rise of the execution disk; when the execution disk When the body reaches the second height position, the wiping module reaches the bottom installation position of the sweeping robot, so that the wiping module is detachable under the constraints of the continuous coupling force generated by the sweeping robot. The ground is installed at the bottom installation position of the sweeping robot to realize the automatic installation of the wiping module on the sweeping robot; the execution plate body is driven from the third by the lifting mechanism. The second height position drops to the first height position, and the coupling mechanism still does not generate the controllable coupling force during the descending process of the execution plate body.

In some examples, optionally, the sweeping robot is equipped with a host coupling component, the wiping module includes a module coupling component, and the continuous coupling force includes a combination of the host coupling component and the module. The permanent magnetic adsorption force generated between the coupling components; wherein the coupling mechanism includes an electromagnetic component, the controllable coupling force includes the electromagnetic adsorption force generated between the electromagnetic component and the module coupling component, and, The electromagnetic adsorption force is greater than the permanent magnetic adsorption force.

In some examples, optionally, the host coupling assembly includes a first ferrous member; the module coupling assembly includes a permanent magnet member and a second ferrous member; wherein the wiping module includes a media bracket, The permanent magnet component is arranged on one side of the media bracket facing the sweeping robot, and the second iron component is arranged on the other side of the media bracket facing the maintenance tray; wherein, The permanent magnetic attraction force is generated between the permanent magnet component and the first iron component, and the electromagnetic attraction force is generated between the electromagnetic component and the second iron component.

In some examples, optionally, the base station further includes: an electric drive module, which is electrically connected to the lifting mechanism and the electromagnetic assembly to cooperatively control the lifting of the lifting mechanism. actuation, and controlled energization of the electromagnetic assembly.

In some examples, optionally, the media bracket can be driven to rotate by the sweeping robot, and the media bracket is used to install wiping media; the host coupling assembly, the module coupling assembly and the The coupling mechanisms are arranged in alignment with the rotation axis of the media bracket.

In some examples, optionally, the sweeping robot includes a drive module for driving the media tray to rotate; wherein the host coupling assembly is installed on the output shaft of the drive module. The media bracket has a rotating shaft cylinder on the side facing the sweeping robot. The rotating shaft cylinder is used to be inserted into a plug-in shaft cavity at the bottom of the sweeping robot to connect with the plug-in shaft cavity in the plug-in shaft cavity. The output shaft of the driving module is coaxially connected, and the permanent magnet component of the module coupling assembly is arranged inside the rotating shaft barrel.

In some examples, optionally, the maintenance tray further includes a hollow cylinder connected to the execution plate body; the coupling mechanism is fixedly installed in the hollow cylinder.

In some examples, optionally, the hollow cylinder extends downwardly on the bottom side of the execution disk body.

In some examples, optionally, the base station base includes a base main shell for parking the sweeping robot, wherein the interior of the base main shell forms a base cavity, and the base main shell has an exposed The tray gap in the inner cavity of the base; the execution plate body is suspended and supported by the lifting mechanism at the tray gap; the base station base also includes a guide cylinder arranged in the inner cavity of the base; wherein, The hollow cylindrical column and the guide cylindrical column are slidably inserted along the first direction to constrain the translational lifting of the execution disk in the first direction.

In some examples, optionally, the maintenance tray further includes a hollow cylinder connected to the execution plate; the coupling mechanism is fixedly installed in the hollow cylinder; the host coupling assembly, the mold The set of coupling components and the hollow cylinder housing the coupling mechanism are arranged in alignment with the rotation axis of the media bracket.

In some examples, optionally, the media bracket has a positioning groove surrounding the module coupling assembly; the hollow cylinder has an opening flange protruding from the top surface side of the execution disk body; wherein, The opening flange is used to form a relatively rotatable and slidable insertion fit with the positioning groove.

In some examples, optionally, the lifting mechanism includes a power module, a transmission mechanism and a swing member; the power module is used to generate driving force; the transmission mechanism is used to convert the driving force generated by the power module A force is applied to the swing member to drive the translational lifting of the execution plate through the swing of the swing member in response to the driving force.

In some examples, optionally, the swing member has a fulcrum rotation axis, and first and second ends located on opposite sides of the fulcrum rotation axis; wherein the fulcrum rotation axis is connected to the base station base. The rotating shaft support is rotationally engaged to constrain the swinging of the swing member in response to the driving force to the fulcrum rotating shaft as a fixed fulcrum; wherein the driving force is applied by the transmission mechanism along the second direction on the a first end portion, and there is a preset angular deviation between the first direction and the second direction; a first sliding fit is formed between the first end portion and the transmission mechanism, and the first sliding fit is formed between the first end portion and the transmission mechanism. A second sliding fit is formed between the two ends and the execution plate body, and the first sliding fit and the second sliding fit are used to eliminate the connection between the swing member and the transmission mechanism and the The fitting interference between the execution disks caused by the angular deviation is eliminated.

In some examples, optionally, the transmission mechanism includes a guide member arranged along the second direction, and a moving component movably installed on the guide member; wherein the moving component has a transmission chute. , and the first end portion and the transmission chute form the first sliding fit; and the extension direction of the transmission chute is arranged so that the first sliding fit: from the drive The force is decomposed to obtain the input force effective on the first end, and the force application direction of the input force at the first end is the tangential direction around the fixed fulcrum.

In some examples, optionally, the maintenance tray further includes a tray chute located on the execution tray; wherein the second end and the pallet chute form the second sliding fit; wherein , the extension direction of the pallet chute is arranged so that the second sliding fit: decomposes the input force exerted on the first end to obtain an output force effective on the execution plate body, and, the The direction in which the output force exerts force on the execution disk body through the pallet chute is the first direction.

In some examples, optionally, the maintenance tray further includes a flexible skirt surrounding the outer periphery of the execution tray; wherein the flexible skirt is fixed to an opening edge of the tray notch, and the flexible skirt skirt responds to the The translational lifting and lowering of the disk body is performed to produce telescopic deformation.

In some examples, optionally, the base station base further includes a stop buckle arranged in the inner cavity of the base; the maintenance tray further includes a longitudinal buckle formed on the execution disk body; wherein, The vertical buckle extends downwardly toward the inner cavity of the base, and when the execution plate is located at the second height position, the vertical buckle interferes with the stop buckle to prevent The execution disk body generates an over-position rise beyond the second height position.

In some examples, optionally, the maintenance tray further includes side protruding hooks installed on the execution plate body; wherein the side protruding hooks extend laterally from the lower edge of the flexible skirt. , and when the execution plate body is located at the second height position, the side protruding hooks interfere with the opening edge of the tray gap to prevent the execution plate body from crossing the second height position. of excessive rise.

Based on the above embodiments, the maintenance tray of the base station has an execution disk body for performing maintenance operations on the parked sweeping robot, wherein the execution disk body is based on the adjustable support of the lifting mechanism and can be at the first height position and the second height position. Translational lifting between positions, and the execution plate body can be arranged with a coupling mechanism. Since the coupling mechanism can generate a controllable coupling force, and the controllable coupling force is greater than the continuous coupling force of the sweeping robot constraining the wiping module to the bottom, therefore, based on the controllable coupling force generated by the coupling mechanism and the effect of the lifting mechanism on the coupling mechanism The coordinated cooperation between the lifting and lowering adjustment of the execution plate can realize the automatic disassembly and assembly of the wiping module at the bottom of the sweeping robot.

Description of the drawings

The following drawings only schematically illustrate and explain the present application and do not limit the scope of the present application:

Figure 1 is a schematic diagram illustrating the principle of automatic disassembly and assembly of a wiping module in a base station used to maintain a sweeping robot in one embodiment of the present application;

Figure 2 is a schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in Figure 1;

Figure 3 is a schematic diagram of a state when the base station in the embodiment shown in Figure 1 uses a coupling mechanism to perform a contact disassembly and assembly operation on the wiping module;

Figure 4 is a schematic diagram of the placement state of the wiping module separated from the sweeping robot in the base station in the embodiment shown in Figure 1;

Figure 5 is a schematic diagram of the exploded structure of the base station in the embodiment shown in Figure 1;

Figure 6 is a schematic diagram of the working principle of the lifting mechanism of the base station in the embodiment shown in Figure 1;

Figure 7 is a schematic structural diagram of the principle used to adapt the directional deviation of the lifting mechanism of the base station in the embodiment shown in Figure 1;

Figure 8 is a schematic diagram of the assembly relationship between the maintenance tray and the base station base of the base station in the embodiment shown in Figure 1;

Figure 9 is a schematic structural diagram of the base station using the base station base to limit the maintenance tray in the embodiment shown in Figure 1;

FIG. 10 is a schematic diagram of the deployment structure of the cleaning mechanism in the embodiment shown in FIG. 1 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and examples.

Figure 1 is a schematic diagram illustrating the principle of automatically disassembling and assembling a wiping module in a base station used to maintain a sweeping robot in one embodiment of the present application. FIG. 2 is a schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in FIG. 1 . Referring to FIGS. 1 and 2 , in embodiments of the present application, a base station for maintaining a sweeping robot may include a base station base 10 , where the base station base 10 may be used to park the sweeping robot to be maintained.

For example, the base station base 10 can have a built-in wireless communication module and a wired or wireless charging mechanism, so that the sweeping robot can pair with the base station based on the communication module while it is parked on the base station base 10, and can After successful pairing, the base station performs charging maintenance based on the charging mechanism. In the embodiments of the present application, the layout, installation structure, and configuration selection of the charging mechanism in the base station are not focused. Therefore, the graphical representation of the charging mechanism will be omitted in the drawings and the following text description. and text description.

Still referring to FIGS. 1 and 2 , in an embodiment of the present application, in order for the base station for maintaining the sweeping robot to perform other maintenance operations besides charging, the base station may also include a maintenance tray 20 .

For example, the base station base 10 may include a base main shell 12, the interior of the base main shell 12 may form a base cavity 100, and the base main shell 12 may have a tray gap 122 exposing the base cavity 100, and the maintenance tray 20 may be deployed above the pallet gap 122 . In some embodiments, the base station base 10 may also include a protective baffle 13 , which is configured as a semicircular arc-shaped bending member surrounding the tray gap 122 to protect the sweeping robot when it is parked on the base station base 10 and Prevent the sweeping robot from falling from the highest point of the base station base.

The maintenance tray 20 may include an execution tray body 21, and the execution tray body 21 may be used to perform maintenance operations on the sweeping robot 70 parked on the base station base 10. For example, the execution tray body 21 may be deployed with a device for performing maintenance operations. operating mechanism.

In the embodiment of the present application, the operating mechanism deployed on the execution plate 21 may include a coupling mechanism 90 , wherein the coupling mechanism 90 may be used to automatically disassemble and assemble the wiping module of the sweeping robot.

The automatic disassembly and assembly of the wiping module requires switching between the contact position and the non-contact position with the sweeping robot. Therefore, in the embodiment of the present application, the base station for maintaining the sweeping robot may also include a lifting mechanism 30 , which may provide adjustable support for the maintenance tray 20 , and the adjustable support may be used to perform The tray body 21 moves up and down in translation between the first height position and the second height position along the first direction D1.

The second height position is adjacent to the installation position of the wiping module 80 at the bottom of the sweeping robot, and the first height position is lower than the second height position. For example, the first height position can be a gap between the execution plate body 21 and the tray. 122 Flush or basically flush position.

That is to say, the first height position can be understood as the non-contact position between the execution disk 21 and the sweeping robot. The execution disk is immediately before the sweeping robot is parked on the base station base 10 and before the parked sweeping robot is about to leave the base station base 10. 21 are adjusted to the first height position by the lifting mechanism 30 to avoid interference and collision between the execution plate body 21 and the sweeping robot; the second height position can be understood as the contact position between the execution plate body 21 and the sweeping robot. When the robot 70 is in a stopped state, the execution plate 21 is allowed to be adjusted to the second height position. It can be understood from this that the base station used to maintain the sweeping robot in the embodiment of the present application may further include a detection mechanism for detecting the motion state of the sweeping robot and the positional relationship of the sweeping robot relative to the base station base 10. The specific details of the detection mechanism Implementation is not the focus of the embodiments of this application, and therefore will not be described here.

The sweeping robot 70 can generate a continuous coupling force for adsorbing the wiping module 80 at the bottom installation position for installing the wiping module 80 .

For example, the cleaning robot 70 may be equipped with a host coupling component 71 , the wiping module 80 may include a module coupling component 81 , and the continuous coupling force generated by the cleaning robot 70 at the bottom installation position may include a coupling component between the host coupling component 71 and the module. The permanent magnetic adsorption force generated between the coupling components 81.

Correspondingly, the coupling mechanism 90 can be used to generate a controllable coupling force that is greater than the continuous coupling force, so as to realize the disassembly and assembly of the wiping module 80 in the sweeping robot 70 based on the synergy between the controllable coupling force and the translational lifting of the execution plate 21 . .

For example, the coupling mechanism 90 may include an electromagnetic component, and the controllable coupling force controllably generated by the coupling mechanism 90 may include: a controllable coupling force between the electromagnetic component of the coupling mechanism 90 and the module coupling component 81 of the wiping module 80 . The electromagnetic adsorption force generated may be greater than the permanent magnetic adsorption force generated between the host coupling component 71 of the sweeping robot 70 and the module coupling component 81 of the wiping module 80 . In this case, the electric drive module in the base station used to maintain the sweeping robot is electrically connected to the lifting mechanism 30 and can also be electrically connected to the coupling mechanism 90 to cooperatively control the lifting and lowering drive of the lifting mechanism 30 and the coupling. The electromagnetic components of the mechanism 90 are controllably energized, thereby achieving synergy between the controllable coupling force and the translational lifting of the actuator plate 21 .

Based on this embodiment, the maintenance tray 20 of the base station has an execution tray 21 for performing maintenance operations on the parked sweeping robot, wherein the lifting mechanism 30 provides adjustable support to the execution tray 21 so that the execution tray 21 It can translate and lift between the first height position and the second height position; and the second height position of the execution plate 21 can be adjacent to the installation position of the wiping module at the bottom of the sweeping robot. Because the execution plate body 21 of the maintenance tray 20 can be disposed with a coupling mechanism 90, and the coupling mechanism 90 can generate a controllable coupling force, and the controllable coupling force can be greater than the force of the sweeping robot 70 constraining the wiping module 80 to the bottom. Therefore, based on the synergy between the controllable coupling force/continuous coupling force generated by the coupling mechanism 90 and the lifting adjustment of the execution plate 21 where the coupling mechanism 90 is located by the lifting mechanism 30, the wiping module 80 can be realized Automatic disassembly and assembly of the bottom of the sweeping robot 70.

FIG. 3 is a schematic diagram of a state when the base station in the embodiment shown in FIG. 1 uses a coupling mechanism to perform a contact disassembly and assembly operation on the wiping module. FIG. 4 is a schematic diagram of the placement state of the wiping module separated from the sweeping robot in the base station in the embodiment shown in FIG. 1 . Please refer to Figures 3 and 4. The synergy between the controllable coupling force generated by the coupling mechanism 90 and the lifting adjustment of the execution plate 21 where the coupling mechanism 90 is located by the lifting mechanism 30 can be achieved as shown in Figures 3 to 4. The automatic disassembly process shown in the sequence, and the automatic installation process shown in the sequence from Figure 4 to Figure 3.

For the automatic disassembly process:

When the sweeping robot 70 equipped with the wiping module 80 is parked on the base station base 10, the execution plate 21 can be raised from the first height position to the second height position driven by the lifting mechanism 30;

When the execution plate 21 reaches the second height position, the coupling mechanism 90 contacts the wiping module 80, and the coupling mechanism 90 can generate a controllable coupling force;

After the coupling mechanism 90 begins to generate a controllable coupling force, the execution plate 21 can be driven from the second height position to the first height position driven by the lifting mechanism 30 , and the coupling mechanism 90 continues with the descending process of the execution plate 21 The controllable coupling force can be continuously generated, so that the wiping module 80 overcomes the continuous coupling force generated by the sweeping robot 70 and descends with the execution plate 21, thereby realizing the automatic disassembly of the wiping module 80 from the sweeping robot 70;

Thereafter, after the sweeping robot 70 to be detached from the wiping module 80 leaves the base station base 10 , the coupling mechanism 90 can stop generating a controllable coupling force, so that the detached wiping module 80 can be easily taken out of the execution plate 21 Pick.

In one embodiment, for the automated installation process:

The wiping module 80 to be installed can be placed on the execution plate 21, and the coupling mechanism 90 can start to generate a controllable coupling force;

When the sweeping robot 70 that needs to be installed with the wiping module 80 is parked on the base station base 10 , the execution plate 21 can be raised from the first height position to the second height position driven by the lifting mechanism 30 , and the coupling mechanism 90 then A controllable coupling force is generated during the rising process of the execution plate body 21;

When the execution plate body 21 reaches the second height position, the wiping module 80 reaches the bottom installation position of the sweeping robot 70 position, and the coupling mechanism 90 can stop generating a controllable coupling force, so that the wiping module 80 is detachably installed at the bottom installation position of the sweeping robot 70 under the constraints of the continuous coupling force generated by the sweeping robot 70, so as to Realize the automatic installation of the wiping module 80 on the sweeping robot 70;

After the coupling mechanism 90 stops generating a controllable coupling force, the execution disk 21 can be driven from the second height position to the first height position driven by the lifting mechanism 30 , and the coupling mechanism 90 continues with the descending process of the execution disk 21 still maintains a state in which controllable coupling forces are not generated;

After that, the sweeping robot 70 installed with the wiping module 80 can leave the base station base 10 .

In another embodiment, for the automated installation process:

The wiping module 80 to be installed can be placed on the execution tray 21;

When the sweeping robot 70 that needs to be installed with the wiping module 80 is parked on the base station base 10 , the execution plate 21 can be raised from the first height position to the second height position driven by the lifting mechanism 30 . The coupling mechanism 90 does not generate a controllable coupling force during the rising process of the execution plate 21;

When the execution plate 21 reaches the second height position, the wiping module 80 reaches the bottom installation position of the sweeping robot 70 , so that the wiping module 80 is detachably installed under the constraints of the continuous coupling force generated by the sweeping robot 70 . The installation position at the bottom of the sweeping robot 70 is to realize the automatic installation of the wiping module 80 on the sweeping robot 70;

The execution disk body 21 can be lowered from the second height position to the first height position driven by the lifting mechanism 30, and the coupling mechanism 90 still maintains a state of not generating a controllable coupling force during the descent of the execution disk body 21;

In addition, the wiping module 80 may include a media bracket 82 that can be driven and rotated by the sweeping robot 70. The media bracket 82 is used to install a wiping medium 800 such as a rag. The wiping medium may be installed on the back side of the media bracket 82. One side of the cleaning robot 70 (that is, the side with the media bracket 82 facing the maintenance tray 20 ), and the host coupling assembly 71 , the module coupling assembly 81 and the coupling mechanism 90 can all be aligned with the rotation axis of the media bracket 82 layout.

For example, the host coupling component 71 may include a first ferrous component; the module coupling component 81 may include a permanent magnet component 81a and a second ferrous component 81b, wherein the permanent magnet component 81a may be disposed on the media bracket 82 toward the sweeping robot 70 on one side of the media tray 82 , and the second iron member 81 b is disposed on the other side of the media tray 82 facing the maintenance tray 20 . Therefore, the permanent magnetic adsorption force between the host coupling component 71 and the module coupling component 81 can be generated between the permanent magnet component 81a of the module coupling component 81 and the first iron component of the host coupling component 71; and, coupling The electromagnetic attraction force between the mechanism 90 and the module coupling component 81 can be generated between the electromagnetic component of the coupling mechanism 90 and the second iron component 81b of the module coupling component 81 .

Based on the above structure, if the first ferrous component of the host coupling component 71 , the permanent magnet component 81 a and the second ferrous component 81 b of the module coupling component 81 , and the electromagnetic component of the coupling mechanism 90 are combined with the rotation axis of the media bracket 82 Center-to-center arrangement, then the permanent magnetic adsorption force used as a continuous coupling force and the electromagnetic adsorption force used as a controllable coupling force can be generated along the rotation axis of the media bracket 82, and whether it is the permanent magnetic adsorption force or the The electromagnetic adsorption force will not affect the rotation of the media bracket 82 .

In order to more reasonably connect the first ferrous component of the host coupling assembly 71 , the permanent magnet component 81 a and the second ferrous component 81 b of the module coupling assembly 81 , and the electromagnetic component of the coupling mechanism 90 with the rotation axis of the media bracket 82 Counterpoint arrangement:

The sweeping robot 70 may include a drive module 72 at a bottom installation position for driving the media tray 82 to rotate, and the host coupling assembly 71 (eg, a first iron component) may be mounted on an output shaft (eg, an output shaft) of the drive module 72 . end face of the shaft);

The media bracket 82 may have a rotating shaft barrel 85 on the side facing the cleaning robot 70 . The rotating shaft barrel 85 is used to be inserted into the plug-in shaft cavity 75 at the bottom of the sweeping robot 70 to connect with the drive shaft in the plug-in shaft cavity 75 . The output shaft of the module 72 is coaxially connected, and the permanent magnet component 81a of the module coupling assembly 81 can be arranged inside the rotating shaft cylinder 85 (for example, the bottom of the rotating shaft cylinder 85);

The second iron component 81b of the module coupling assembly 81 can be installed on the other side of the media bracket 82 facing away from the cleaning robot 70 (that is, the other side of the media bracket 82 facing the maintenance tray 20) to minimize the impact. There is little interference with the permanent magnet adsorption force generated between the permanent magnet component 81a of the module coupling component 81 and the first ferrous component of the host coupling component 71.

In order to better understand the translational lifting function provided by the lifting mechanism 30 for executing the disk body 21, the structure of the base station will be described in further detail below.

FIG. 5 is an exploded structural diagram of the base station in the embodiment shown in FIG. 1 . FIG. 6 is a schematic diagram of the working principle of the lifting mechanism of the base station in the embodiment shown in FIG. 1 . Referring to FIGS. 5 and 6 , in the embodiment of the present application, the lifting mechanism 30 may include a power module 31 , a transmission mechanism 32 and a swing member 33 . In some embodiments, the lifting mechanism 30 may further include a mounting bottom box 34 , and the power module 31 may be accommodated in the mounting bottom box 34 . In one embodiment, the installation bottom box 34 is used to dampen the shock of the power module 31 and can be made of rubber or other materials.

The power module 31 may include a power element such as a motor, and is used to generate driving force.

The transmission mechanism 32 is used to apply the driving force generated by the power module 31 to the swing member 33, so that the swing member 33 swings in response to the driving force to drive the translational lifting of the disk body 21.

For example, the power module 31 and the transmission mechanism 32 can be located outside the base cavity 100 of the base station base 10 , and the swing member 33 can penetrate into the base cavity 100 of the base station base 10 and move the execution tray 21 at the tray gap 122 . Provides said adjustable support.

It can be seen that the maintenance tray 20 of the base station has an execution tray for performing maintenance operations on the parked sweeping robot. Body 21, wherein the lifting mechanism 30 can utilize the swing of the swing member 33 to provide adjustable support for the execution plate body 21, so that the execution plate body 21 can translate and lift between the first height position and the second height position; and , the second height position of the execution plate body 21 can be adjacent to the installation position of the wiping module at the bottom of the sweeping robot. Therefore, based on the lifting mechanism 30 to adjust the lifting and lowering of the execution plate body 21, the execution plate body 21 can be adjusted by means of the lifting mechanism arranged on the execution plate body 21. The operating mechanism performs contact maintenance operations on the wiping module at the bottom of the sweeping robot.

In the embodiment of the present application, the switching direction of the execution plate body 21 of the maintenance tray 20 between the first height position and the second height position is in the first direction D1, and the transmission mechanism 32 can be in a direction different from the first height position. In the second direction of direction D1, the driving force generated by the power module 31 is applied to the swing member 33, that is, the lifting direction of the execution plate 21 (that is, the first direction D1) and the transmission direction of the transmission mechanism 32 (that is, the second direction There may be a directional deviation between D2), and the directional deviation may be expressed as a preset angular deviation between the first direction D1 and the second direction D2.

For example, the base main shell 12 of the base station base 10 may have a bottom surface arranged in the horizontal direction, and the bottom surface may be equipped with the base bottom plate 11 located below the base inner cavity 100; and, the base main shell 12 of the base station base 10 may also have a bottom surface with respect to The parking slope 121 is inclined from the horizontal plane (that is, the bottom surface of the base plate 11 or the base station base 10), and the parking slope 121 can be used to park the sweeping robot. The parking slope 121 is tilted upward on the side close to the maintenance tray 20 (ie, the tray gap 122 ), and the tilting height can be determined according to the portion of the swing member 33 near the second end 332 in the bottom. The space that needs to be occupied in the cavity 100 is highly determined. In addition, since the parking slope 121 is inclined, anti-slip particles 126 may be arranged on the surface of the inclined parking slope 121 .

In this case, the first direction D1 for executing the lifting and lowering switching of the disk body 21 between the first height position and the second height position may be an inclination direction perpendicular to the parking slope 121; and, the transmission mechanism 32 moves toward the swing member 33 The second direction D2 of applying the driving force may be a vertical direction perpendicular to the horizontal plane (ie, the base bottom plate 11 or the bottom surface of the base station base 10).

FIG. 7 is a schematic diagram of the principle structure of the lifting mechanism of the base station in the embodiment shown in FIG. 1 for adapting to direction deviation. Please refer to Figure 7. In order to adapt to the above-mentioned directional deviation, in the embodiment of the present application, the swing member 33 can adopt a lever structure with sliding fit margin provided at both ends. In one embodiment, the swing member 33 can have The fulcrum rotation axis 330, and the first end portion 331 and the second end portion 332 located on opposite sides of the fulcrum rotation axis 330, wherein:

The fulcrum rotation shaft 330 of the swing member 33 is rotationally matched with the rotation shaft support 123 of the base station base 10 to constrain the swing of the swing member 33 in response to the driving force to use the fulcrum rotation shaft 330 as a fixed fulcrum;

The driving force generated by the power module 31 can be applied by the transmission mechanism 32 to the first end 331 of the swing member 33 along the second direction D2;

A first sliding fit is formed between the first end 331 of the swing member 33 and the transmission mechanism 32. For example, the first end 331 of the swing member 33 may be formed with the transmission mechanism 32 outside the base cavity 100 of the base station base 10. First slip fit;

A second sliding fit is formed between the second end 332 of the swing member 33 and the execution tray 21 of the maintenance tray 20. For example, the second end 332 of the swing member 33 can be inserted into the base cavity 100 of the base station base 10. , and the second end 332 of the swing member 33 can form a second sliding fit with the execution plate body 21 at the tray gap 122;

Moreover, the first sliding fit and the second sliding fit are used to eliminate fitting interference between the swing member 33, the transmission mechanism 32, and the execution plate 21 due to the angular deviation between the first direction D1 and the second direction D2. .

The transmission mechanism 32 of the lifting mechanism 30 may include a guide member 321 arranged along the second direction D2, and a moving component 322 movably installed on the guide member 321, wherein the moving component 322 may respond to the drive generated by the power module 31 force while moving in the second direction D2 along the guide member 321 to apply a driving force to the first end 331 of the swing member 33 in the second direction D2.

Moreover, the moving assembly 322 may have a transmission slide 323, and the first end 331 of the swing member 33 may form the aforementioned first sliding fit with the transmission slide 323. For example, the first end 331 may have a side surface. The protruding first guide post is slidably inserted into the transmission chute 323 to form a first sliding fit between the first end 331 of the swing member 33 and the transmission chute 323 .

The extension direction of the transmission chute 323 of the moving assembly 322 is approximately at an acute angle with the horizontal plane. With this extension direction, the first sliding fit between the first end 331 and the transmission chute 323 can: from the power module 31 The generated driving force is decomposed into an input force acting on the swing member 33 / first end 331 , and the input force is a fixed fulcrum formed around the fulcrum rotation axis 330 in the direction of force applied by the first end 331 of the swing member 33 tangential direction.

For example, the power module 31 may include a stepper motor, the guide member 321 may include a lead screw coaxially connected to the output shaft of the stepper motor of the power module 31, and the moving component 322 may include a nut flange 322a, and a moving body. 322b, wherein the nut flange 322a can be engaged with the screw of the guide member 321, the nut flange 322a can also be fixedly connected with the moving body 322b, and the transmission chute 323 can be formed on the moving body 322b.

In this case, the first end 331 of the swing member 33 not only utilizes its first guide post to be slidably inserted into the transmission chute 323 to form a first sliding fit, but also the first end 331 of the swing member 33 An anti-rotation abutment is also formed on the moving body 322b, and the anti-rotation abutment is used to form an anti-rotation constraint that prevents the moving body 322b from rotating in the direction around the screw. In the illustration of this embodiment, it is taken as an example that the first end 331 of the swing member 33 adopts an arm structure that clamps the moving body 322b on opposite sides of the moving body 322b.

Correspondingly, the nut flange 322a fixedly connected to the moving body 322b is also subject to the above-mentioned anti-rotation constraint, that is, the moving body 322b that forms a first sliding fit with the swing member 33 (ie, the first end 331) can lock the nut flange 322a. orchid 322a forms an anti-rotation constraint.

Therefore, during the period when the screw of the guide member 321 rotates in response to the driving force generated by the stepper motor of the power module 31, the nut flange 322a engaged with the screw can respond to the rotation due to the anti-rotation constraint. The meshing transmission between the screws causes the moving body 322b fixedly connected thereto to rise and fall linearly in the second direction D2, thereby driving the driving force generated by the power module 31 along the second direction D2. D2 is applied to the first end 331 where the swing member 33 forms a first sliding fit with the transmission slide groove. Moreover, by switching the output shaft of the stepper motor of the power module 31 between forward and reverse rotation, the lifting direction can be switched.

The maintenance tray 20 may further include a tray chute 25 located on the execution tray body 21 , and the second end 332 of the swing member 33 may form the second sliding fit with the pallet chute 25 . For example, the second end 332 of the swing member 33 may have a laterally protruding second guide post slidably inserted into the pallet chute 25 to form a connection between the second end 332 of the swing member 33 and The second sliding fit between the pallet chutes 25.

The extending direction of the pallet chute 25 is substantially at an acute angle with the horizontal plane. With this extending direction, the second sliding fit between the second end 332 of the swing member 33 and the pallet chute 25 can: The aforementioned input force of the end portion 331 is decomposed into an output force that is effective on the execution disk 21 , and the direction of force exerted by the output force on the execution disk 21 through the pallet chute 25 is the first direction D1 .

In addition, in order to avoid the 0° dead angle parallel to the transmission chute 323 at the first end 331 of the swing member 33 and the 0° dead angle parallel to the pallet chute 25 at the second end 332, in this application In an embodiment, the swing member 33 may be in an arch shape with a top downward, and the fulcrum rotating shaft 330 for forming a fixed fulcrum may be located on the top of the arch.

While the lifting mechanism 30 is used to drive the execution plate body 21 of the maintenance tray 20 to rise and fall, embodiments of the present application can also supplement the maintenance tray 20 with guides and limits to further optimize the stability of the lifting and lowering of the execution plate body 21 of the maintenance tray 20 performance and reliability.

In addition, the lifting mechanism 30 may also include a position detection component, which may be arranged at an extreme position where the moving component 322 moves along the guide member 321, so that when the moving component 322 moves to the preset limit position along the guide member 321, A driving signal for causing the motor of the power module 31 to stop may be generated. The limit position of the movement component 322 along the guide member 321 may be determined based on the first height position and the second height position.

FIG. 8 is a schematic diagram of the assembly relationship between the maintenance tray and the base station base of the base station in the embodiment shown in FIG. 1 . FIG. 9 is a schematic structural diagram of the base station using the base station base to limit the position of the maintenance tray in the embodiment shown in FIG. 1 . Referring to FIGS. 8 and 9 , for the base station base 10 , a base cavity 100 is formed inside the base main shell 12 , the base main shell 12 has a tray gap 122 exposing the base cavity 100 , and the maintenance tray 20 is arranged at the tray gap 122 Case:

The base station base 10 may also include a guide cylinder 111 arranged in the base cavity 100. For example, the guide cylinder 111 may be formed on the base bottom plate 11, and the base bottom plate 11 may be covered and installed on the base main shell 12 within the base. The bottom opening 120 below the cavity 100 allows the guide cylinder 111 to protrude toward the tray gap 122 along the first direction D1;

Correspondingly, the maintenance tray 20 may also include a hollow cylindrical column 22 connected to the execution plate body 21 , and the hollow cylindrical column 22 may sink and extend on the side of the execution plate body 21 toward the base inner cavity 100 , so that the hollow cylindrical column 22 It can be slidably plugged into the guide cylinder 111 along the first direction D1 to constrain the translational lifting of the execution plate 21 to switch between the first height position and the second height position in the first direction D1.

When the execution plate body 21 of the maintenance tray 20 is in the first height position, it can be flush or substantially flush with the pallet gap 122. When the execution plate body 21 is in a second height position higher than the first height position, the execution plate body 21 can be flush with the tray gap 122. A gap will be formed between 21 and the pallet gap 122.

As an optional solution, the coupling mechanism 90 can be fixedly installed in the hollow column 22 of the maintenance tray 20 . Since the hollow cylinder 22 can sink and extend from the execution plate body 21 toward the bottom side of the base cavity 100 to facilitate sliding insertion with the guide cylinder 111, the coupling mechanism 90 is installed in the hollow cylinder 22. It can also prevent the coupling mechanism 90 contained therein from interfering with the wiping module 80 .

If the wiping module 80 includes a media bracket 82 that can be driven and rotated by the sweeping robot 70, and the host coupling assembly 71, the module coupling assembly 81 and the coupling mechanism 90 can all be arranged in alignment with the rotation axis of the media bracket 82, Then, the parking position of the sweeping robot 70 on the base station base 10 can be positioned such that the output shaft of the driving module 72 of the sweeping robot 70 and the hollow cylinder 22 are coaxially aligned along the first direction D1.

In this case, the media tray 82 may have a positioning groove 83 arranged around the rotation axis. For example, the positioning groove 83 may be arranged around the module coupling at the rotation axis. assembly 81 (for example, the second iron component 81b), correspondingly, the hollow cylinder 22 may have an opening flange 220 protruding on the top side of the execution plate 21 facing away from the base inner cavity 100, and the opening flange 220 is used for A relatively rotatable and slidable plug-in fit is formed with the positioning groove 83 , so that the rotation axis of the media bracket 82 can be positioned coaxially with the output shaft of the drive module 72 of the cleaning robot 70 .

In order to cover the gap between the execution plate body 21 and the tray gap 122 when it is in the second height position, in the embodiment of the present application, the maintenance tray 20 may also include a flexible skirt 26 surrounding the outer periphery of the execution plate body 21 .

The flexible skirt 26 can be fixed to the opening edge of the tray gap 122. For example, the upper edge of the flexible skirt 26 is connected to the execution plate 21, and the lower edge of the flexible skirt 26 can form a skirt flange 27, and, the The skirt flange 27 can be fixed on the opening edge of the pallet gap 122 by riveting or screw connection. In one embodiment, flexible The shielding of the tray gap 122 by the skirt 26 can form a waterproof seal for the tray gap 122 .

Moreover, the flexible skirt 26 can produce telescopic deformation in response to the translational lifting and lowering of the execution plate 21 between the first height position and the second height position. For example, the flexible skirt 26 can produce telescopic deformation when the execution plate 21 is at the first height position. and the flexible skirt 26 may be in an open state when the execution plate body 21 is in the second height position.

In the case where the hollow cylinder 22 and the guide cylinder 111 are slidably connected along the first direction D1 to form a guide, and the flexible skirt 26 is used to block the tray gap 122, the embodiment of the present application can also provide a gap between the base station base 10 and the maintenance tray 20. Execute the limit constraint between the disk bodies 21.

Among them, the limit constraint is used to constrain the upward limit position of the execution disk body 21 to avoid excessive rise of the execution disk body 21 when the position detection component of the lifting mechanism 30 fails; while the downward limit position of the execution disk body 21 can be It is set as the physical limit position of the transmission mechanism 32 of the lifting mechanism 30 in the direction in which the execution disk body 21 is driven to descend, or the descending limit position of the execution disk body 21 can be determined by the dimensional interference between the execution disk body 21 and the pallet gap 122 to constrain.

An optional limit constraint method used to prevent excessive rise is as follows:

The maintenance tray 20 may also include a vertical buckle 23 formed on the execution disk body 21, and the vertical buckle 23 may extend downwardly from the execution disk body 21 toward the bottom inner cavity 100;

The base station base 10 may also include a stop buckle 112 arranged in the base inner cavity 100. The stop buckle 112 may be formed on the base bottom plate 11, and the bottom opening 120 of the base main shell 12 is sealed through the base bottom plate 11. It is provided that it protrudes toward the tray gap 122 in the inner cavity 100 of the base;

Therefore, when the execution disk body 21 of the maintenance tray 20 is located at the second height position, the longitudinal buckle 23 interferes with the stop buckle 112 to prevent the execution disk body 21 from over-rising beyond the second height position, and thus , it can prevent the hollow cylinder 22 from being separated from the guide cylinder 111 due to the over-rise of the actuator plate 21, and prevent the flexible skirt 26 from being pulled off or separated from the opening edge of the tray gap 122 due to the over-rise of the actuator plate.

Another optional limit constraint method used to prevent excessive rise is as follows:

The maintenance tray 20 may also include side protruding hooks 24 installed on the execution tray body 21, and the side protruding hooks 24 may laterally extend from the lower edge of the flexible skirt 26;

Therefore, when the execution plate body 21 of the maintenance tray 20 is located at the second height position, the side protruding hooks 24 interfere with the opening edge of the tray gap 122 to prevent the execution plate body 21 from over-rising beyond the second height position. Furthermore, it is also possible to avoid the hollow cylinder 22 from being separated from the guide cylinder 111 due to the excessive rise of the actuator plate 21, and to prevent the flexible skirt 26 from being pulled off or separated from the opening of the pallet gap 122 due to the excessive rise of the actuator plate. edge.

In the embodiment of the present application, the combined use of the above two limiting and constraining methods is used as an example, but it can be understood that the above two limiting and constraining methods can also be used selectively according to needs.

In some examples, the maintenance tray 20 includes the execution plate body 21, the hollow cylinder 22, the vertical buckles 23, the tray chute 25, the flexible skirt 26 and the skirt flange 27, which can be integrally formed through an injection molding process, while the side The lugs 24 may be independent rigid components. In this case, the execution plate body 21, the hollow cylinder 22, the longitudinal buckle 23, the pallet chute 25, the flexible skirt 26 and the skirt flange 27 can all have the flexibility characteristics of injection molding materials, where the flexibility The flexibility of the skirt 26 means that the flexible skirt 26 has flexible characteristics that are more easily deformed than other integrally formed parts of the maintenance tray 20 , and is not intended to limit other integrally formed parts of the maintenance tray 20 to be rigid.

In the embodiment of the present application, in addition to the coupling mechanism 90 , the operating mechanism deployed on the execution plate 21 may further include a cleaning mechanism 50 , wherein the cleaning mechanism 50 may be used to clean the cleaning mechanism installed on the sweeping robot. Wipe the module to perform cleaning.

FIG. 10 is a schematic diagram of the deployment structure of the cleaning mechanism in the embodiment shown in FIG. 1 . Referring to FIG. 10 , in this embodiment, the base station for maintaining the sweeping robot may further include a cleaning mechanism 50 used as an operating mechanism. The cleaning mechanism 50 may be arranged on the execution plate 21 of the maintenance tray 20 for cleaning. The wiping module installed on the sweeping robot implements contact cleaning. For example, the cleaning mechanism 50 can be located outside the contact area where the lifting mechanism 30 provides adjustable support to the execution plate 21 at the execution position of the execution plate 21 , so as to utilize the elastic deformation margin of the execution plate 21 itself to support the cleaning mechanism 50 Provides floating support.

In an embodiment, the cleaning mechanism 50 may include a jet component 51 and a flow guide component 52 .

The jet member 51 is used to spray fluid, wherein when the sweeping robot equipped with the wiping module is parked on the base station base 10 and the execution plate 21 is raised to the second height position, the execution plate 21 can contact the wiping module. group (for example, a wiping medium such as a rag that contacts the wiping module device), and the fluid ejected by the jet component 51 is ejected from the jet component 51 at an angle to avoid the wiping module (ie, the wiping medium), that is, , the jet component 51 is used to eject fluid at an angle to avoid the wiping module when the execution plate 21 is at the second height position.

For example, the jet component 51 may include a component body 511 protruding from the top surface of the execution plate 21 and a jet outlet 512 opened on the side wall of the component body 511, so that the fluid jetted sideways from the jet outlet 512 can be avoided. For the wiping module, in one embodiment, the injection outlet 512 may be opened at the bottom of the side wall of the component body 511 close to the execution plate 21 . In this case, the component body 511 can be a hollow rib integrally formed on the execution plate body 21, so that the fluid can be introduced into the hollow rib from the flow supply pipeline under the execution plate body, and can be opened in the hollow rib. The ejection outlet 512 of the rib wall ejects.

The flow guide member 52 is used to guide the fluid sprayed by the jet member 51 at an angle to avoid the wiping module to spread toward the wiping module (wiping medium).

For example, the flow guide member 52 may be arranged spaced apart from the jet flow member 51 , wherein the distance between the flow guide member 52 and the jet flow member 51 may cause the fluid to impact the flow guide member 52 after being ejected from the jet flow member 51 , for example, The flow guide member 52 can be ejected from the jet member 51 with a preset intensity and impact the flow guide member 52 , and the flow guide member 52 can eject and spread the impacted fluid to the surface area of the wiping module exposed at the interval, for example, the fluid hits the guide member 52 The member 52 may then be uniformly diffused lasing to the surface area of the wiping module exposed at the spacing. In this case, the flow guide member 52 may be a plate-shaped rib integrally formed on the execution plate 21 . The plate-shaped rib may have an inclined rib wall facing the jet member 51 , so as to utilize the inclined rib wall to deflect the impinging fluid. Diffuse the lasing to the wiping module evenly.

It can be seen from this that the cleaning mechanism 50 arranged on the execution plate 21 can perform contact automatic cleaning on the wiping module installed on the sweeping robot without affecting the fluid ejection when the execution plate 21 contacts the wiping module, and the cleaning The mechanism adopts a flow supply method in which the fluid sprayed by the jet component 51 is uniformly guided to the wiping module through the flow guide component 52, which helps to improve the uniformity of cleaning of the wiping module.

If the wiping module 80 includes the media bracket 82 that can be driven and rotated by the sweeping robot 70 , then the component main body 511 of the jet component 51 and the flow guide component 52 can be rotated from the rotation axis of the execution plate 21 and the media bracket 82 The radiation extends at the alignment position of the center, and the side wall of the component body 511 may be arranged with a plurality of injection outlets 512 in the direction of radiation extension.

If the wiping module 80 includes a media bracket 82 that can be driven and rotated by the sweeping robot 70 , the cleaning mechanism 50 may also include a scraping member 53 . For example, the scraping member 53 may include a boss base 531 and a boss base 531 . A plurality of raised bumps 532 on the top surface of the base 531 . When the execution disk 21 is in the second height position, in response to the rotation of the media bracket 82 , the scraping member 53 may interfere with the wiping medium 800 installed on the media bracket 82 . The scraping member 53 may also extend radially from the alignment position of the rotation axis of the execution disk 21 and the media bracket 82 , and there may be a medium between the scraping member 53 and the jet member 51 and the flow guide member 52 . The phase interval in the rotation direction of the bracket 82.

In addition, the base station base 10 may also have a drainage mechanism 124 and a sewage discharge member 125 , wherein the drainage mechanism 124 forms a drainage path for the sewage flow overflowing from the wiping module to flow from the maintenance tray 20 to the sewage discharge member 125 . For example, the sewage discharge member 125 can be detachably installed on the base main shell 12, and the drainage mechanism 124 can be a flow guide slope formed on the outer periphery of the maintenance tray 20. The flow guide slope can direct the flow of sewage overflowing from the wiping module. The sewage discharge member 125 has a natural flow guiding tendency.

Combined with the above-mentioned coupling mechanism 90 and cleaning mechanism 50, the base station used to maintain the sweeping robot in the embodiment of the present application can support the sweeping robot to flexibly switch between different working modes, such as single scanning mode, single mopping mode and combined mode.

The single sweeping mode means that the sweeping robot 70 only uses the built-in cleaning component 73 to perform the dust removal task of cleaning floating dust on the ground without installing the wiping module 80 for wiping the floor.

The single mopping mode means that the sweeping robot 70 uses the installed wiping module 80 to perform a mopping task of wiping the floor, and the cleaning component 73 stops operating during this period.

The combination mode means that the sweeping robot 70 uses the installed wiping module 80 to perform a mopping task of wiping the floor, and the cleaning component 73 continues to run during this period.

Among them, the switching between single scanning mode, single drag mode and any working mode of combination mode can be realized by automatically disassembling and assembling the wiping module 80 by the coupling mechanism 90 .

Moreover, for the single mopping mode and the combination mode: before performing the mopping task, the sweeping robot 70 can use the cleaning mechanism 50 to moisten the wiping medium 800 of the wiping module 80; after completing the mopping task, the sweeping robot 70 can use the cleaning mechanism 50 The wiping medium 800 of the wiping module 80 is cleaned.

In addition, if the number of cleanings of the wiping medium 800 of the wiping module 80 reaches a preset threshold after multiple mopping tasks, the coupling mechanism 90 can also be used to automatically disassemble and assemble the cleaning robot 70 with the cleaning wiping medium 800 . Wipe Mod 80.

The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the present application. within the scope of protection.

Claims

A base station for maintaining a sweeping robot, including:

Base station base (10);

Maintenance tray (20), the maintenance tray (20) includes an execution disk body (21);

Coupling mechanism (90), the coupling mechanism (90) is arranged on the execution disk body (21);

Lifting mechanism (30), the lifting mechanism (30) provides adjustable support for the maintenance tray (20), and the adjustable support is used to move the execution plate body (21) in the first direction along the first direction. Translational lifting between the first height position and the second height position;

Wherein, the second height position is adjacent to the installation position of the wiping module (80) at the bottom of the sweeping robot (70), and the first height position is lower than the second height position;

Wherein, the sweeping robot (70) generates a continuous coupling force for adsorbing the wiping module (80) at the bottom installation position, and the coupling mechanism (90) is used to attach the wiping module (80) ) generates a controllable coupling force that is greater than the continuous coupling force to allow the wiping module (80) to move based on the controllable coupling force/the continuous coupling force and the translation of the execution plate (21) The sweeping robot (70) is disassembled and assembled with the cooperation of lifting and lowering.
The base station according to claim 1, wherein when the sweeping robot (70) equipped with the wiping module (80) is parked on the base station base (10), the execution disk (21 ) is driven by the lifting mechanism (30) to rise from the first height position to the second height position,

When the execution plate (21) reaches the second height position, the coupling mechanism (90) contacts the wiping module (80) and generates the controllable coupling force;

After the coupling mechanism (90) generates the controllable coupling force, the execution plate (21) is driven by the lifting mechanism (30) to descend from the second height position to the first height. position, and the coupling mechanism (90) continues to generate the controllable coupling force during the descending process of the execution plate (21), so that the wiping module (80) overcomes the sweeping robot (21). The continuous coupling force generated by 70) decreases with the execution plate (21), thereby realizing the automatic disassembly of the wiping module (80) from the sweeping robot (70).
The base station according to claim 1 or 2, wherein,

The wiping module (80) to be installed is placed on the execution disk (21),

The coupling mechanism (90) begins to generate the controllable coupling force;

When the sweeping robot (70) that needs to be installed with the wiping module (80) is parked on the base station base (10), the execution plate (21) is driven from the base station by the lifting mechanism (30). The first height position rises to the second height position, and the coupling mechanism (90) generates the controllable coupling force during the rising process of the execution plate (21) to maintain the wiping Stable placement of the module (80) on the execution plate (21);

When the execution plate (21) reaches the second height position, the wiping module (80) reaches the bottom installation position of the sweeping robot (70), and the coupling mechanism (90) stops. The controllable coupling force is generated so that the wiping module (80) is detachably installed on the sweeping robot (70) under the constraints of the continuous coupling force generated by the sweeping robot (70). The bottom installation position is to realize the automatic installation of the wiping module (80) on the sweeping robot (70);

After the coupling mechanism (90) stops generating the controllable coupling force, the execution plate (21) is driven by the lifting mechanism (30) to descend from the second height position to the first height position. height position, and the coupling mechanism (90) still stops generating the controllable coupling force during the descent of the execution plate (21);

or;

The wiping module (80) to be installed is placed on the execution disk (21),

When the sweeping robot (70) that needs to be installed with the wiping module (80) is parked on the base station base (10), the execution plate (21) is driven from the base station by the lifting mechanism (30). The first height position rises to the second height position, and the coupling mechanism (90) does not generate the controllable coupling force during the rising process of the execution plate (21);

When the execution plate (21) reaches the second height position, the wiping module (80) reaches the scanning The bottom installation position of the floor robot (70) allows the wiping module (80) to be detachably installed on the floor sweeping robot (70) under the constraints of the continuous coupling force generated by the sweeping robot (70). The bottom installation position of 70) is to realize the automatic installation of the wiping module (80) on the sweeping robot (70);

The execution disk body (21) is driven by the lifting mechanism (30) to descend from the second height position to the first height position, and the coupling mechanism (90) moves along with the execution disk. The controllable coupling force is still not generated during the descending process of the body (21).
The base station according to any one of claims 1-3, wherein,

The sweeping robot (70) is equipped with a host coupling assembly (71), the wiping module (80) includes a module coupling assembly (81), and the continuous coupling force includes the host coupling assembly (71) The permanent magnetic adsorption force generated between the module coupling component (81);

The coupling mechanism (90) includes an electromagnetic component, the controllable coupling force includes the electromagnetic adsorption force generated between the electromagnetic component and the module coupling component (81), and the electromagnetic adsorption force is greater than the Permanent magnetic adsorption force.
The base station according to claim 4, wherein,

The host coupling assembly (71) includes a first iron member;

The module coupling component (81) includes a permanent magnet component (81a) and a second iron component (81b);

Wherein, the wiping module (80) includes a media bracket (82), the permanent magnet component (81a) is arranged on a side of the media bracket (82) facing the sweeping robot (70), and, The second iron member (81b) is arranged on the other side of the media bracket (82) facing the maintenance tray (20);

Wherein, the permanent magnetic attraction force is generated between the permanent magnet component (81a) and the first iron component, and the electromagnetic attraction force is generated between the electromagnetic component and the second iron component (81a). 81b).
The base station according to claim 4 or 5, further comprising:

An electric drive module is electrically connected to the lifting mechanism (30) and the electromagnetic assembly to cooperatively control the lifting drive of the lifting mechanism (30) and the electromagnetic assembly. Controllable power-up.
The base station according to claim 5, wherein,

The media bracket (82) can be driven and rotated by the sweeping robot (70), and the media bracket (82) is used to install the wiping medium (800);

The host coupling component (71), the module coupling component (81) and the coupling mechanism (90) are all arranged in alignment with the rotation axis of the media bracket (82).
The base station according to claim 7, wherein the sweeping robot (70) includes a driving module (72) for driving the media bracket (82) to rotate, and the host coupling assembly (71) is installed on The output shaft of the drive module (72);

The media bracket (82) has a rotating shaft barrel (85) on the side facing the sweeping robot (70). The rotating shaft barrel (85) is used to be inserted into the plug-in socket at the bottom of the sweeping robot (70). in the connecting shaft cavity (75) to coaxially connect with the output shaft of the driving module (72) in the plug-in shaft cavity (75), and the module coupling assembly (81) The permanent magnet member (81a) is arranged inside the rotating shaft barrel (85).
The base station according to any one of claims 1 to 8, wherein,

The maintenance tray (20) also includes a hollow cylinder (22) connected to the execution plate body (21);

The coupling mechanism (90) is fixedly installed in the hollow cylinder (22).
The base station according to claim 9, wherein,

The hollow cylinder (22) sinks and extends on the bottom side of the execution plate (21).
The base station according to claim 10, wherein,

The base station base (10) includes a base main shell (12) for parking the sweeping robot (70), wherein a base inner cavity (100) is formed inside the base main shell (12), and the The base main shell (12) has a tray gap (122) that exposes the base inner cavity (100);

The execution plate body (21) is suspended and supported by the lifting mechanism (30) at the pallet gap (122);

The base station base (10) also includes a guide cylinder (111) arranged in the inner cavity (100) of the base;

Wherein, the hollow cylindrical column (22) and the guide cylindrical column (111) are slidably inserted along the first direction to constrain the translational lifting and lowering of the execution plate (21) in the first direction. direction.
The base station according to claim 7, wherein,

The maintenance tray (20) also includes a hollow cylinder (22) connected to the execution plate body (21);

The coupling mechanism (90) is fixedly installed in the hollow cylinder (22);

The host coupling assembly (71), the module coupling assembly (81) and the hollow cylinder (22) accommodating the coupling mechanism (90) are all aligned with the rotation axis of the media bracket (82). Counterpoint arrangement.
The base station according to claim 12, wherein,

The media bracket (82) has a positioning groove (83) surrounding the module coupling assembly (81);

The hollow cylinder (22) has an opening flange (220) protruding from the top side of the execution plate (21);

Wherein, the opening flange (220) is used to form a relatively rotatable and slidable plug-in fit with the positioning groove (83).
The base station according to claim 1, wherein the lifting mechanism (30) includes a power module (31), a transmission mechanism (32) and a swing member (33);

The power module (31) is used to generate driving force; the transmission mechanism (32) is used to apply the driving force generated by the power module (31) to the swing member (33) to pass the The swing member (33) swings in response to the driving force to drive the translational lifting and lowering of the execution plate (21).
The base station according to claim 14, wherein,

The swing member (33) has a fulcrum shaft (330), and a first end (331) and a second end (332) located on opposite sides of the fulcrum shaft (330);

Wherein, the fulcrum rotation shaft (330) is rotationally matched with the rotation shaft support (123) of the base station base (10) to constrain the swing of the swing member (33) in response to the driving force to the fulcrum. The rotating shaft (330) is a fixed fulcrum;

Wherein, the driving force is exerted on the first end (331) along the second direction by the transmission mechanism (32), and there is a preset angle between the first direction and the second direction. deviation;

A first sliding fit is formed between the first end (331) and the transmission mechanism (32), and a second sliding fit is formed between the second end (332) and the execution plate body (21). The first sliding fit and the second sliding fit are used to eliminate the friction between the swing member (33), the transmission mechanism (32) and the execution plate (21). Fitting interference caused by the angular deviation.
The base station according to claim 15, wherein,

The transmission mechanism (32) includes a guide member (321) arranged along the second direction, and a moving assembly (322) movably installed on the guide member (321);

Wherein, the moving component (322) has a transmission chute (323), and the first end (331) and the transmission chute (323) form the first sliding fit;

And, the extension direction of the transmission chute (323) is arranged so that the first sliding fit: decomposes the input force effective on the first end (331) from the driving force, and, The force application direction of the input force at the first end (331) is a tangential direction around the fixed fulcrum.
The base station according to claim 15 or 16, wherein,

The maintenance tray (20) also includes a tray chute (25) located on the execution tray (21);

Wherein, the second end (332) and the tray chute (25) form the second sliding fit;

Wherein, the extension direction of the pallet chute (25) is arranged so that the second sliding fit is decomposed from the input force exerted on the first end (331) to the actuating disk body (331). 21) An effective output force, and the direction of force exerted by the output force on the execution plate body (21) through the pallet chute (25) is the first direction.
The base station according to claim 11, wherein,

The maintenance tray (20) also includes a flexible skirt (26) surrounding the periphery of the execution tray (21);

Wherein, the flexible skirt (26) is fixed to the opening edge of the pallet gap (122), and the The flexible skirt (26) generates telescopic deformation in response to the translational lifting and lowering of the execution plate (21).
The base station according to claim 18, wherein,

The base station base (10) also includes a stop buckle (112) arranged in the inner cavity (100) of the base;

The maintenance tray (20) also includes vertical buckles (23) formed on the execution plate body (21);

Wherein, the vertical buckle (23) extends downwardly toward the inner cavity of the base (100), and when the execution plate body (21) is located at the second height position, the vertical buckle (23) 23) Interference fit with the stop buckle (112) to prevent the execution plate body (21) from over-rising beyond the second height position.
The base station according to claim 18 or 19, wherein,

The maintenance tray (20) also includes side protruding lugs (24) installed on the execution plate body (21);

Wherein, the side protruding hanging ears (24) laterally protrude from the lower edge of the flexible skirt (26), and when the execution plate body (21) is located at the second height position, the The side convex hanging ears (24) interfere with the opening edge of the tray notch (122) to prevent the execution plate body (21) from over-rising beyond the second height position.