WO2023169137A1 - Station de base pour entretien d'un robot de balayage - Google Patents

Station de base pour entretien d'un robot de balayage Download PDF

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Publication number
WO2023169137A1
WO2023169137A1 PCT/CN2023/075335 CN2023075335W WO2023169137A1 WO 2023169137 A1 WO2023169137 A1 WO 2023169137A1 CN 2023075335 W CN2023075335 W CN 2023075335W WO 2023169137 A1 WO2023169137 A1 WO 2023169137A1
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WO
WIPO (PCT)
Prior art keywords
base station
base
execution
tray
component
Prior art date
Application number
PCT/CN2023/075335
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210224576.0A external-priority patent/CN114431777A/zh
Priority claimed from CN202220499405.4U external-priority patent/CN216962364U/zh
Application filed by 杭州萤石软件有限公司 filed Critical 杭州萤石软件有限公司
Publication of WO2023169137A1 publication Critical patent/WO2023169137A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • the present application relates to the field of sweeping machines, and in particular to a base station for maintaining sweeping robots.
  • 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.
  • the dust removal and cleaning function can be realized based on the cleaning module built into the sweeping robot, while the wiping and cleaning function can be realized based on the wiping module detachably installed on the sweeping robot.
  • the maintenance operations on the wiping module may include contact operations.
  • a base station for maintaining a sweeping robot which can support contact-type maintenance operations on the sweeping robot.
  • the base station includes: a base station base; a maintenance tray, the maintenance tray includes an execution disk body, and the execution disk body is used to perform maintenance on the robot when it is parked.
  • the sweeping robot at the base station base performs maintenance operations; a lifting mechanism provides adjustable support to the maintenance tray, and the adjustable support is used to move the execution plate at a first height along a first direction.
  • the second height position is adjacent to the installation position of the wiping module at the bottom of the sweeping robot, and the first height position is lower than the second height position.
  • the lifting mechanism includes a power module, a transmission mechanism and a swing member, and the transmission mechanism is used to apply the driving force generated by the power module to the swing member to pass the swing
  • the component swings in response to the driving force to drive the translational lifting and lowering of the execution plate.
  • the swing member has a fulcrum rotation axis, and a first end and a second end located on opposite sides of the fulcrum rotation axis; wherein the fulcrum rotation axis and 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.
  • 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.
  • the power module includes a motor; the guide member includes a lead screw coaxially connected to the output shaft of the motor; the moving component includes a nut flange, and a moving body; wherein , the nut flange is engaged with the screw, the nut flange is fixedly connected with the moving body, and the transmission chute is formed on the moving body.
  • the first end of the swing member is an arm structure that clamps the mobile body on opposite sides of the mobile body, so that the first end of the swing member The part forms an anti-rotation contact with the moving body to prevent the moving body from rotating in the direction around the lead screw.
  • the moving body forms an anti-rotation constraint on the nut flange.
  • the maintenance tray further includes a tray chute located on the execution tray body; wherein the second end portion 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 actuating plate body, and, The direction in which the output force exerts force on the execution disk body through the pallet chute is the first direction.
  • the swing member is arched, the top of the arch is downward, and the The pivot axis is located on the top of the vault.
  • the base station base has a parking slope inclined relative to the horizontal plane; wherein the first direction is an inclination direction perpendicular to the parking slope, and the second The direction is the vertical direction perpendicular to said horizontal plane.
  • the surface of the parking slope is provided with anti-slip particles.
  • the base station base includes a base main shell for parking the sweeping robot, the interior of the base main shell forms a base inner cavity, and the base main shell has a structure exposing the The tray gap in the inner cavity of the base; the swing member penetrates into the inner cavity of the base and provides the adjustable support to the execution plate body at the tray gap.
  • the base station base further includes a guide cylinder arranged in the inner cavity of the base;
  • the maintenance tray further includes a hollow cylinder connected to the execution disk body; wherein, the hollow cylinder The cylinder column is slidably inserted into the guide cylinder column along the first direction to constrain the translational lifting of the execution disk in the first direction.
  • 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 The skirt generates the telescopic deformation in response to the translational lifting and lowering of the execution plate.
  • the base station base further includes a stop buckle arranged in the inner cavity of the base;
  • the maintenance tray further includes a vertical 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.
  • 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.
  • At least one of a coupling mechanism and a cleaning mechanism is provided on the execution plate; the sweeping robot generates a continuous force for adsorbing the wiping module at the bottom installation position. Coupling force, the coupling mechanism is used to generate a controllable coupling force on the wiping module that is greater than the continuous coupling force, so as to allow the wiping module to interact with the execution plate based on the controllable coupling force.
  • the sweeping robot is disassembled and assembled with the cooperation of the translation and lifting; the cleaning mechanism includes: a jet component, the jet component is used to avoid the cleaning when the execution plate is in the second height position.
  • the wiping module sprays fluid at an angle; a flow guide member is used to guide the fluid sprayed by the jetting member to spread toward the wiping module.
  • the flow guide member is spaced apart from the jet flow member; wherein the distance between the flow guide member and the jet flow member is such that the fluid passes from the jet flow After the component is ejected, it impacts the flow guide member; the flow guide member ejects and spreads the impacted fluid to the surface area of the wiping module exposed at the interval.
  • the flow guide member is spaced apart from the jet flow member; wherein the distance between the flow guide member and the jet flow member is such that the fluid passes from the jet flow After the component is ejected, it impacts the flow guide member; the flow guide member ejects and spreads the impacted fluid to the surface area of the wiping module exposed at the interval.
  • the sweeping robot is equipped with a host coupling component
  • the wiping module includes a module coupling component
  • the continuous coupling force includes coupling the host coupling component with the module
  • 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 The force is greater than the permanent magnet adsorption force.
  • the host coupling component includes a first ferrous component;
  • the module coupling component includes a permanent magnet component and a second ferrous component;
  • 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.
  • the maintenance tray of the base station has an execution disk body for performing maintenance operations on the parked sweeping robot, wherein the lifting mechanism can utilize the swing of the swing member to form an adjustable support for the execution disk body, so that the execution disk body can be The disk body can translate and lift between the first height position and the second height position; and the second height position of the execution disk body can be adjacent to the installation position of the wiping module at the bottom of the sweeping robot. Therefore, based on the lifting mechanism, By adjusting the lifting and lowering of the execution plate body, any operating mechanism deployed on the execution plate body can be used to perform contact maintenance operations on the wiping module at the bottom of the sweeping robot.
  • the operating mechanism can include an operating mechanism for automatically disassembling the wiping module of the sweeping robot. At least one of the coupling mechanism installed and the cleaning mechanism for performing contact cleaning on the wiping module installed on the sweeping robot, thereby facilitating the operation mode and operation type of the maintenance operation of the sweeping robot.
  • Figure 1 shows the principle of automatic pallet lifting by a base station used to maintain a sweeping robot in one embodiment of the present application.
  • Figure 2 is a schematic diagram of the exploded structure of the base station in the embodiment shown in Figure 1;
  • Figure 3 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 4 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 5 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;
  • Figure 6 is a schematic diagram showing the principle of automatic disassembly and assembly of the wiping module by the base station in the embodiment shown in Figure 1;
  • Figure 7 is a schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in Figure 1;
  • Figure 8 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 9 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;
  • FIG. 10 is a schematic diagram of the deployment structure of the cleaning mechanism in the embodiment shown in FIG. 1 .
  • FIG. 1 is a schematic diagram of a base station used for maintaining a sweeping robot to realize automatic lifting and lowering of a tray in one embodiment of the present application.
  • FIG. 2 is an exploded structural diagram of the base station in the embodiment shown in FIG. 1 .
  • 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.
  • 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.
  • 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.
  • the base station 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 .
  • 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 .
  • the base station base 10 may also include a protective baffle 13 , which is provided as an arc-shaped bending member surrounding the tray gap 122 , for protecting the sweeping robot and preventing the sweeping robot from being parked on the base station base 10 . The sweeping robot fell 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.
  • the execution tray body 21 may be deployed with a device for performing maintenance operations.
  • the operating mechanism, and the operating mechanism deployed on the execution plate 21 may include at least one of a coupling mechanism 90 and a cleaning mechanism 50 , wherein the coupling mechanism 90 may be used to automatically disassemble and assemble the wiping module of the sweeping robot, and perform cleaning.
  • the mechanism 50 can be used to clean the wiping module installed on the sweeping robot.
  • the maintenance operations supported by the operating mechanism deployed by the execution tray 21 may be contact operations.
  • automatic disassembly and assembly of the wiping module requires an operating stroke to switch between a contact position and a non-contact position with the sweeping robot.
  • the cleaning performed on the wiping module may also be contact cleaning.
  • 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 move the execution plate body 21 along the The first direction D1 translates up and down between the first height position and the second height position.
  • 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.
  • the first height position can be a gap between the execution plate body 21 and the tray. 122 Flush or basically flush position.
  • 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.
  • the execution plate 21 is allowed to be adjusted to the second height position.
  • 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 lifting mechanism 30 may include a power module 31 , a transmission mechanism 32 and a swing member 33 .
  • 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 .
  • 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.
  • 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 .
  • 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 can utilize the swing of the swing member 33 to provide adjustability to the execution tray 21 Support, 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 wiping module at the bottom installation position of the sweeping robot. , therefore, based on the lifting and lowering adjustment of the execution plate body 21 by the lifting mechanism 30, contact-type maintenance operations can be performed on the wiping module at the bottom of the sweeping robot with the help of the operating mechanism deployed on the execution plate body 21.
  • 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
  • the transmission mechanism 32 can be in a direction different from the first height position.
  • 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
  • the directional deviation may be expressed as a preset angular deviation between the first direction D1 and the second direction D2.
  • 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.
  • anti-slip particles 126 may be arranged on the surface of the inclined parking slope 121 .
  • 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. 3 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.
  • the swing member 33 can adopt a lever structure with sliding fit margin provided at both ends.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 aforesaid input force of the end portion 331 is decomposed to obtain an output force effective on the execution disk body 21 , and the direction of force exerted by the output force on the execution disk body 21 through the pallet chute 25 is the first direction D1 .
  • 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.
  • 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.
  • 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. 4 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. 5 is a schematic structural diagram of the base station using the base station base to limit the maintenance tray in the embodiment shown in FIG. 1 .
  • 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
  • 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.
  • 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;
  • 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.
  • the execution plate body 21 of the maintenance tray 20 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.
  • 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.
  • 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.
  • the flexible skirt 26 covering the tray gap 122 may form a waterproof seal for the tray gap 122 .
  • 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.
  • 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.
  • the embodiment of the present application can also provide the base station base 10 and the maintenance tray.
  • the disk 20 performs the positioning constraints between the disk bodies 21 .
  • 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.
  • 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;
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • the operating mechanism for executing the deployment of the disk body 21 may include at least one of the coupling mechanism 90 and the cleaning mechanism 50 .
  • the coupling mechanism will be used in the following. Taking 90 and the cleaning mechanism as an example, the specific structure and working principle of the operating mechanism for executing the deployment of the disk body 21 will be described in detail.
  • FIG. 6 is a schematic diagram showing the principle of automatic disassembly and assembly of the wiping module by the base station in the embodiment shown in FIG. 1 .
  • FIG. 7 is a schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in FIG. 1 .
  • the base station for maintaining the sweeping robot can further include a coupling mechanism 90 used as an operating mechanism.
  • the coupling mechanism 90 can be arranged on the execution tray 21 of the maintenance tray 20, It is used for automatically disassembling and assembling the wiping module 80 of the sweeping robot 70 .
  • 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 .
  • the cleaning robot 70 may be equipped with a host coupling component 71
  • the wiping module 80 may include a module coupling component 81
  • 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 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 . .
  • the coupling mechanism 90 may include an electromagnetic component
  • 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 .
  • 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 drive and coupling of the lifting mechanism 30.
  • 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 .
  • the execution plate body 21 of the maintenance tray 20 can be arranged 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 cleaning robot 70.
  • the module 80 constrains the continuous coupling force at 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 automatically disassembled and assembled at the bottom of the sweeping robot 70 .
  • FIG. 8 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. 9 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 8 and 9.
  • 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 8 to 9.
  • 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 contacts the wiping module 80, and the coupling mechanism 90 can 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;
  • 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.
  • 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;
  • 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 to maintain the stable placement of the wiping module 80 on the execution plate body 21;
  • the wiping module 80 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 can stop generating a controllable coupling force, so that the wiping module 80 generates a force on the sweeping robot 70 is detachably installed at the bottom installation position of the sweeping robot 70 under the constraints of the continuous coupling force, so as to realize the automatic installation of the wiping module 80 on the sweeping robot 70;
  • 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 the state of stopping generating controllable coupling force;
  • the sweeping robot 70 installed with the wiping module 80 can leave the base station base 10 .
  • the wiping module 80 to be installed can be placed on the execution tray 21;
  • 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;
  • the wiping module 80 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;
  • the sweeping robot 70 installed with the wiping module 80 can leave the base station base 10 .
  • 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 surface of the cleaning robot 70 that is, the side surface of the media bracket 82 facing the maintenance tray 20
  • 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 Counterpoint arrangement.
  • 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 one side surface of the media tray 82 , and the second iron member 81 b is disposed on the other side surface of the media bracket 82 facing the maintenance tray 20 .
  • 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 .
  • 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 .
  • 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 host coupling assembly 71 eg, a first iron component
  • the media bracket 82 may have a rotating shaft cylinder 85 on a side surface facing the cleaning robot 70 .
  • the rotating shaft cylinder 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 plug-in shaft cavity 75 in the plug-in shaft cavity 75 .
  • the output shaft of the driving 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 surface of the media bracket 82 facing away from the cleaning robot 70 (that is, the other side surface of the media bracket 82 facing the maintenance tray 20), so as to minimize the The interference to 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 is greatly reduced.
  • the maintenance tray 20 may have a hollow cylinder 22 connected to the execution plate body 21 , in which case the coupling mechanism 90 may be fixedly installed in the hollow cylinder 22 .
  • the hollow cylindrical column 22 used to constrain the translational lifting of the execution plate 21 in the first direction D1 can extend downwardly from the bottom side of the execution plate 21 toward the base inner cavity 100, so as to facilitate The coupling mechanism 90 is slidably plugged into the guide cylinder 111 and can prevent interference contact between the coupling mechanism 90 and the wiping module 80 .
  • the parking position of the sweeping robot 70 on the base station base 10 can be positioned as : Align the output shaft of the driving module 72 of the sweeping robot 70 and the hollow cylinder 22 coaxially along the first direction D1.
  • the media tray 82 may have a positioning groove 83 arranged around the rotation axis.
  • 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 .
  • FIG. 10 is a schematic diagram of the deployment structure of the cleaning mechanism in the embodiment shown in FIG. 1 .
  • 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.
  • 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.
  • 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
  • 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.
  • 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. Wipe the module.
  • 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 .
  • 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 (especially the wiping medium of the wiping module).
  • 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.
  • 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.
  • 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.
  • 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 (that is, the position where the hollow cylinder 22 is located), 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.
  • the cleaning mechanism 50 may also include a scraping member 53 .
  • 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 .
  • the scraping member 53 may interfere with the wiping medium 800 installed on the media bracket 82 .
  • the scraping member 53 can also extend radially from the alignment position of the rotation axis of the execution disk 21 and the media bracket 82 (that is, the position where the hollow cylinder 22 is located), and the scraping member 53 and the jet flow member 51 There may be a phase interval in the rotation direction of the media bracket 82 between the flow guide member 52 and the flow guide member 52 .
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.

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  • Manipulator (AREA)

Abstract

L'invention concerne une station de base pour l'entretien d'un robot de balayage (70), comprenant : une base de station de base (10) ; un plateau d'entretien (20), comprenant un corps de disque d'exécution (21), le corps de disque d'exécution (21) étant utilisé pour exécuter une opération d'entretien sur le robot de balayage (70) qui est stationné sur la base de station de base (10) ; et un mécanisme de levage (30) pour fournir un support réglable pour le plateau d'entretien (20), le support réglable étant utilisé pour permettre au corps de disque d'exécution (21) de se soulever en translation entre une première et une seconde position de hauteur dans une première direction. La seconde position de hauteur est adjacente à un module d'essuyage (80) dans une position de montage sur une partie inférieure du robot de balayage (70). La première position de hauteur est inférieure à la seconde position de hauteur. Le mécanisme de levage (30) comprend un module de puissance (31), un mécanisme de transmission (32) et un élément oscillant (33). Le mécanisme de transmission (32) est utilisé pour appliquer à l'élément oscillant (33) une force d'entraînement qui est générée par le module d'alimentation (31), entraînant ainsi le corps de disque d'exécution (21) à se soulever en translation au moyen de l'oscillation de l'élément oscillant (33) en réponse à la force d'entraînement.
PCT/CN2023/075335 2022-03-09 2023-02-10 Station de base pour entretien d'un robot de balayage WO2023169137A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210224576.0A CN114431777A (zh) 2022-03-09 2022-03-09 用于维护扫地机器人的基站
CN202210224576.0 2022-03-09
CN202220499405.4U CN216962364U (zh) 2022-03-09 2022-03-09 用于维护扫地机器人的基站
CN202220499405.4 2022-03-09

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WO2023169137A1 true WO2023169137A1 (fr) 2023-09-14

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