WO2023169138A1 - 用于维护扫地机器人的基站 - Google Patents

用于维护扫地机器人的基站 Download PDF

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Publication number
WO2023169138A1
WO2023169138A1 PCT/CN2023/075338 CN2023075338W WO2023169138A1 WO 2023169138 A1 WO2023169138 A1 WO 2023169138A1 CN 2023075338 W CN2023075338 W CN 2023075338W WO 2023169138 A1 WO2023169138 A1 WO 2023169138A1
Authority
WO
WIPO (PCT)
Prior art keywords
base station
execution
base
tray
height position
Prior art date
Application number
PCT/CN2023/075338
Other languages
English (en)
French (fr)
Inventor
吴大涛
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 CN202210224929.7A external-priority patent/CN114424913A/zh
Priority claimed from CN202220497904.XU external-priority patent/CN216962324U/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 WO2023169138A1 publication Critical patent/WO2023169138A1/zh

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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 wiping module needs to be cleaned and moistened before the wiping task is started, and the wiping module needs to be cleaned after the wiping task is completed. Therefore, there is a need for cleaning and maintenance for the sweeping robot equipped with the wiping module.
  • the cleaning range of the wiping module will be concentrated at the direct injection position, resulting in uneven cleaning.
  • a base station for maintaining a sweeping robot which can realize automatic cleaning of the wiping module of the sweeping robot and help improve the uniformity of cleaning.
  • the base station includes: a base station base; a maintenance tray including an execution tray; and a cleaning 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.
  • the cleaning mechanism includes: A jet component, the jet component is used to jet fluid at an angle to avoid the wiping module when the execution plate is in the second height position; a flow guide component, the flow guide component is used to The fluid sprayed by the jet component is directed 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 flows from the jet flow After the component is ejected, it impacts the flow guide member; wherein, the flow guide member ejects and spreads the impinged fluid to the surface area of the wiping module exposed at the interval.
  • the jet component includes a component body protruding from the top surface of the execution disk body, and a jet outlet opened on a side wall of the component body.
  • the injection outlet is opened at the bottom of the side wall of the component body close to the execution disk body.
  • the wiping module includes a media bracket that can be driven and rotated by the sweeping robot; wherein the component body and the flow guide member are connected to the media from the execution disk body.
  • the bracket extends radially at the alignment position of the rotation axis, and a plurality of the injection outlets are arranged on the side wall of the component body in the direction of the radiating extension.
  • the wiping module includes a media bracket that can be driven and rotated by the sweeping robot; the cleaning mechanism further includes a scraping member; wherein, when the execution disk is in the first At the second height position, the scraping member interferes with and rubs against the wiping medium installed on the media bracket.
  • the scraping member is moved from the rotation axis center of the execution disk body and the media bracket. radially extend at the alignment position, and there is a phase interval in the rotation direction of the media bracket between the scraping member and the jet member and the flow guide member.
  • the scraping member includes a boss base and a plurality of raised convex bumps distributed on a top surface of the boss base.
  • the base station base has a drainage mechanism and a drainage member, wherein the drainage mechanism forms a drainage path that allows the sewage flow overflowing from the wiping module to flow from the maintenance tray to the drainage member.
  • the cleaning mechanism is located at the arrangement position of the execution plate outside the contact area where the lifting mechanism provides the adjustable support to the execution plate, so as to utilize the The elastic deformation allowance of the execution plate body provides floating support for the cleaning mechanism.
  • the sewage discharge member is detachably installed on the base station base, and the drainage mechanism is a drainage slope formed on the outer periphery of the maintenance tray.
  • 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 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 and lowering of the execution plate body 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 produces 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 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.
  • 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.
  • 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 generate the power module A driving 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.
  • 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 rotate about the fulcrum, and the driving force is applied to the first end in the second direction by the transmission mechanism.
  • a first sliding fit is formed between the first end and the transmission mechanism, and the second end and A second sliding fit is formed between the execution disk bodies, and the first sliding fit and the second sliding fit are used to eliminate the friction between the swing member, the transmission mechanism and the execution disk body. Fitting interference caused by the angular deviation.
  • 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 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 such that the second sliding fit: from the force applied to the first The input force at the end is decomposed to obtain an output force that is effective on the execution disk 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 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 can be adjusted at the first height position and the second height position by the adjustable support of the lifting mechanism.
  • the second height position of the execution plate body can be adjacent to the installation position of the wiping module at the bottom of the sweeping robot. Therefore, the cleaning mechanism arranged on the execution plate body can move when the execution plate body contacts the wiping module.
  • the wiping module is implemented with contact-type automatic cleaning that does not affect the fluid injection.
  • the cleaning mechanism adopts a flow supply method in which the fluid ejected by the jet component is uniformly guided to the wiping module through the diversion component, which helps to improve the wiping module. Cleaning uniformity.
  • Figure 1 is a schematic view of the deployment structure of a cleaning mechanism used to maintain a base station of 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;
  • FIG 3 is a schematic diagram of the working principle of the lifting mechanism of the base station in the embodiment shown in Figure 1;
  • Figure 4 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 5 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 6 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 7 is a schematic diagram showing the principle of automatic disassembly and assembly of the wiping module in the base station in the embodiment shown in Figure 1;
  • Figure 8 is a schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in Figure 1;
  • Figure 9 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;
  • FIG. 10 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 .
  • FIG. 1 is a schematic diagram of the deployment structure of a cleaning mechanism used to maintain a base station of a sweeping robot in one embodiment 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.
  • 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 further 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 configured as a semi-circular arc-shaped bending member surrounding the tray gap 122, for use when the sweeping robot is parked at the bottom of the base station. When the base station is at base 10, it protects the sweeping robot and prevents it 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.
  • the execution tray body 21 may be deployed with a device for performing maintenance operations. operating mechanism.
  • the operating mechanism deployed on the execution plate 21 may include a cleaning mechanism 50 , where the cleaning mechanism 50 may be used to perform contact cleaning on the wiping module installed on the sweeping robot.
  • the base station for maintaining the sweeping robot may also include a lifting Mechanism 30, this lifting mechanism 30 can provide adjustable support for the maintenance tray 20, and the adjustable support is used to translate and lift the execution plate body 21 along the first direction D1 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 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 installed on 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 maintenance tray 20 of the base station has a mechanism for performing maintenance operations on the parked sweeping robot.
  • the execution plate 21 wherein the lifting mechanism 30 can form an adjustable support for the execution plate 21 , so that the execution plate 21 can translate and lift between the first height position and the second height position.
  • the cleaning mechanism 50 arranged on the execution plate body 21 can when the execution plate body 21 contacts the wiping module,
  • the wiping module installed on the sweeping robot implements contact-type automatic cleaning that does not affect fluid injection, and the cleaning mechanism adopts a flow supply method in which the fluid sprayed by the jet member 51 is uniformly guided to the wiping module through the flow guide member 52. Helps improve the uniformity of cleaning of the wiping module.
  • 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.
  • FIG. 2 is an exploded structural diagram of the base station in the embodiment shown in FIG. 1 .
  • FIG. 3 is a schematic diagram of the working principle of the lifting mechanism of the base station in the embodiment shown in FIG. 1 .
  • 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
  • the lifting mechanism 30 can utilize the swing of the swing member 33 to provide adjustable support for the execution tray 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 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 maintenance operations can be performed on the wiping module at the bottom of the sweeping robot by means 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. 4 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-type structure that provides a sliding fit margin at both ends.
  • the swing member 33 may have 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 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 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 .
  • 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. 5 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. 6 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 deployed on the execution plate 21 may further include a coupling mechanism 90 , wherein the coupling mechanism 90 may be used to implement a wiping module on the sweeping robot. Automatic disassembly and assembly.
  • FIG. 7 is a schematic diagram showing the principle of automatic disassembly and assembly of the wiping module in the base station in the embodiment shown in FIG. 1 .
  • FIG. 8 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 sustained coupling force to achieve a controllable coupling force based on the controllable coupling force.
  • the combined force and the coordinated cooperation of the translation and lifting of the execution plate body 21 realize the disassembly and assembly of the wiping module 80 on the sweeping robot 70 .
  • 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 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 .
  • 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. 9 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. 10 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 9 and 10.
  • 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 9 to 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 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 : Make the output shaft of the driving module 72 of the sweeping robot 70 and the hollow cylinder 22 coaxial along the first direction D1 Counterpoint.
  • 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 .
  • the wiping module 80 includes a 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 aligned with the rotation axis of the media bracket 82
  • the radiation extends at the position (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 a position aligned with the rotation axis of the media bracket 82 (that is, the position where the hollow cylinder 22 is located), and the scraping member 53 is connected with the jet member 51 and the flow guide member. 52 may have a phase separation in the rotation direction of the media carriage 82 .
  • 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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Abstract

一种用于维护扫地机器人（70）的基站（10），包括基站底座；维护托盘（20），维护托盘（20）包括执行盘体（21）；清洗机构（50），清洗机构（50）布置在执行盘体（21）；升降机构（30），升降机构（30）对维护托盘（20）提供可调节支撑，并且，可调节支撑用于使执行盘体（21）沿第一方向在第一高度位置和第二高度位置之间平移升降。第二高度位置与擦拭模组（80）在扫地机器人（70）的底部装设位置相邻，并且，第一高度位置低于第二高度位置。清洗机构（50）包括喷流构件（51），用于在执行盘体（21）处于第二高度位置时，以避让擦拭模组（80）的角度喷射流体；导流构件（52），用于将喷流构件（51）喷射的流体导向为向擦拭模组（80）扩散。

Description

用于维护扫地机器人的基站 技术领域
本申请涉及扫地机领域，特别涉及一种用于维护扫地机器人的基站。
背景技术
扫地机器人可以执行地面清洁任务，其中，扫地机器人可以基于硬件模组的配置，选择性地实现除尘清扫的功能、或实现使用诸如抹布等擦拭介质擦拭地面的擦拭清洁的功能、或实现除尘清扫和擦拭清洁的组合功能。
其中，除尘清扫功能可以基于扫地机器人内置的清扫模组来实现，而擦拭清洁的功能可以基于在扫地机器人上可拆卸装设的擦拭模组来实现。
擦拭模组在擦拭任务开始之前需要清洗湿润，并且，擦拭模组在擦拭任务完成之后需要清洗，因此，对于配置擦拭模组的扫地机器人而言，存在清洗维护的需求。
若将擦拭模组从扫地机器人手动拆卸后清洗，则，操作繁琐；
若对装设在扫地机器人的擦拭模组直接喷射流体，则，流体对擦拭模组的清洗范围集中在直接喷射的位置，导致清洗不均匀。
发明内容
在本申请的实施例中，提供了一种用于维护扫地机器人的基站，能够实现扫地机器人的擦拭模组的自动清洗、并有助于改善清洗的均匀性。
其中一个实施例提供了一种用于维护扫地机器人的基站，所述基站包括：基站底座；维护托盘，所述维护托盘包括执行盘体；清洗机构，所述清洗机构布置在所述执行盘体；升降机构，所述升降机构对所述维护托盘提供可调节支撑，并且，所述可调节支撑用于使所述执行盘体沿第一方向在第一高度位置和第二高度位置之间平移升降；其中，所述第二高度位置与擦拭模组在扫地机器人的底部装设位置相邻，并且，所述第一高度位置低于所述第二高度位置；其中，所述清洗机构包括：喷流构件，所述喷流构件用于在所述执行盘体处于所述第二高度位置时，以避让所述擦拭模组的角度喷射流体；导流构件，所述导流构件用于将所述喷流构件喷射的所述流体导向为射向所述擦拭模组。
在一些示例中，可选地，所述导流构件与所述喷流构件间隔布置；其中，所述导流构件与所述喷流构件之间的间隔，使得所述流体从所述喷流构件喷出后撞击所述导流构件；其中，所述导流构件将撞击的所述流体弹射扩散至所述擦拭模组暴露在所述间隔处的表面区域。
在一些示例中，可选地，所述喷流构件包括从所述执行盘体的顶面突起的构件主体、以及开设于所述构件主体的侧壁的喷射出口。
在一些示例中，可选地，所述喷射出口开设于所述构件主体靠近所述执行盘体的侧壁底部。
在一些示例中，可选地，所述擦拭模组包括能够被所述扫地机器人驱动旋转的介质托架；其中，所述构件主体和所述导流构件从所述执行盘体与所述介质托架的旋转轴心的对位位置处辐射延伸，并且，所述构件主体的侧壁在所述辐射延伸的方向上布置有多个所述喷射出口。
在一些示例中，可选地，所述擦拭模组包括能够被所述扫地机器人驱动旋转的介质托架；所述清洗机构进一步包括刮擦构件；其中，当所述执行盘体处于所述第二高度位置时，所述刮擦构件与装设在所述介质托架的擦拭介质干涉摩擦。
在一些示例中，可选地，所述刮擦构件从所述执行盘体与所述介质托架的旋转轴心 的对位位置处辐射延伸，并且，所述刮擦构件与所述喷流构件和所述导流构件之间具有在所述介质托架的旋转方向上的相位间隔。
在一些示例中，可选地，所述刮擦构件包括凸台基底、以及分布在所述凸台基底的顶面的多个隆起凸包。
在一些示例中，可选地，所述基站底座具有引流机构和排污构件，其中，所述引流机构形成使所述擦拭模组溢出的污流从所述维护托盘流向所述排污构件的引流路径。
在一些示例中，可选地，所述清洗机构在所述执行盘体的布置位置，位于所述升降机构对所述执行盘体提供所述可调节支撑的接触区域之外，以利用所述执行盘体的弹性变形余量对所述清洗机构提供浮动支撑。
在一些示例中，可选地，所述排污构件可拆卸地装设在所述基站底座，所述引流机构为形成在所述维护托盘的外周的导流斜面。
在一些示例中，可选地，所述基站底座包括用于停驻所述扫地机器人的底座主壳，其中，所述底座主壳的内部形成底座内腔，并且，所述底座主壳具有暴露所述底座内腔的托盘豁口；所述执行盘体在所述托盘豁口被所述升降机构悬置支撑。
在一些示例中，可选地，所述基站底座还包括布置在所述底座内腔中的导向筒柱；所述维护托盘还包括连接所述执行盘体的中空筒柱；其中，所述中空筒柱与所述导向筒柱沿所述第一方向滑动插接，以将所述执行盘体的所述平移升降约束在所述第一方向上。
在一些示例中，可选地，所述维护托盘还包括环绕在所述执行盘体外周的柔性裙缘；其中，所述柔性裙缘固定于所述托盘豁口的开口边缘，并且，所述柔性裙缘响应于所述执行盘体的所述平移升降而产生伸缩形变。
在一些示例中，可选地，所述基站底座还包括布置在所述底座内腔中的止位卡扣；所述维护托盘还包括形成于所述执行盘体的纵垂卡扣；其中，所述纵垂卡扣向所述底座内腔下垂延伸，并且，当所述执行盘体位于所述第二高度位置时，所述纵垂卡扣与所述止位卡扣干涉配合，以阻止所述执行盘体产生越过所述第二高度位置的过位上升。
在一些示例中，可选地，所述维护托盘还包括装设在所述执行盘体的侧凸挂耳；其中，所述侧凸挂耳从所述柔性裙缘的下缘侧向伸出，并且，当所述执行盘体位于所述第二高度位置时，所述侧凸挂耳与所述托盘豁口的开口边缘干涉配合，以阻止所述执行盘体产生越过所述第二高度位置的过位上升。
在一些示例中，可选地，所述升降机构包括动力模组、传动机构以及摆动构件；所述动力模组、用于产生驱动力；所述传动机构、用于将所述动力模组产生的驱动力施加在所述摆动构件，以通过所述摆动构件响应于驱动力的摆动，驱动所述执行盘体的平移升降。
在一些示例中，可选地，所述摆动构件具有支点转轴、以及位于所述支点转轴的相反两侧的第一端部和第二端部；其中，所述支点转轴与所述基站底座的转轴支座转动配合，以将所述摆动构件响应于所述驱动力的摆动约束为以所述支点转轴其中，所述驱动力被所述传动机构沿第二方向施加在所述第一端部，并且，所述第一方向和所述第二方向之间具有预设的角度偏差；所述第一端部与所述传动机构之间形成第一滑转配合，所述第二端部与所述执行盘体之间形成第二滑转配合，并且，所述第一滑转配合和所述第二滑转配合用于消除所述摆动构件与所述传动机构和所述执行盘体之间由于所述角度偏差引发的配合干涉。
在一些示例中，可选地，所述传动机构包括沿所述第二方向布置的导向构件、以及可移动地装设在所述导向构件的移动组件；其中，所述移动组件具有传动滑槽，并且，所述第一端部与所述传动滑槽形成所述第一滑转配合；并且，所述传动滑槽的延伸方向被布置为使所述第一滑转配合：从所述驱动力中分解得到对所述第一端部生效的输入力，并且，所述输入力在所述第一端部的施力方向为绕所述固定支点的切向方向。
在一些示例中，可选地，所述维护托盘还包括位于所述执行盘体的托盘滑槽；其中， 所述第二端部与所述托盘滑槽形成所述第二滑转配合；其中，所述托盘滑槽的延伸方向被布置为使所述第二滑转配合：从施加在所述第一端部的输入力中分解得到对所述执行盘体生效的输出力，并且，所述输出力通过所述托盘滑槽对所述执行盘体的施力方向为所述第一方向。
基于上述实施例，基站的维护托盘具有用于对停驻的扫地机器人执行维护操作的执行盘体，其中，该执行盘体能够升降机构的可调节支撑而在第一高度位置和第二高度位置之间平移升降，执行盘体的第二高度位置可以与擦拭模组在扫地机器人的底部装设位置相邻，因此，布置在执行盘体的清洗机构可以在执行盘体接触擦拭模组时，对擦拭模组实施不影响流体喷射的接触式自动清洗，并且，清洗机构采用喷流构件喷射的流体经导流构件向擦拭模组均匀化导向的供流方式，有助于改善对擦拭模组清洗的均匀性。
附图说明
以下附图仅对本申请做示意性说明和解释，并不限定本申请的范围：
图1为本申请一个实施例中用于维护扫地机器人的基站的清洗机构的部署结构示意图；
图2为如图1所示实施例中的基站的分解结构示意图；
图3为如图1所示实施例中的基站的升降机构的工作原理示意图；
图4为如图1所示实施例中的基站的升降机构用于适配方向偏差的原理性结构示意图；
图5为如图1所示实施例中的基站的维护托盘与基站底座的装配关系示意图；
图6为如图1所示实施例中的基站利用基站底座对维护托盘的限位结构示意图；
图7为如图1所示实施例中的基站实施擦拭模组自动拆装的原理性示意图；
图8为如图1所示实施例中的基站的耦合机构的部署结构示意图；
图9为如图1所示实施例中的基站利用耦合机构对擦拭模组实施接触式拆装操作时的状态示意图；
图10为与扫地机器人分离的擦拭模组在如图1所示实施例中的基站的放置状态示意图。
具体实施方式
为使本申请的目的、技术方案及优点更加清楚明白，以下参照附图并举实施例，对本申请进一步详细说明。
图1为本申请一个实施例中用于维护扫地机器人的基站的清洗机构的部署结构示意图。请参见图1，在本申请的实施例中，用于维护扫地机器人的基站可以包括基站底座10，其中，该基站底座10可以用于停驻待维护的扫地机器人。
例如，该基站底座10中可以内置无线通信模组、以及有线或无线的充电机构，以便于扫地机器人在停驻于基站底座10的期间内，可以与该基站基于通信模组配对，并且，可以在配对成功后被该基站基于充电机构实施充电维护。在本申请的实施例中，并不关注于充电机构在基站的布置方式、安装结构、以及配置选型，因此，在附图以及下文的文字描述中，都将省略对充电机构的图示表达和文字说明。
仍参见图1，在本申请的实施例中，为了使用于维护扫地机器人的基站可以实现除充电之外的其他维护操作，该基站还可以包括维护托盘20。
例如，基站底座10可以包括底座主壳12，该底座主壳12的内部可以形成底座内腔100，并且，底座主壳12可以具有暴露底座内腔100的托盘豁口122，该维护托盘20可以部署在该托盘豁口122的上方。在一些实施例中，基站底座10还可以包括防护挡板13，其设置为围绕托盘豁口122的半圆弧形弯折件，用于在扫地机器人停驻于基站底 座10时对扫地机器人进行防护并且防止扫地机器人从基站底座的最高处跌落。
维护托盘20可以包括执行盘体21，并且，该执行盘体21可以用于对停驻于基站底座10的扫地机器人70执行维护操作，例如，该执行盘体21可以部署有用于执行维护操作的操作机构。
在本申请的实施例中，部署于执行盘体21的操作机构可以包括清洗机构50，其中，该清洗机构50可以用于对装设在扫地机器人的擦拭模组实施接触式的清洗。
对擦拭模组实施的接触式清洗需要产生在与扫地机器人的接触位置和非接触位置之间切换的操作行程，因此，在本申请的实施例中，用于维护扫地机器人的基站还可以包括升降机构30，该升降机构30可以对维护托盘20提供可调节支撑，该可调节支撑用于使执行盘体21沿第一方向D1在第一高度位置和第二高度位置之间平移升降。
其中，第二高度位置与擦拭模组80在扫地机器人的底部装设位置相邻，并且，第一高度位置低于第二高度位置，例如，第一高度位置可以为执行盘体21与托盘豁口122平齐或基本平齐的位置。
也就是，第一高度位置可以理解为执行盘体21与扫地机器人的非接触位置，在扫地机器人即将停驻于基站底座10之前、以及停驻的扫地机器人即将离开基站底座10之前，执行盘体21都被升降机构30调节至第一高度位置，以避免执行盘体21与扫地机器人发生干涉碰撞；第二高度位置则可以理解为执行盘体21与扫地机器人的接触位置，在停驻的扫地机器人70处于停止状态时，执行盘体21才被允许被调节至第二高度位置。由此可以理解，本申请实施例中用于维护扫地机器人的基站还可以进一步包括用于检测扫地机器人的运动状态、以及扫地机器人相对于基站底座10的位置关系的检测机构，该检测机构的具体实现不是本申请实施例的关注所在，因而此处不予展开说明。
另外，清洗机构50在执行盘体21的布置位置，可以位于升降机构30对执行盘体21提供可调节支撑的接触区域之外，以利用执行盘体21自身的弹性变形余量对清洗机构50提供浮动支撑。
在本申请的实施例中，清洗机构50可以包括喷流构件51和导流构件52。
喷流构件51用于喷射流体，其中，当装设有擦拭模组的扫地机器人停驻在基站底座10且执行盘体21被升高到第二高度位置时，执行盘体21可以接触擦拭模组(例如接触擦拭模组装设的诸如抹布等擦拭介质)，并且，喷流构件51喷射的流体是以避让擦拭模组(即擦拭介质)的角度从喷流构件51喷射而出的，即，喷流构件51用于在执行盘体21处于第二高度位置时，以避让擦拭模组的角度喷射流体。
例如，喷流构件51可以包括从执行盘体21的顶面突起的构件主体511、以及开设于构件主体511的侧壁的喷射出口512，以使得从喷射出口512侧向喷出的流体可以避让擦拭模组。在一实施例中，喷射出口512可以开设于构件主体511靠近执行盘体21的侧壁底部。在此情况下，构件主体511可以为一体成型于执行盘体21的中空凸筋，以便于流体可以从执行盘体下方的供流管路引入到中空凸筋内、并从开设于中空凸筋的筋壁的喷射出口512喷出。
导流构件52用于将喷流构件51以避让擦拭模组的角度喷射的流体导向为向擦拭模组(尤其是装设于擦拭模组的擦拭介质)扩散。
例如，导流构件52可以与喷流构件51间隔布置，其中，导流构件52与喷流构件51之间的间隔，可以使得流体从喷流构件51喷出后撞击导流构件52，例如流体可以从喷流构件51喷出后以预设强度撞击导流构件52，并且，导流构件52可以将撞击的流体弹射扩散至擦拭模组暴露在间隔处的表面区域，例如，流体撞击导流构件52后可以被均匀化地向擦拭模组暴露在该间隔处的表面区域扩散激射。在此情况下，导流构件52可以为一体成形于执行盘体21的板状档筋，该板状档筋可以具有面向喷流构件51的倾斜筋壁，以利用倾斜筋壁将撞击的流体均匀化地向擦拭模组扩散激射。
基于上述实施例，基站的维护托盘20具有用于对停驻的扫地机器人执行维护操作的 执行盘体21，其中，升降机构30可以对该执行盘体21形成可调节支撑，以使得执行盘体21可以在第一高度位置和第二高度位置之间平移升降。由于执行盘体21的第二高度位置可以与擦拭模组在扫地机器人的底部装设位置相邻，因此，布置在执行盘体21的清洗机构50可以在执行盘体21接触擦拭模组时，对装设在扫地机器人的擦拭模组实施不影响流体喷射的接触式自动清洗，并且，清洗机构采用喷流构件51喷射的流体经导流构件52向擦拭模组均匀化导向的供流方式，有助于改善对擦拭模组清洗的均匀性。
另外，基站底座10还可以具有引流机构124和排污构件125，其中，引流机构124形成使擦拭模组溢出的污流从维护托盘20流向排污构件125的引流路径。例如，排污构件125可以可拆卸地装设在底座主壳12，引流机构124可以为形成在维护托盘20的外周的导流斜面，该导流斜面可以使从擦拭模组溢出的污流形成向排污构件125自然流动的导向趋势。
为了更好地理解升降机构30为执行盘体21提供的平移升降功能，下面，对该基站的结构进行进一步的详细说明。
图2为如图1所示实施例中的基站的分解结构示意图。图3为如图1所示实施例中的基站的升降机构的工作原理示意图。请参见图2和图3，在本申请的实施例中，升降机构30可以包括动力模组31、传动机构32以及摆动构件33。在一些实施例中，升降机构30还可以包括安装底盒34，动力模组31可以容置在安装底盒34中。在一实施例中，安装底盒34用于对动力模组31进行减震，可以由橡胶等材料制成。
动力模组31可以包括诸如电机等动力元件，并且，动力模组31用于产生驱动力。
传动机构32用于将动力模组31产生的驱动力施加在摆动构件33，以通过摆动构件33响应于驱动力的摆动，驱动执行盘体21的平移升降。
例如，动力模组31和传动机构32可以位于基站底座10的底座内腔100之外，摆动构件33可以探入至基站底座10的底座内腔100、并在托盘豁口122处对执行盘体21提供所述可调节支撑。
由此可见，基站的维护托盘20具有用于对停驻的扫地机器人执行维护操作的执行盘体21，其中，升降机构30可以利用摆动构件33的摆动而对该执行盘体21提供可调节支撑，以使得执行盘体21可以在第一高度位置和第二高度位置之间平移升降；并且，执行盘体21的第二高度位置可以与擦拭模组在扫地机器人的底部装设位置相邻，因此，基于升降机构30对执行盘体21的升降调节，可以借助部署在执行盘体21的操作机构对扫地机器人底部的擦拭模组实施接触式的维护操作。
在本申请的实施例中，维护托盘20的执行盘体21在第一高度位置和第二高度位置之间的切换方向是在第一方向D1上，并且，传动机构32可以在不同于第一方向D1的第二方向上将动力模组31产生的驱动力施加在摆动构件33，即，执行盘体21的升降方向(即第一方向D1)和传动机构32的传动方向(即第二方向D2)之间可以具有方向偏差，该方向偏差可以表现为第一方向D1和第二方向D2之间存在的预设的角度偏差。
例如，基站底座10的底座主壳12可以具有沿水平方向布置的底面，该底面可以装设位于底座内腔100下方的底座底板11；并且，基站底座10的底座主壳12还可以具有相对于水平面(即底座底板11或基站底座10的底面)倾斜的停驻坡面121，该停驻坡面121可以用于停驻扫地机器人。其中，该停驻坡面121在靠近维护托盘20(即托盘豁口122)所在的一侧向上翘起，并且，翘起高度是可以根据摆动构件33在靠近第二端部332的部分在底部内腔100中需要占用的空间高度确定的。另外，由于停驻坡面121是倾斜的，因此，倾斜的停驻坡面121的表面可以布设有防滑颗粒126。
在此情况下，执行盘体21在第一高度位置和第二高度位置之间升降切换的第一方向D1可以为垂直于停驻坡面121的倾斜方向；并且，传动机构32向摆动构件33施加驱动力的第二方向D2可以是垂直于水平面(即底座底板11或基站底座10的底面)的竖直方向。
图4为如图1所示实施例中的基站的升降机构用于适配方向偏差的原理性结构示意图。请参见图4，为了适配上述的方向偏差，在本申请的实施例，摆动构件33可以采用两端提供滑转配合余量的杠杆式结构。在一实施例中，该摆动构件33可以具有支点转轴330、以及位于支点转轴330的相反两侧的第一端部331和第二端部332，其中：
摆动构件33的支点转轴330与基站底座10的转轴支座123转动配合，以将摆动构件33响应于驱动力的摆动约束为以支点转轴330为固定支点；
动力模组31产生的驱动力可以被传动机构32沿第二方向D2施加在摆动构件33的第一端部331；
摆动构件33的第一端部331与传动机构32之间形成第一滑转配合，例如，摆动构件33的第一端部331可以在基站底座10的底座内腔100之外与传动机构32形成第一滑转配合；
摆动构件33的第二端部332与维护托盘20的执行盘体21之间形成第二滑转配合，例如，摆动构件33的第二端部332可以探入在基站底座10的底座内腔100中，并且，摆动构件33的第二端部332可以在托盘豁口122处与执行盘体21形成第二滑转配合；
并且，第一滑转配合和第二滑转配合用于消除摆动构件33与传动机构32和执行盘体21之间由于第一方向D1和第二方向D2之间的角度偏差而引发的配合干涉。
升降机构30的传动机构32可以包括沿第二方向D2布置的导向构件321、以及可移动地装设在导向构件321的移动组件322，其中，移动组件322可以响应于动力模组31产生的驱动力，而沿着导向构件321在第二方向D2上移动，以将驱动力沿第二方向D2施加在摆动构件33的第一端部331。
而且，移动组件322可以具有传动滑槽323，并且，摆动构件33的第一端部331可以与传动滑槽323形成前文提及的第一滑转配合，例如，第一端部331可以具有侧向突出的第一导向柱，该第一导向柱可滑动地插入在传动滑槽323中，可以形成摆动构件33的第一端部331与传动滑槽323之间的第一滑转配合。
其中，移动组件322的传动滑槽323的延伸方向为大致与水平面成锐角，借助该延伸方向使第一端部331与传动滑槽323之间的第一滑转配合能够：从动力模组31产生的驱动力中分解得到对摆动构件33/第一端部331生效的输入力，并且，该输入力在摆动构件33的第一端部331的施力方向为绕支点转轴330形成的固定支点的切向方向。
例如，动力模组31可以包括步进电机，导向构件321可以包括与动力模组31的步进电机的输出轴同轴连接的丝杠，而移动组件322可以包括螺母法兰322a、以及移动主体322b，其中，该螺母法兰322a可以与导向构件321的丝杠啮合，该螺母法兰322a还可以与移动主体322b固定连接，并且，传动滑槽323可以形成在移动主体322b。
在此情况下，摆动构件33的第一端部331不但利用其第一导向柱在传动滑槽323的可滑动地插入而形成第一滑转配合，并且，摆动构件33的第一端部331还对移动主体322b形成止转贴靠，该止转贴靠用于形成阻止移动主体322b在绕丝杠的方向上旋转的止转约束。在该实施例的图示表达中，以摆动构件33的第一端部331采用在移动主体322b的相对两侧对该移动主体322b形成夹持的双臂结构为例。
相应地，与移动主体322b固定连接的螺母法兰322a同样受到上述的止转约束，即，与摆动构件33(即第一端部331)形成第一滑转配合的移动主体322b可以对螺母法兰322a形成止转约束。
从而，在导向构件321的丝杠响应于动力模组31的步进电机产生的驱动力的旋转期间内，与该丝杠啮合的螺母法兰322a由于受到止转约束，因而可以响应于与旋转的丝杠之间的啮合传动而沿第二方向D2直线升降，并由此带动与其固定连接的移动主体322b沿第二方向D2直线升降，以将动力模组31产生的驱动力沿第二方向D2施加在摆动构件33与传动滑槽形成第一滑转配合的第一端部331。而且，通过动力模组31的步进电机的输出轴正反转切换，可以实现升降方向的切换。
维护托盘20还可以包括位于执行盘体21的托盘滑槽25，并且，摆动构件33的第二端部332可以与该托盘滑槽25形成所述第二滑转配合。例如，摆动构件33的第二端部332可以具有侧向突出的第二导向柱，该第二导向柱可滑动地插入在托盘滑槽25中，以形成摆动构件33的第二端部332与托盘滑槽25之间的第二滑转配合。
其中，托盘滑槽25的延伸方向为与水平面大致成锐角，借助该延伸方向使摆动构件33的第二端部332与托盘滑槽25之间的第二滑转配合能够：从施加在第一端部331的前述输入力中分解得到对执行盘体21生效的输出力，并且，该输出力通过托盘滑槽25对执行盘体21的施力方向为第一方向D1。
另外，为了避免摆动构件33在第一端部331处出现与传动滑槽323平行的0°死角、以及在第二端部332处出现与托盘滑槽25平行的0°死角，在本申请的实施例中，摆动构件33可以呈拱形，该拱形的拱顶向下，并且，用于形成固定支点的支点转轴330可以位于拱形的拱顶。
在利用升降机构30驱动维护托盘20的执行盘体21升降的同时，本申请的实施例还可以对维护托盘20辅以导向和限位，以进一步优化维护托盘20的执行盘体21的升降稳定性和可靠性。
另外，升降机构30还可以包括位置检测组件，该位置检测组件可以布置在移动组件322沿导向构件321移动的极限位置，以便于当移动组件322沿导向构件321移动至预设的极限位置时，可以产生用于促使动力模组31的电机停转的驱动信号。其中，移动组件322沿导向构件321移动的极限位置，可以是根据第一高度位置和第二高度位置确定的。
图5为如图1所示实施例中的基站的维护托盘与基站底座的装配关系示意图。图6为如图1所示实施例中的基站利用基站底座对维护托盘的限位结构示意图。请参见图5和图6，对于基站底座10在底座主壳12的内部形成底座内腔100、底座主壳12具有暴露底座内腔100的托盘豁口122、以及维护托盘20布置在托盘豁口122处的情况：
基站底座10还可以包括布置在底座内腔100中的导向筒柱111，例如，该导向筒柱111可以形成于底座底板11，该底座底板11可以封盖装设于底座主壳12在底座内腔100下方的底部开口120，以使得导向筒柱111沿第一方向D1朝向托盘豁口122突起；
相应地，维护托盘20还可以包括连接执行盘体21的中空筒柱22，该中空筒柱22可以在执行盘体21朝向底座内腔100的一侧下沉延伸，以使得该中空筒柱22能够与导向筒柱111沿第一方向D1滑动插接，以将执行盘体21在第一高度位置和第二高度位置之间升降切换的平移升降约束在该第一方向D1上。
维护托盘20的执行盘体21在处于第一高度位置时可以与托盘豁口122平齐或基本平齐，而当执行盘体21处于高于第一高度位置的第二高度位置时，执行盘体21与托盘豁口122之间会形成间隙。
为了遮挡执行盘体21在处于第二高度位置时与托盘豁口122之间的间隙，在本申请的实施例中，维护托盘20还可以包括环绕在执行盘体21外周的柔性裙缘26。
其中，柔性裙缘26可以固定于托盘豁口122的开口边缘，例如，柔性裙缘26的上缘连接执行盘体21，该柔性裙缘26的下缘可以形成裙缘翻边27，并且，该裙缘翻边27可以通过铆接或螺钉连接等方式固定在托盘豁口122的开口边缘。在一实施例中，柔性裙缘26对托盘豁口122的遮挡可以形成对托盘豁口122的防水密封。
并且，柔性裙缘26可以响应于执行盘体21在第一高度位置和第二高度位置之间的平移升降而产生伸缩形变，例如，柔性裙缘26可以在执行盘体21处于第一高度位置时呈褶皱折叠状，并且，柔性裙缘26可以在执行盘体21处于第二高度位置时处于张开状态。
对于存在中空筒柱22与导向筒柱111沿第一方向D1滑动插接形成导向、并且利用柔性裙缘26遮挡托盘豁口122的情况，本申请实施例还可以设置基站底座10与维护托 盘20的执行盘体21之间的限位约束。
其中，该限位约束用于约束执行盘体21的上行极限位置，以避免在升降机构30的位置检测组件失效时发生执行盘体21的过位上升；而执行盘体21的下降极限位置可以设定为升降机构30的传动机构32在驱动执行盘体21下降的方向上的物理极限位置，或者，执行盘体21的下降极限位置可以通过执行盘体21与托盘豁口122之间的尺寸干涉来约束。
用于防止过位上升的一种可选的限位约束方式如下：
维护托盘20还可以包括形成于执行盘体21的纵垂卡扣23，该纵垂卡扣23可以从执行盘体21朝向底部内腔100下垂延伸；
基站底座10还可以包括布置在底座内腔100中的止位卡扣112，该止位卡扣112可以形成于底座底板11，通过底座底板11对底座主壳12的底部开口120的封盖装设，而在底座内腔100中朝向托盘豁口122突起；
从而，当维护托盘20的执行盘体21位于第二高度位置时，纵垂卡扣23与止位卡扣112干涉配合，以阻止执行盘体21产生越过第二高度位置的过位上升，进而，可以避免中空筒柱22由于执行盘体21的过位上升而脱离导向筒柱111、以及避免柔性裙缘26由于执行盘体的过位上升而被拉断或脱离托盘豁口122的开口边缘。
用于防止过位上升的另一种可选的限位约束方式如下：
维护托盘20还可以包括装设在执行盘体21的侧凸挂耳24，该侧凸挂耳24可以从柔性裙缘26的下缘侧向伸出；
从而，当维护托盘20的执行盘体21位于第二高度位置时，侧凸挂耳24与托盘豁口122的开口边缘干涉配合，以阻止执行盘体21产生越过第二高度位置的过位上升，进而，同样可以避免中空筒柱22由于执行盘体21的过位上升而脱离导向筒柱111、以及避免柔性裙缘26由于执行盘体的过位上升而被拉断或脱离托盘豁口122的开口边缘。
在本申请的实施例中，以上述两种限位约束方式组合使用为例，但可以理解的是，上述两种限位约束方式也可以根据需要被择一地使用。
在一些示例中，维护托盘20包括的执行盘体21、中空筒柱22、纵垂卡扣23、托盘滑槽25、柔性裙缘26以及裙缘翻边27可以通过注塑工艺一体成型，而侧凸挂耳24则可以是独立的刚性构件。在此情况下，执行盘体21、中空筒柱22、纵垂卡扣23、托盘滑槽25、柔性裙缘26以及裙缘翻边27均可以具有注塑材料所具备的柔性特性，其中，柔性裙缘26所具有的柔性是指柔性裙缘26相比于维护托盘20的其他一体成型部分具有更容易变形的柔性特性，而并非意图限制维护托盘20的其他一体成型部分必须是刚性的。
在本申请的实施例中，部署于执行盘体21的操作机构除了可以包括清洗机构50之外，还可以进一步包括耦合机构90，其中，该耦合机构90可以用于对扫地机器人实施擦拭模组自动拆装。
图7为如图1所示实施例中的基站实施擦拭模组自动拆装的原理性示意图。图8为如图1所示实施例中的基站的耦合机构的部署结构示意图。请参见图7和图8，在该实施例中，用于维护扫地机器人的基站还可以进一步包括用作操作机构的耦合机构90，该耦合机构90可以布置在维护托盘20的执行盘体21，用于对扫地机器人70实施擦拭模组80的自动拆装。
在一实施例中，扫地机器人70在用于装设擦拭模组80的底部装设位置可以产生用于吸附擦拭模组80的持续耦合力。
例如，扫地机器人70可以装设有主机耦合组件71，擦拭模组80可以包括模组耦合组件81，并且，扫地机器人70在底部装设位置产生的持续耦合力可以包括由主机耦合组件71与模组耦合组件81之间产生的永磁吸附力。
相应地，耦合机构90可以用于产生大于持续耦合力的可控耦合力，以基于可控耦 合力和执行盘体21的平移升降的协同配合，实现擦拭模组80在扫地机器人70的拆装。
例如，耦合机构90可以包括电磁组件，并且，由耦合机构90可控地产生的可控耦合力可以包括：耦合机构90的电磁组件与擦拭模组80的模组耦合组件81之间可控制地产生的电磁吸附力，并且，该电磁吸附力可以大于扫地机器人70的主机耦合组件71与擦拭模组80的模组耦合组件81之间产生的永磁吸附力。在此情况下，用于维护扫地机器人的基站中与升降机构30电控连接的电驱模组，还可以与耦合机构90电控连接，以协同控制对升降机构30的升降驱动、以及对耦合机构90的电磁组件的可控通电，从而实现可控耦合力和执行盘体21的平移升降的协同配合。
由此可见，由于维护托盘20的执行盘体21可以布置有耦合机构90，并且，该耦合机构90可以产生可控的可控耦合力，并且，该可控耦合力可以大于扫地机器人70将擦拭模组80约束在底部的持续耦合力，因此，基于耦合机构90产生的可控耦合力/持续耦合力以及升降机构30对耦合机构90所在的执行盘体21的升降调节之间的协同配合，可以实现擦拭模组80在扫地机器人70底部的自动拆装。
图9为如图1所示实施例中的基站利用耦合机构对擦拭模组实施接触式拆装操作时的状态示意图。图10为与扫地机器人分离的擦拭模组在如图1所示实施例中的基站的放置状态示意图。请参见图9和图10，耦合机构90产生的可控耦合力、以及升降机构30对耦合机构90所在的执行盘体21的升降调节之间的协同配合，可以实现按照从图9至图10的顺序所示的自动拆卸过程、以及按照从图10至图9的顺序所示的自动安装过程。
对于自动拆卸过程：
当装设有擦拭模组80的扫地机器人70停驻在基站底座10时，执行盘体21可以在升降机构30的驱使下从第一高度位置上升至第二高度位置；
当执行盘体21到达第二高度位置时，耦合机构90接触擦拭模组80，并且，耦合机构90可以产生可控耦合力；
在耦合机构90开始产生可控耦合力后，执行盘体21可以在升降机构30的驱使下从第二高度位置下降至第一高度位置，并且，耦合机构90在随执行盘体21的下降过程中可以持续产生可控耦合力，以使擦拭模组80克服扫地机器人70产生的持续耦合力而随执行盘体21下降，从而实现擦拭模组80从扫地机器人70的自动拆卸；
此后，待擦拭模组80被拆卸后的扫地机器人70离开基站底座10后，耦合机构90可以停止产生可控耦合力，以便于被拆卸下来的擦拭模组80可以从执行盘体21容易地拿取。
在一实施例中，对于自动安装过程：
待安装的擦拭模组80可以被放置于执行盘体21，并且，耦合机构90可以开始产生可控耦合力；
当需要安装擦拭模组80的扫地机器人70停驻在基站底座10时，执行盘体21可以在升降机构30的驱使下从第一高度位置上升至第二高度位置，并且，耦合机构90在随执行盘体21的上升过程中产生可控耦合力，以保持擦拭模组80在执行盘体21的稳定托放；
当执行盘体21到达第二高度位置时，擦拭模组80到达扫地机器人70的底部装设位置，并且，耦合机构90可以停止产生可控耦合力，以使得擦拭模组80在扫地机器人70产生的持续耦合力的约束下被可拆卸地装设在扫地机器人70的底部装设位置，以实现擦拭模组80在扫地机器人70的自动安装；
在耦合机构90停止产生可控耦合力后，执行盘体21可以在升降机构30的驱使下从第二高度位置下降至第一高度位置，并且，耦合机构90在随执行盘体21的下降过程中仍然保持停止产生可控耦合力的状态；
此后，安装有擦拭模组80的扫地机器人70即可离开基站底座10。
在另一实施例中，对于自动安装过程：
待安装的擦拭模组80可以被放置于执行盘体21；
当需要安装擦拭模组80的扫地机器人70停驻在基站底座10时，执行盘体21可以在升降机构30的驱使下从第一高度位置上升至第二高度位置。耦合机构90在随执行盘体21的上升过程中不产生可控耦合力；
当执行盘体21到达第二高度位置时，擦拭模组80到达扫地机器人70的底部装设位置，使得擦拭模组80在扫地机器人70产生的持续耦合力的约束下被可拆卸地装设在扫地机器人70的底部装设位置，以实现擦拭模组80在扫地机器人70的自动安装；
执行盘体21可以在升降机构30的驱使下从第二高度位置下降至第一高度位置，并且，耦合机构90在随执行盘体21的下降过程中仍然保持不产生可控耦合力的状态；
此后，安装有擦拭模组80的扫地机器人70即可离开基站底座10。
另外，擦拭模组80可以包括可被扫地机器人70驱动旋转的介质托架82，该介质托架82用于装设例如抹布等擦拭介质800，该擦拭介质可以装设在介质托架82背向扫地机器人70的一侧表面(即介质托架82朝向维护托盘20的一侧表面)，并且，主机耦合组件71、模组耦合组件81以及耦合机构90均可以与介质托架82的旋转轴心对位布置。
例如，主机耦合组件71可以包括第一铁质构件；模组耦合组件81可以包括永磁构件81a和第二铁质构件81b，其中，永磁构件81a可以布置在介质托架82朝向扫地机器人70的一侧表面，并且，第二铁质构件81b布置在介质托架82朝向维护托盘20的另一侧表面。从而，主机耦合组件71与模组耦合组件81之间的永磁吸附力，可以在模组耦合组件81的永磁构件81a和主机耦合组件71的第一铁质构件之间产生；并且，耦合机构90和模组耦合组件81之间的电磁吸附力，可以在耦合机构90的电磁组件和模组耦合组件81的第二铁质构件81b之间产生。
基于上述结构，若将主机耦合组件71的第一铁质构件、模组耦合组件81的永磁构件81a和第二铁质构件81b、以及耦合机构90的电磁组件与介质托架82的旋转轴心对位布置，则，可以沿介质托架82的旋转轴心产生用作持续耦合力的永磁吸附力、以及用作可控耦合力的电磁吸附力，并且，无论是永磁吸附力还是电磁吸附力，都不会影响介质托架82的旋转。
为了更合理地将主机耦合组件71的第一铁质构件、模组耦合组件81的永磁构件81a和第二铁质构件81b、以及耦合机构90的电磁组件与介质托架82的旋转轴心对位布置：
扫地机器人70可以包括在底部装设位置用于驱动介质托架82旋转的驱动模组72，主机耦合组件71(例如第一铁质构件)可以装设在驱动模组72的输出轴(例如输出轴的端面)；
介质托架82在朝向扫地机器人70的一侧表面可以具有旋转轴筒85，该旋转轴筒85用于插入到扫地机器人70底部的插接轴腔75内，以在插接轴腔75内与驱动模组72的输出轴同轴连接，并且，模组耦合组件81的永磁构件81a可以布置在旋转轴筒85的内部(例如旋转轴筒85的筒底)；
模组耦合组件81的第二铁质构件81b可以装设在介质托架82背向扫地机器人70的另一侧表面(即介质托架82朝向维护托盘20的另一侧表面)，以尽可能地减小对模组耦合组件81的永磁构件81a和主机耦合组件71的第一铁质构件之间产生的永磁吸附力的干扰。
再例如，维护托盘20可以具有连接执行盘体21的中空筒柱22，在此情况下，耦合机构90可以固定装设在中空筒柱22内。并且，如前文所述，用于将执行盘体21的平移升降约束在第一方向D1上的中空筒柱22，可以在执行盘体21朝向底座内腔100的底面侧下沉延伸，以便于与导向筒柱111滑动插接、并可以同时避免其容纳的耦合机构90与擦拭模组80发生干涉接触。
对于主机耦合组件71、模组耦合组件81以及耦合机构90的电磁组件均可以与介质托架82的旋转轴心对位布置的情况，扫地机器人70在基站底座10的停驻位置可以被定位为：使扫地机器人70的驱动模组72的输出轴与中空筒柱22沿第一方向D1同轴 对位。
在这种情况下，介质托架82可以具有定位凹槽83，该定位凹槽83被部署为环绕旋转轴心，例如，该定位凹槽83可以被布置为环绕旋转轴心处的模组耦合组件81(例如第二铁质构件81b)，相应地，中空筒柱22可以具有在执行盘体21背向底座内腔100的顶面侧突出的开口凸缘220，该开口凸缘220用于与定位凹槽83形成可相对旋转滑动的插接配合，使得介质托架82的旋转轴心能够被定位为与扫地机器人70的驱动模组72的输出轴同轴对位。
若擦拭模组80包括可被扫地机器人70驱动旋转的介质托架82，则，喷流构件51的构件主体511、以及导流构件52都可以从与介质托架82的旋转轴心的对位位置处(即中空筒柱22所在的位置处)辐射延伸，并且，构件主体511的侧壁可以在辐射延伸的方向上布置有多个喷射出口512。
若擦拭模组80包括可被扫地机器人70驱动旋转的介质托架82，则，清洗机构50还可以包括刮擦构件53，例如，刮擦构件53可以包括凸台基底531、以及分布在凸台基底531的顶面的多个隆起凸包532。当执行盘体21处于第二高度位置时，响应于介质托架82的旋转，刮擦构件53可以与装设在介质托架82的擦拭介质800干涉摩擦。刮擦构件53也可以从与介质托架82的旋转轴心的对位位置处(即中空筒柱22所在的位置处)辐射延伸，并且，刮擦构件53与喷流构件51和导流构件52之间可以具有在介质托架82的旋转方向上的相位间隔。
结合上述的耦合机构90和清洗机构50，本申请实施例中用于维护扫地机器人的基站可以支持扫地机器人在不同的工作模式之间灵活切换，例如，单扫模式、单拖模式以及组合模式。
单扫模式是指：扫地机器人70仅利用内置的清扫组件73执行清扫地面浮尘的除尘任务，而不装设用于地面擦拭的擦拭模组80。
单拖模式是指：扫地机器人70利用装设的擦拭模组80执行擦拭地面的拖地任务，并且，清扫组件73在此期间停止运行。
组合模式是指：扫地机器人70利用装设的擦拭模组80执行擦拭地面的拖地任务，并且，清扫组件73在此期间持续运行。
其中，单扫模式与单拖模式和组合模式中任一种工作模式之间的切换，可以利用耦合机构90对擦拭模组80的自动拆装来实现。
而且，对于单拖模式和组合模式：扫地机器人70在执行拖地任务之前，可以借助清洗机构50湿润擦拭模组80的擦拭介质800；扫地机器人70在完成拖地任务后，可以借助清洗机构50对擦拭模组80的擦拭介质800实施清洗。
另外，若擦拭模组80的擦拭介质800在经过多次拖地任务完成后的清洗次数达到预设阈值，也可以借助耦合机构90自动拆装，为扫地机器人70更换带有清洁的擦拭介质800的擦拭模组80。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (20)

  1. 一种用于维护扫地机器人的基站，包括：
    基站底座(10)；
    维护托盘(20)，所述维护托盘(20)包括执行盘体(21)；
    清洗机构(50)，所述清洗机构(50)布置在所述执行盘体(21)；
    升降机构(30)，所述升降机构(30)对所述维护托盘(20)提供可调节支撑，并且，所述可调节支撑用于使所述执行盘体(21)沿第一方向在第一高度位置和第二高度位置之间平移升降；
    其中，所述第二高度位置与擦拭模组(80)在扫地机器人(70)的底部装设位置相邻，并且，所述第一高度位置低于所述第二高度位置；
    其中，所述清洗机构(50)包括：
    喷流构件(51)，所述喷流构件(51)用于在所述执行盘体(21)处于所述第二高度位置时，以避让所述擦拭模组(80)的角度喷射流体；
    导流构件(52)，所述导流构件(52)用于将所述喷流构件(51)喷射的所述流体导向为向所述擦拭模组(80)扩散。
  2. 根据权利要求1所述的基站，其中，
    所述导流构件(52)与所述喷流构件(51)间隔布置；
    其中，所述导流构件(52)与所述喷流构件(51)之间的间隔，使得所述流体从所述喷流构件(51)喷出后撞击所述导流构件(52)；
    所述导流构件(52)将撞击的所述流体弹射扩散至所述擦拭模组(80)暴露在所述间隔处的表面区域。
  3. 根据权利要求2所述的基站，其中，
    所述喷流构件(51)包括从所述执行盘体(21)的顶面突起的构件主体(511)、以及开设于所述构件主体(511)的侧壁的喷射出口(512)。
  4. 根据权利要求3所述的基站，其中，
    所述喷射出口(512)开设于所述构件主体(511)靠近所述执行盘体(21)的侧壁底部。
  5. 根据权利要求3或4所述的基站，其中，
    所述擦拭模组(80)包括能够被所述扫地机器人(70)驱动旋转的介质托架(82)；
    其中，所述构件主体(511)和所述导流构件(52)从所述执行盘体(21)与所述介质托架(82)的旋转轴心的对位位置处辐射延伸，并且，所述构件主体(511)的侧壁在所述辐射延伸的方向上布置有多个所述喷射出口(512)。
  6. 根据权利要求1-4中任一项所述的基站，其中，
    所述擦拭模组(80)包括能够被所述扫地机器人(70)驱动旋转的介质托架(82)；
    所述清洗机构(50)进一步包括刮擦构件(53)；
    其中，当所述执行盘体(21)处于所述第二高度位置时，所述刮擦构件(53)与装设在所述介质托架(82)的擦拭介质(800)干涉摩擦。
  7. 根据权利要求6所述的基站，其中，
    所述刮擦构件(53)从所述执行盘体(21)与所述介质托架(82)的旋转轴心的对位位置处辐射延伸，并且，所述刮擦构件(53)与所述喷流构件(51)和所述导流构件(52)之间具有在所述介质托架(82)的旋转方向上的相位间隔。
  8. 根据权利要求6或7所述的基站，其中，
    所述刮擦构件(53)包括凸台基底(531)、以及分布在所述凸台基底(531)的顶面的多个隆起凸包(532)。
  9. 根据权利要求1至8任一项所述的基站，其中，所述基站底座(10)具有引流 机构(124)和排污构件(125)，其中，所述引流机构(124)形成使所述擦拭模组(80)溢出的污流从所述维护托盘(20)流向所述排污构件(125)的引流路径。
  10. 根据权利要求1至9任一项所述的基站，其中，
    所述清洗机构(50)在所述执行盘体(21)的布置位置，位于所述升降机构(30)对所述执行盘体(21)提供所述可调节支撑的接触区域之外，以利用所述执行盘体(21)的弹性变形余量对所述清洗机构(50)提供浮动支撑。
  11. 根据权利要求9所述的基站，其中，所述排污构件(125)可拆卸地装设在所述基站底座(10)，所述引流机构(124)为形成在所述维护托盘(20)的外周的导流斜面。
  12. 根据权利要求1至11中任一项所述的基站，其中，
    所述基站底座(10)包括用于停驻所述扫地机器人(70)的底座主壳(12)，其中，所述底座主壳(12)的内部形成底座内腔(100)，并且，所述底座主壳(12)具有暴露所述底座内腔(100)的托盘豁口(122)；
    所述执行盘体(21)在所述托盘豁口(122)被所述升降机构(30)悬置支撑。
  13. 根据权利要求12所述的基站，其中，
    所述基站底座(10)还包括布置在所述底座内腔(100)中的导向筒柱(111)；
    所述维护托盘(20)还包括连接所述执行盘体(21)的中空筒柱(22)；
    其中，所述中空筒柱(22)与所述导向筒柱(111)沿所述第一方向滑动插接，以将所述执行盘体(21)的所述平移升降约束在所述第一方向上。
  14. 根据权利要求12所述的基站，其中，
    所述维护托盘(20)还包括环绕在所述执行盘体(21)外周的柔性裙缘(26)；
    其中，所述柔性裙缘(26)固定于所述托盘豁口(122)的开口边缘，并且，所述柔性裙缘(26)响应于所述执行盘体(21)的所述平移升降而产生伸缩形变。
  15. 根据权利要求14所述的基站，其中，
    所述基站底座(10)还包括布置在所述底座内腔(100)中的止位卡扣(112)；
    所述维护托盘(20)还包括形成于所述执行盘体(21)的纵垂卡扣(23)；
    其中，所述纵垂卡扣(23)向所述底座内腔(100)下垂延伸，并且，当所述执行盘体(21)位于所述第二高度位置时，所述纵垂卡扣(23)与所述止位卡扣(112)干涉配合，以阻止所述执行盘体(21)产生越过所述第二高度位置的过位上升。
  16. 根据权利要求14或15所述的基站，其中，
    所述维护托盘(20)还包括装设在所述执行盘体(21)的侧凸挂耳(24)；
    其中，所述侧凸挂耳(24)从所述柔性裙缘(26)的下缘侧向伸出，并且，当所述执行盘体(21)位于所述第二高度位置时，所述侧凸挂耳(24)与所述托盘豁口(122)的开口边缘干涉配合，以阻止所述执行盘体(21)产生越过所述第二高度位置的过位上升。
  17. 根据权利要求1-16中任一项所述的基站，其中，
    所述升降机构(30)包括动力模组(31)、传动机构(32)以及摆动构件(33)；
    所述动力模组(31)用于产生驱动力；所述传动机构(32)用于将所述动力模组(31)产生的驱动力施加在所述摆动构件(33)，以通过所述摆动构件(33)响应于驱动力的摆动，驱动所述执行盘体(21)的平移升降。
  18. 根据权利要求17所述的基站，其中，
    所述摆动构件(33)具有支点转轴(330)、以及位于所述支点转轴(330)的相反两侧的第一端部(331)和第二端部(332)；
    其中，所述支点转轴(330)与所述基站底座(10)的转轴支座(123)转动配合，以将所述摆动构件(33)响应于所述驱动力的摆动约束为以所述支点转轴(330)为固定支点；
    其中，所述驱动力被所述传动机构(32)沿第二方向施加在所述第一端部(331)，并且，所述第一方向和所述第二方向之间具有预设的角度偏差；
    所述第一端部(331)与所述传动机构(32)之间形成第一滑转配合，所述第二端部(332)与所述执行盘体(21)之间形成第二滑转配合，并且，所述第一滑转配合和所述第二滑转配合用于消除所述摆动构件(33)与所述传动机构(32)和所述执行盘体(21)之间由于所述角度偏差引发的配合干涉。
  19. 根据权利要求18所述的基站，其中，
    所述传动机构(32)包括沿所述第二方向布置的导向构件(321)、以及可移动地装设在所述导向构件(321)的移动组件(322)；
    其中，所述移动组件(322)具有传动滑槽(323)，并且，所述第一端部(331)与所述传动滑槽(323)形成所述第一滑转配合；
    并且，所述传动滑槽(323)的延伸方向被布置为使所述第一滑转配合：从所述驱动力中分解得到对所述第一端部(331)生效的输入力，并且，所述输入力在所述第一端部(331)的施力方向为绕所述固定支点的切向方向。
  20. 根据权利要求18或19所述的基站，其中，
    所述维护托盘(20)还包括位于所述执行盘体(21)的托盘滑槽(25)；
    其中，所述第二端部(332)与所述托盘滑槽(25)形成所述第二滑转配合；
    其中，所述托盘滑槽(25)的延伸方向被布置为使所述第二滑转配合：从施加在所述第一端部(331)的输入力中分解得到对所述执行盘体(21)生效的输出力，并且，所述输出力通过所述托盘滑槽(25)对所述执行盘体(21)的施力方向为所述第一方向。
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CN114424913A (zh) * 2022-03-09 2022-05-03 杭州萤石软件有限公司 用于维护扫地机器人的基站
CN114431777A (zh) * 2022-03-09 2022-05-06 杭州萤石软件有限公司 用于维护扫地机器人的基站
CN114468897A (zh) * 2022-03-09 2022-05-13 杭州萤石软件有限公司 用于维护扫地机器人的基站
CN216962364U (zh) * 2022-03-09 2022-07-15 杭州萤石软件有限公司 用于维护扫地机器人的基站
CN216962324U (zh) * 2022-03-09 2022-07-15 杭州萤石软件有限公司 用于维护扫地机器人的基站

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