Charging base station and self-moving robot

Abstract

The invention discloses a charging base station and a self-moving robot, the charging base station comprises a charging seat and a cleaning assembly, and the charging seat can charge the mobile robot; the cleaning assembly is arranged on a return path of the mobile robot, or the cleaning assembly is arranged on the charging base; and when the mobile robot returns to the charging base station, a cutting mechanism on the mobile robot is adjusted to the position in contact with the cleaning assembly so as to clean chippings on the cutting mechanism.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a charging base station and a self-moving robot. Background Art

[0002] During the use of the robot, debris generated during cutting is easily accumulated on the bottom of the robot, which causes the cutting mechanism to rotate at a lower speed and the mowing effect to deteriorate. Existing robots lack automatic cleaning components and require manual cleaning, resulting in low cleaning efficiency. Summary of the invention

[0003] The present application provides a charging base station and a self-propelled robot, which can clean grass clippings through a cleaning component, avoid the accumulation of debris at the bottom of the vehicle body, reduce the frequency of manual maintenance, extend the service life of the mobile robot, and improve the work efficiency of the mobile robot.

[0004] According to a first aspect of the present application, the present application provides a charging base station, which is applied to a self-moving robot, and the charging base station includes: A charging base, wherein the charging base is capable of charging the mobile robot; A cleaning component, wherein the cleaning component is arranged on a return path of the mobile robot, or the cleaning component is arranged on the charging base; When the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component to clean the debris on the cutting mechanism.

[0005] In a charging base station of one embodiment of the present application, the cleaning component includes at least one first scraper structure, which is arranged on the charging base and extends from the rear end of the charging base to the front end of the charging base, so that when the mobile robot returns to the charging base, the first scraper structure can clean the debris on the cutting mechanism.

[0006] In a charging base station of one embodiment of the present application, the height of the first scraper structure is not lower than the minimum height of the cutting mechanism from the moving surface; and / or, the number of the first scraper structures is multiple, and the multiple first scraper structures are arranged in parallel.

[0007] In a charging base station of one embodiment of the present application, at least a portion of the first scraper structure close to the cutting mechanism is made of an elastic material; or, an end of the first scraper structure close to the cutting mechanism is in a brush shape.

[0008] In a charging base station of one embodiment of the present application, a guide portion is provided on the first scraper structure, and the height of the guide portion gradually increases along the return direction of the mobile robot, so that the first scraper structure can scrape the debris on the cutting mechanism.

[0009] In a charging base station of one embodiment of the present application, the guide portion is an arc-shaped surface connected between the front end surface and the upper end surface of the first scraper structure.

[0010] In a charging base station of one embodiment of the present application, the cleaning component includes at least one second scraper structure, and the second scraper structure is arranged at the front end of the charging base so that when the mobile robot returns to the charging base, the second scraper structure can clean the debris on the cutting mechanism.

[0011] In a charging base station according to an embodiment of the present application, an extension direction of the first scraper structure and an extension direction of the second scraper structure are arranged at an angle.

[0012] In a charging base station according to an embodiment of the present application, the second scraper structure includes ground spikes, and the second scraper structure is fixed to the moving surface of the mobile robot through the ground spikes.

[0013] In a charging base station according to an embodiment of the present application, the width of the second scraper structure is not greater than the distance between the two wheels of the mobile robot in the width direction.

[0014] In a charging base station of one embodiment of the present application, the end of the second scraper structure close to the cutting mechanism is made of at least elastic material; or, the end of the second scraper structure close to the cutting mechanism is in a brush shape.

[0015] According to the second aspect of the present application, the present application provides a self-moving robot, including a mobile robot and a charging base station, the charging base station having a cleaning component and a charging seat, the cleaning component being arranged on a return path of the mobile robot returning to the charging base station, or the cleaning component being arranged on the charging seat, the mobile robot including a body, a walking component and a cutting mechanism for cutting an object to be cut, the cutting mechanism being arranged at the bottom of the body, the walking component being used to drive the body to move, and when the mobile robot returns to the charging base station, the cutting mechanism is adjusted to a position where the cleaning component contacts to clean the debris on the cutting mechanism.

[0016] In the robot of one embodiment of the present application, the cutting mechanism includes a knife guard disc and a cutting assembly, a chassis assembly is provided at the bottom of the vehicle body, the cutting assembly is mounted on the knife guard disc, and the knife guard disc is movably mounted on the chassis assembly and can move up and down relative to the chassis assembly; When the self-mobile robot returns to the charging base station, the knife guard disc is adjusted to the lowest position, so that the cleaning component can contact the knife guard disc and push out the debris accumulated on the knife guard disc.

[0017] In a robot of one embodiment of the present application, the chassis assembly includes a base plate and side panels connected to the four edges of the base plate, the base plate is installed at the bottom of the body, the side panels and the base plate are combined to form a receiving space, and the knife guard is received in the receiving space.

[0018] In the robot of one embodiment of the present application, a seal is provided between the knife guard disc and the side panel, and the seal is used to fill the gap between the knife guard disc and the side panel.

[0019] In the robot of one embodiment of the present application, the knife guard disc has a planar cutting surface, the cutting surface is a side surface away from the substrate, and the cutting assembly is installed in the installation surface.

[0020] In a robot of one embodiment of the present application, the cutting surface is provided with a receiving groove at the projection position of the cutting component, the diameter of the receiving groove is adapted to the maximum diameter of the cutting component, and / or the depth of the receiving groove is adapted to the height of the connecting seat of the cutting component.

[0021] In the robot of one embodiment of the present application, the cutting assembly is disposed in the accommodating groove and at least partially extends out of the accommodating groove.

[0022] The technical solution provided by the embodiments of the present application may include the following beneficial effects: the present application designs a charging base station and a self-moving robot, the charging base station includes a charging seat and a cleaning component, the cleaning component and the charging seat are arranged on the return path of the mobile robot, or the cleaning component is arranged on the charging seat; when the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component, so that the cleaning component can contact the cutting mechanism to clean the debris on the cutting mechanism, which not only avoids the accumulation of debris on the cutting mechanism, but also reduces the frequency of manual maintenance, extends the service life of the mobile robot, and improves the work efficiency of the mobile robot.

[0023] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 is a structural schematic diagram of a self-moving robot provided in one embodiment of the present application; Figure 2 yes Figure 1 A schematic diagram of the self-propelled robot at one angle; Figure 3 yes Figure 1 An exploded schematic diagram of a self-propelled robot in FIG. Figure 4 yes Figure 3 A schematic diagram of the mobile robot at one angle; Figure 5 yes Figure 3 Schematic diagram of the mobile robot at another angle; Figure 6 yes Figure 3 An exploded schematic diagram of the mobile robot in FIG. Figure 7 yes Figure 3 A cross-sectional schematic diagram of a mobile robot in FIG. Figure 8 yes Figure 6 A schematic cross-sectional view of a knife guard disc; Fig. 9 yes Figure 1 A schematic diagram of the structure of a charging base station in FIG. Fig.10 yes Figure 1 Schematic diagram of the exploded view of the cleaning components in the .

[0026] Description of reference numerals: 10. Charging base station; 11. Charging seat; 12. Cleaning assembly; 12a. First scraper structure; 121. Guide part; 12b. Second scraper structure; 122. Scraper part; 13. Ground nail; 20. Mobile robot; 21. Vehicle body; 211. Chassis assembly; 2111. Base plate; 2112. Side panel; 22. Travel assembly; 23. Cutting mechanism; 231. Knife guard; 2311. Accommodating groove; 2312. Cutting surface; 232. Cutting assembly; 233. Seal; 234. Drive assembly; 2341. First drive assembly; 2342. Second drive assembly. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should also be understood that the terms used in this specification of the present application are only for describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0029] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0030] like Figures 1 to 3 As shown, the present application provides a self-propelled robot, including a mobile robot 20, the mobile robot 20 includes a body 21 and a cutting mechanism 23, the cutting mechanism 23 is arranged at the bottom of the body 21, and is used to cut objects to be cut. The objects to be cut include but are not limited to lawns, gardens, and grass on paths, that is, the self-propelled robot can cut grass on lawns to ensure the beauty of the lawn.

[0031] In an optional embodiment, the mobile robot 20 includes a walking component 22, which is arranged on the vehicle body 21 and is used to drive the vehicle body 21 to move, so that the vehicle body 21 can drive the cutting mechanism 23 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0032] In an optional embodiment, the robot also includes a charging base station 10, which has a cleaning component 12. The cleaning component 12 can automatically clear debris from the bottom of the mobile robot 20 to avoid the accumulation of debris, which may cause the cutting effect of the mobile robot 20 to deteriorate, or even cause the cutting mechanism 23 of the mobile robot 20 to become stuck. Through the setting of the cleaning component 12, manual cleaning is not required, and the bottom of the mobile robot 20 can be fully cleaned with a fast cleaning speed and high efficiency.

[0033] In an optional embodiment, the charging base station 10 includes a charging seat 11, and the charging seat 11 can charge the mobile robot 20. The cleaning component 12 can be set on the return path of the mobile robot 20, or the cleaning component 12 is set on the charging seat 11, so that when the mobile robot 20 returns to the charging base station 10, and after the cutting mechanism 23 is adjusted to a position in contact with the cleaning component 12, the cleaning component 12 can clean the debris on the cutting mechanism 23 to avoid the accumulation of debris, which leads to a reduction in the cutting speed of the cutting mechanism 23, and then leads to a deterioration in the cutting effect of the cutting mechanism 23, and in severe cases, it can cause the cutting mechanism 23 to get stuck.

[0034] The present application arranges the cleaning component 12 on the moving surface of the return path of the mobile robot to the charging base station or on the charging seat 11, so that when the mobile robot 20 returns to the charging base station 10 and after the cutting mechanism 23 is adjusted to a position in contact with the cleaning component 12, the cleaning component 12 can clean the bottom of the mobile robot 20 and quickly remove the debris at the bottom of the vehicle body 21, so that the cutting mechanism 23 can be fully cleaned without manual cleaning, with fast cleaning speed and high efficiency; at the same time, it also avoids the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23 and even damage to the mobile robot 20.

[0035] It should be noted that the moving surface may include but is not limited to grass, that is, the cleaning component 12 may be directly fixed on the grass, and this application does not limit this.

[0036] Exemplarily, when the mobile robot 20 has completed cutting and is returning to the charging base station 10, the mobile robot 20 adjusts the cutting mechanism 23 to the lowest position, so that the cleaning component 12 can contact the cutting mechanism 23 when the mobile robot 20 returns to the charging base station 10, thereby pushing out the debris accumulated on the cutting mechanism 23 to achieve the effect of cleaning the cutting mechanism 23, and avoiding the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs the cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23, and even damage to the mobile robot 20.

[0037] It should be noted that at least part of the structure of the cleaning component 12 can be made of elastic material. When the mobile robot 20 returns to the charging base station 10, the mobile robot 20 adjusts the cutting mechanism 23 to a position slightly lower than the cleaning component 12, so that the cleaning component 12 can contact and bend with the mobile robot 20, so that the cleaning component 12 can scrape and wipe the debris or adhesion on the cutting mechanism 23 during the passage of the mobile robot 20, thereby pushing out the debris accumulated on the cutting mechanism 23 without damaging the cutting mechanism 23, so as to achieve the effect of cleaning the cutting mechanism 23, and avoid the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23, or even damage to the mobile robot 20.

[0038] In an optional embodiment, if Figure 2 , Figure 3 and Fig. 9 As shown, the cleaning component 12 includes at least one first scraper structure 12a, which is arranged on the charging base 11 and extends from the rear end of the charging base 11 to the front end of the charging base 11, so that when the mobile robot 20 returns to the charging base 11, the first scraper structure 12a can clean the debris on the cutting mechanism 23, and quickly remove the debris at the bottom of the vehicle body 21, so that the cutting mechanism 23 can be fully cleaned without manual cleaning, with fast cleaning speed and high efficiency; at the same time, it also avoids the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23, and even damage to the mobile robot 20.

[0039] In an optional embodiment, the height of the first scraper structure 12a is not lower than the minimum height of the cutting mechanism 23 from the moving surface, so that when the mobile robot 20 returns to the charging base station 10 and passes over the first scraper structure 12a, the first scraper structure 12a can contact at least part of the cutting mechanism 23, and can even lift the cutting mechanism 23; when the mobile robot 20 continues to move in the direction of the first scraper structure 12a, the first scraper structure 12a can scrape off the adhesion and grass clippings on the cutting mechanism 23 and push them out, thereby achieving the effect of cleaning the cutting mechanism 23.

[0040] In an optional embodiment, there are multiple first scraper structures 12a, and the multiple first scraper structures 12a are arranged in parallel, so that the grass clippings accumulated at the bottom of the vehicle body 21 can be cleaned multiple times to ensure the cleaning effect of the cleaning assembly 12. The multiple first scraper structures 12a extend along the width direction of the vehicle body 21 and are arranged in parallel in the length direction of the vehicle body 21, so that when the mobile robot 20 returns to the charging base station 10, the multiple first scraper structures 12a can scrape the cutting mechanism 23 in turn to push out the grass clippings on the cutting mechanism 23, thereby achieving the effect of cleaning the cutting mechanism 23.

[0041] In an optional embodiment, at least a portion of the first scraper structure 12a near the cutting mechanism is made of an elastic material, and can be deformed when the first scraper structure 12a contacts at least a portion of the cutting mechanism 23, thereby avoiding damage to the cutting mechanism 23 and the vehicle body 21. In addition, the main body of the first scraper structure 12a or the connection portion between the first scraper structure 12a and the charging stand 11 can be made of a rigid material so that the first scraper structure 12a can be firmly fixed on the charging stand 11.

[0042] In an optional embodiment, the end of the first scraper structure 12a close to the cutting mechanism 23 is in the shape of a brush, so that when the first scraper structure 12a scrapes off the adhesions and grass clippings on the cutting mechanism 23, it will not damage the surface of the cutting mechanism 23, and it can also avoid hindering the movement of the vehicle body 21. After the scraper scrapes off the adhesions and grass clippings, the surface of the cutting mechanism 23 is wiped, thereby effectively improving the cleaning effect.

[0043] In an optional embodiment, a guide portion 121 is provided on the first scraper structure 12a, and the height of the first guide portion 121 gradually increases along the direction in which the mobile robot 20 returns, so that after the first scraper structure 12a contacts the cutting mechanism 23, the first scraper structure 12a can scrape the debris on the cutting mechanism 23, so that the grass clippings on the cutting mechanism 23 can be pushed out, thereby achieving the effect of cleaning the cutting mechanism 23. Among them, the guide portion 121 can guide the vehicle body 21 to pass over the first scraper structure 12a when the vehicle body 21 moves, so that when the vehicle body 21 contacts the guide portion 121, the guide portion 121 is naturally pressed by the vehicle body 21 to the opposite side of the vehicle body 21. After the first scraper structure 12a completely enters the bottom of the vehicle body 21, the first scraper structure 12a can restore its deformation and enable the first scraper structure 12a to contact the cutting mechanism 23, and then push the cutting mechanism 23 out, so that the debris on the cutting mechanism 23 can be scraped to push out the grass clippings on the cutting mechanism 23.

[0044] It should be noted that the guide portion 121 can be an inclined surface or an arc-shaped surface inclined relative to the horizontal plane. It is mainly a transition connection between the front end surface and the upper end surface of the first scraper structure 12a, so that the vehicle body 21 can contact the cutting mechanism 23 when passing over the first scraper structure 12a without causing damage to the cutting mechanism 23, and can also lift up the cutting mechanism 23, so that grass clippings on the cutting mechanism 23 can be pushed out during the movement of the vehicle body 21.

[0045] In an optional embodiment, the guide portion 121 is an arcuate surface connected between the front end surface and the upper end surface of the first scraper structure 12a, so that after the cutting mechanism 23 contacts the guide portion 121 of the first scraper structure 12a, the first scraper structure 12a can contact the cutting mechanism 23 and lift the cutting mechanism 23 as the vehicle body 21 moves, thereby pushing out the grass clippings on the cutting mechanism 23.

[0046] In an optional embodiment, if Figure 1 , Figure 4 and Fig.10 As shown, the cleaning component 12 includes at least one second scraper structure 12b, which is disposed at the front end of the charging base 11 so that when the mobile robot 20 returns to the charging base, the second scraper structure 12b can clean the debris on the cutting mechanism 23.

[0047] Exemplarily, when the mobile robot 20 returns to the charging base station 10, the mobile robot 20 first passes through the upper end of the second scraper structure 12b, and then returns to the charging base station 10, so that the second scraper structure 12b can clean the grass clippings accumulated at the bottom of the vehicle body 21 before the mobile robot 20 returns to the charging base station 10.

[0048] In an optional embodiment, if Figure 1 , Figure 3 and Figure 4 As shown, the extension direction of the first scraper structure 12a and the extension direction of the second scraper structure 12b are set at an angle, so that the first scraper structure 12a and the second scraper structure 12b can clean the cutting mechanism 23 from different angles, thereby improving the cleaning effect on the bottom of the mobile robot 20.

[0049] Exemplarily, the extension direction of the first scraper structure 12a is perpendicular to the extension direction of the second scraper structure 12b. When the mobile robot 20 returns to the charging base station 10, the second scraper structure 12b can scrape a large area of ​​adhesion and debris on the cutting mechanism 23 in the direction of the vehicle body 21; when the mobile robot 20 enters the charging seat 11, the first scraper structure 12a can scrape a small area of ​​adhesion and debris on the cutting mechanism 23, so that the adhesion and debris on the cutting mechanism 23 can be concentrated and pushed to the garbage collection area of ​​the charging seat 11. In an optional embodiment, as Figure 1 , Figure 4 and Fig.10 As shown, the second scraper structure 12b includes ground nails 13, and the second scraper structure 12b is fixed on the moving surface of the mobile robot 20 by the ground nails 13 to ensure that the second scraper structure 12b is firmly connected and convenient for the disassembly and assembly of the first scraper structure 12a. The moving surface can be but not limited to grass, such as the second scraper structure 12b is fixed on the grass by the ground nails 13.

[0050] In an optional embodiment, the end of the second scraper structure 12b close to the cutting mechanism 23 is made of at least elastic material, which can be deformed when the second scraper structure 12b is in at least partial contact with the cutting mechanism 23 to avoid damage to the cutting mechanism 23 and the vehicle body 21.

[0051] In an optional embodiment, the end of the second scraper structure 12b close to the cutting mechanism 23 is in the shape of a brush, so that when the second scraper structure 12b scrapes off the adhesion and grass clippings on the cutting mechanism 23, the surface of the cutting mechanism 23 will not be damaged, and the movement of the vehicle body 21 can be avoided from being hindered. After the scraper scrapes off the adhesion and grass clippings, the surface of the cutting mechanism 23 is wiped, thereby effectively improving the cleaning effect. Exemplarily, the second scraper structure 12b has a scraper portion 122 close to the cutting mechanism 23, and the scraper portion 122 can be made of elastic material or a brush. The lower end of the scraper portion 122 is connected to a fixed end made of a rigid material, so that the ground spike 13 can pass through the fixed end and fix it on the moving surface.

[0052] In an optional embodiment, the height of the second scraper structure 12b is not lower than the minimum height of the cutting mechanism 23 from the moving surface, so that when the mobile robot 20 returns to the charging base station 10 and passes over the second scraper structure 12b, the second scraper structure 12b can contact at least part of the cutting mechanism 23, or even lift up the cutting mechanism 23; when the mobile robot 20 continues to move in the direction of the second scraper structure 12b, the second scraper structure 12b can push out the grass clippings on the cutting mechanism 23, thereby achieving the effect of cleaning the cutting mechanism 23.

[0053] In an optional embodiment, there are multiple second scraper structures 12b, and the multiple second scraper structures 12b are arranged in parallel, so that the grass clippings accumulated at the bottom of the vehicle body 21 can be cleaned multiple times to ensure the cleaning effect of the second scraper structure 12b. The multiple second scraper structures 12b extend along the width direction of the vehicle body 21, so that when the mobile robot 20 returns to the charging base station 10, the multiple second scraper structures 12b can scrape the cutting mechanism 23 in turn to push out the grass clippings on the cutting mechanism 23, thereby achieving the effect of cleaning the cutting mechanism 23.

[0054] In an optional embodiment, the width D2 of the second scraper structure 12 b is not greater than the distance D1 between the two wheels of the walking assembly 22 in the width direction, so that the mobile robot 20 can pass over the cleaning assembly 12 .

[0055] Exemplarily, the width D2 of the second scraper structure 12 b matches the distance D1 between the two wheels of the traveling assembly 22 in the width direction, so that not only the grass clippings accumulated at the bottom of the vehicle body 21 can be cleaned, but also the two wheels of the mobile robot 20 can be cleaned.

[0056] In an optional embodiment, the cutting mechanism 23 includes a knife guard disc 231 and a cutting assembly 232. A chassis assembly 211 is provided at the bottom of the vehicle body 21, and the cutting assembly 232 is installed on the knife guard disc 231. The knife guard disc 231 is movably installed on the chassis assembly 211 and can move up and down relative to the chassis assembly 211. When the mobile robot 20 returns to the charging base station 10, the knife guard disc 231 is adjusted to the lowest position, so that the cleaning assembly 12 can contact the knife guard disc 231 and push out the debris accumulated on the knife guard disc 231, so as to achieve the effect of cleaning the knife guard disc 231.

[0057] In an optional embodiment, the cutting mechanism 23 includes a driving assembly 234, which can drive the cutting assembly 232 to perform cutting and adjust the position of the cutting assembly 232. The blade guard 231 has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. When the blade guard 231 is at the highest position, the driving assembly 234 can drive the cutting assembly 232 to perform cutting; when the blade guard 231 is at the lowest position, the cleaning assembly 12 can contact the blade guard 231, so that the grass clippings accumulated under the chassis assembly 211 can be pushed out to achieve the effect of cleaning the blade guard 231.

[0058] Exemplarily, when the mobile robot 20 completes the mowing action and returns to the charging base station 10, the drive component 234 can adjust the position of the blade guard 231 so that the blade guard 231 is in the lowest position, so that when the mobile robot 20 passes over the cleaning component 12, the cleaning component 12 can contact the blade guard 231, thereby pushing out the debris accumulated at the bottom of the vehicle body 21 to achieve the cleaning effect, and avoid the accumulation of debris generated by cutting at the bottom of the vehicle body 21 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area at the bottom of the vehicle body 21, and even damage to the mobile robot 20.

[0059] In an optional embodiment, if Figures 4 to 7 As shown, the chassis assembly 211 includes a base plate 2111 and side panels 2112 connected to the four edges of the base plate 2111. The base plate 2111 is installed at the bottom of the vehicle body 21. The side panels 2112 and the base plate 2111 are combined to form a receiving space. The knife guard 231 is received in the receiving space so that the side panels 2112 can protect the knife guard 231 and the cutting assembly 232.

[0060] Illustratively, the side panel 2112 can prevent other people from reaching their hands into the cutting assembly 232 through the gap between the robot and the ground when the cutting assembly 232 is performing a cutting action, thereby preventing other people from being cut by the cutting assembly 232; or, when the height of an obstacle on the ground (such as a hard obstacle such as a stone or an iron can) is greater than the height of the cutting assembly 232 from the ground, the side panel 2112 can push the obstacle away when the robot is moving, or prevent the obstacle from entering the receiving space, thereby preventing the cutting assembly 232 from colliding with the obstacle and causing damage to the cutting assembly 232.

[0061] In an optional embodiment, reinforcing ribs are provided on the base plate 2111 to enhance the structural strength of the base plate 2111 and prevent the base plate 2111 from being easily deformed, thereby better supporting the driving component 234, the blade guard 231, the cutting component 232, etc.

[0062] In an optional embodiment, a seal 233 is provided between the blade guard disc 231 and the side panel 2112, and the seal 233 is used to fill the gap between the blade guard disc 231 and the side panel 2112 to prevent grass clippings and the like from splashing onto the blade guard disc 231, thereby avoiding affecting the lifting and lowering of the blade guard disc 231. The seal 233 includes but is not limited to a brush, a sealing strip, and the like.

[0063] In an optional embodiment, if Figures 5 to 8As shown, the blade guard disc 231 has a planar cutting surface 2312, which is a side surface away from the base plate 2111. The cutting assembly 232 is installed in the mounting surface. Compared with the mounting surface with a groove design, the planar blade guard disc 231 of the present application can reduce the accumulation of grass clippings.

[0064] In an optional embodiment, the cutting surface 2312 is provided with a receiving groove 2311 at the projection position of the cutting assembly 232, and the diameter of the receiving groove 2311 is adapted to the maximum diameter of the cutting assembly 232, so that the cutting assembly 232 can be received in the receiving groove 2311. The diameter of the receiving groove 2311 can be slightly larger than the maximum diameter of the cutting assembly 232, thereby effectively preventing grass residue from entering the receiving groove 2311 and preventing the output shaft of the driving assembly 234 from being blocked.

[0065] In an optional embodiment, the depth H of the accommodating groove 2311 is adapted to the height of the connecting seat 2321 of the cutting component 232, so that the connecting seat 2321 of the cutting component 232 can be accommodated in the accommodating groove 2311, so that part of the structure of the cutting component 232 can be exposed from the cutting surface 2312, ensuring that the cutting surface 2312 is an overall planar structure, thereby facilitating the cleaning of the cutting surface 2312 by the cleaning component 12.

[0066] Exemplarily, the cutting assembly 232 includes a connection seat 2321 and a cutting blade 2322. The connection seat 2321 is connected to the output shaft of the driving assembly 234, and the cutting blade 2322 is arranged on the connection seat 2321. The height of the connection seat 2321 is slightly greater than the depth H of the accommodating groove 2311, so that part of the structure of the connection seat 2321 can be covered by the accommodating groove 2311, and the working part of the cutting assembly 232 can be exposed from the cutting surface 2312, ensuring that the cutting blade 2322 on the connection seat 2321 can be exposed from the cutting surface 2312, and the diameter of the accommodating groove 2311 is adapted to the maximum diameter of the cutting assembly 232, so that grass clippings and the like can be effectively prevented from entering the accommodating groove 2311, and the output shaft can be prevented from being stuck.

[0067] In an optional embodiment, the cutting assembly 232 is disposed in the receiving groove 2311 and at least partially extends out of the receiving groove 2311, so that the working portion of the cutting assembly 232 can be exposed from the cutting surface 2312. Figure 1 , Figure 6 and Figure 7As shown, the driving component 234 includes at least a first driving component 2341 and a second driving component 2342. The first driving component 2341 is used to drive the cutting mechanism 23 to perform a cutting action; the second driving component 2342 is used to adjust the position of the cutting mechanism 23, so that when the mobile robot 20 returns to the charging base station 10, the cutting mechanism 23 can be adjusted to a position in contact with the cleaning component 12, so that the cleaning component 12 can clean the bottom of the vehicle body 21, thereby quickly removing debris from the bottom of the vehicle body 21 without manual cleaning, with fast cleaning speed and high efficiency. It can also avoid the accumulation of debris generated by cutting at the bottom of the vehicle body 21 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23.

[0068] Exemplarily, the self-moving robot has at least two switchable working modes. In the first working mode, the cutting mechanism 23 is in a cutting state. The cutting mechanism 23 can adjust the height of its cutting mechanism according to the requirements of the cutting work, and the first driving component 2341 drives the cutting mechanism 23 to perform the cutting action. In the second working mode, when the self-moving robot detects that there are debris at the bottom of the self-moving robot or the mobile robot returns to the charging base station, the second driving component 2342 adjusts the cutting mechanism 23 to the lowest position, so that the cutting mechanism 23 contacts the cleaning component 12, so that the cleaning component 12 can clean the debris on the cutting mechanism 23 in the path of the mobile robot returning. In the process of the cutting mechanism 23 moving from the highest position to the lowest position, the cutting mechanism 23 can clean or scrape the inner wall of the chassis component 211, so that the debris attached to the inner wall of the chassis component 211 can be peeled off from the inner wall surface of the chassis component 211, and the debris is prevented from adhering to the inner wall of the chassis component 211, thereby achieving the technical effect of cleaning the chassis component 211.

[0069] Specifically, the first drive assembly 2341 is installed on the side of the blade guard 231 facing the chassis assembly 211 and is connected to the cutting assembly 232 in a transmission manner. The second drive assembly 2342 is connected to the first drive assembly 2341 in a transmission manner and is used to drive the first drive assembly 2341 to move up and down, so that the first drive assembly 2341 can drive the blade guard 231 and the cutting assembly 232 to move up and down, so that the blade guard 231 is adjusted to a position in contact with the cleaning assembly 12, so that the blade guard 231 can clean or scrape the inner wall of the receiving space. At the same time, when the mobile robot returns to the charging base station, the cleaning assembly 12 can clean the debris on the blade guard 231 without manual cleaning, with fast cleaning speed and high efficiency. After a preset time, the self-mobile robot switches from the second working mode to the first working mode, and the second drive assembly 2342 controls the blade guard 231 to move toward the chassis assembly 211, so that the blade guard 231 is separated from the cleaning assembly 12, so that the mobile robot can continue to perform the cutting action after leaving the charging base station.

[0070] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0071] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0072] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A charging base station, used for a mobile robot, characterized in that: The charging base station comprises: A charging base, wherein the charging base is capable of charging the mobile robot; A cleaning component, wherein the cleaning component is arranged on a return path of the mobile robot, or the cleaning component is arranged on the charging base; When the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component to clean the debris on the cutting mechanism.

2. The charging base station according to claim 1, characterized in that: The cleaning component includes at least one first scraper structure, which is arranged on the charging base and extends from the rear end of the charging base to the front end of the charging base, so that when the mobile robot returns to the charging base, the first scraper structure can clean the debris on the cutting mechanism.

3. The charging base station according to claim 2, characterized in that: The height of the first scraper structure is not less than the minimum height of the cutting mechanism from the moving surface; and / or, there are multiple first scraper structures, and the multiple first scraper structures are arranged in parallel.

4. The charging base station according to claim 2, characterized in that: At least a portion of the first scraper structure close to the cutting mechanism is made of elastic material; or an end portion of the first scraper structure close to the cutting mechanism is in a brush shape.

5. The charging base station according to claim 2, characterized in that: The first scraper structure is provided with a guide portion, and the height of the guide portion gradually increases along the returning direction of the mobile robot, so that the first scraper structure can scrape the debris on the cutting mechanism.

6. The charging base station according to claim 5, characterized in that: The guide portion is an arc-shaped surface connected between the front end surface and the upper end surface of the first scraper structure.

7. The charging base station according to claim 2, characterized in that: The cleaning component includes at least one second scraper structure, and the second scraper structure is arranged at the front end of the charging base, so that when the mobile robot returns to the charging base, the second scraper structure can clean the debris on the cutting mechanism.

8. The charging base station according to claim 7, characterized in that: An extension direction of the first scraper structure is arranged at an angle to an extension direction of the second scraper structure.

9. The charging base station according to claim 7, characterized in that: The second scraper structure includes ground spikes, and the second scraper structure is fixed to the moving surface of the mobile robot through the ground spikes.

10. The charging base station according to claim 7, characterized in that: The width of the second scraper structure is not greater than the distance between the two wheels of the mobile robot in the width direction.

11. The charging base station according to claim 10, characterized in that: The end of the second scraper structure close to the cutting mechanism is at least made of elastic material; or the end of the second scraper structure close to the cutting mechanism is in a brush shape.

12. A self-propelled robot, characterized in that: It includes a mobile robot and a charging base station, the charging base station has a cleaning component and a charging seat, the cleaning component is arranged on the return path of the mobile robot to the charging base station, or the cleaning component is arranged on the charging seat. The mobile robot includes a body, a walking component and a cutting mechanism for cutting the object to be cut, the cutting mechanism is arranged at the bottom of the body, the walking component is used to drive the body to move, and when the mobile robot returns to the charging base station, the cutting mechanism is adjusted to a position where the cleaning component contacts to clean the debris on the cutting mechanism.

13. The robot according to claim 12, characterized in that: The cutting mechanism comprises a knife guard disc and a cutting assembly. A chassis assembly is provided at the bottom of the vehicle body. The cutting assembly is mounted on the knife guard disc. The knife guard disc is movably mounted on the chassis assembly and can move up and down relative to the chassis assembly. When the mobile robot returns to the charging base station, the knife guard disc is adjusted to the lowest position, so that the cleaning component can contact the knife guard disc and push out the debris accumulated on the knife guard disc.

14. The robot according to claim 13, characterized in that: The chassis assembly includes a base plate and side panels connected to the four edges of the base plate. The base plate is installed at the bottom of the vehicle body. The side panels and the base plate are combined to form a receiving space. The knife guard is received in the receiving space.

15. The robot according to claim 14, characterized in that: A seal is provided between the knife guard plate and the side panel, and the seal is used to fill the gap between the knife guard plate and the side panel.

16. The robot according to claim 14, characterized in that: The knife guard plate has a planar cutting surface, which is a side surface away from the base plate, and the cutting assembly is installed in the installation surface.

17. The robot according to claim 16, characterized in that: The cutting surface is provided with a receiving groove at the projection position of the cutting component, the diameter of the receiving groove is adapted to the maximum diameter of the cutting component, and / or the depth of the receiving groove is adapted to the height of the connecting seat of the cutting component.

18. The robot according to claim 17, characterized in that: The cutting assembly is disposed in the accommodating groove and at least partially extends out of the accommodating groove.

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