Base station for maintaining a floor cleaning robot

Abstract

The application discloses a base station for maintaining a sweeping robot, the maintenance tray of the base station has an execution disc body for performing maintenance operations on the parked sweeping robot, wherein the execution disc body can be translated by a lifting mechanism between a first height position and a second height position, the second height position of the execution disc body can be adjacent to the installation position of the wiping module at the bottom of the sweeping robot, therefore, the cleaning mechanism arranged in the execution disc body can implement automatic contact cleaning of the wiping module without affecting fluid injection when the execution disc body contacts the wiping module, and the cleaning mechanism adopts a supply mode in which the fluid sprayed by the spray member is uniformly guided to the wiping module by the flow guide member, which helps to improve the uniformity of cleaning of the wiping module.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of floor cleaning robots, and in particular to a base station for maintaining a floor cleaning robot. BACKGROUND

[0002] A floor cleaning robot can perform a floor cleaning task in an arbitrary scene space, wherein the floor cleaning robot can selectively implement a dust removal and cleaning function, or implement a wiping cleaning function using a wiping medium such as a cloth, or implement a combination of the dust removal and cleaning function and the wiping cleaning function, based on the configuration of a hardware module.

[0003] Among them, the dust removal and cleaning function can be implemented based on a cleaning module built into the floor cleaning robot, and the wiping cleaning function can be implemented based on a wiping module detachably installed on the floor cleaning robot.

[0004] The wiping module needs to be cleaned and moistened before the start of a wiping task, and the wiping module needs to be cleaned and soiled after the completion of the wiping task, so there is a need for cleaning and maintenance for the floor cleaning robot configured with the wiping module.

[0005] If the wiping module is manually detached from the floor cleaning robot for cleaning, the operation is tedious.

[0006] If fluid is directly sprayed on the wiping module installed on the floor cleaning robot, the cleaning range of the fluid on the wiping module is concentrated on the position directly sprayed, resulting in uneven cleaning.

[0007] It can be seen that how to implement uniform automatic cleaning of the wiping module of the floor cleaning robot has become a technical problem to be solved in the prior art. SUMMARY

[0008] In an embodiment of the present application, a base station for maintaining a floor cleaning robot is provided, which can implement automatic cleaning of the wiping module of the floor cleaning robot and help improve the uniformity of the cleaning.

[0009] One embodiment provides a base station for maintaining a floor cleaning robot, the base station comprising:

[0010] a base station base;

[0011] a maintenance tray, the maintenance tray comprising an execution disc body;

[0012] a cleaning mechanism arranged on the execution disc body;

[0013] a lifting mechanism, the lifting mechanism forms an adjustable support to the maintenance tray, and the adjustable support is used to translate the execution disc body in a first direction between a first height position and a second height position, the second height position is adjacent to the installation position of the wiping module at the bottom of the robotic sweeper, and the first height position is lower than the second height position;

[0014] The cleaning mechanism comprises:

[0015] a jet flow member, the jet flow member is used to spray fluid, the jet flow member comprises a member body protruding from the top surface of the execution disc body, and a jet outlet is opened in the side wall of the member body, and the jet outlet is opened in the member body close to the side wall bottom of the execution disc body;

[0016] a flow guide member, the flow guide member comprises a plate-shaped ridge integrally formed on the execution disc body, the plate-shaped ridge has an inclined ridge wall facing the jet flow member, and the flow guide member is arranged in a spaced manner with the jet flow member, so that the fluid guided out of the jet outlet is diffused to the wiping module by impacting the flow guide member.

[0017] In some examples, optionally, the member body is a hollow convex ridge integrally formed on the execution disc body, and the jet outlet is opened in the ridge wall of the hollow convex ridge.

[0018] In some examples, optionally, the wiping module comprises a medium bracket that can be driven to rotate by the robotic sweeper; wherein the member body and the flow guide member extend radially from the execution disc body at the aligned position of the rotation axis of the medium bracket, and the side wall of the member body is arranged with a plurality of jet outlets in the radial extension direction.

[0019] In some examples, optionally, the wiping module comprises a medium bracket that can be driven to rotate by the robotic sweeper; the cleaning mechanism further comprises a scraping member; wherein when the execution disc body is in the second height position, the scraping member interferes with the wiping medium installed on the medium bracket for friction.

[0020] In some examples, optionally, the scraping member extends radially from the execution disc body at the aligned position of the rotation axis of the medium bracket, and the scraping member has a phase interval in the rotation direction of the medium bracket between the jet flow member and the flow guide member.

[0021] In some examples, optionally, the scraping member comprises a boss base, and a plurality of raised convexes distributed on the top surface of the boss base.

[0022] In some examples, optionally, the base station base has a drainage mechanism and a drainage member, wherein the drainage mechanism forms a drainage path for the sewage overflowed from the wiping module to flow from the maintenance tray to the drainage member.

[0023] In some examples, optionally, the cleaning mechanism is arranged outside the contact area of the lifting mechanism to the executive disc body to form the adjustable support at the arrangement position of the executive disc body, so as to provide floating support for the cleaning mechanism by using the elastic deformation allowance of the executive disc body.

[0024] Based on the above-mentioned embodiments, the maintenance tray of the base station has an executive disc body for performing maintenance operation on the parked robot sweeper, wherein the executive disc body can be lifted by the adjustable support of the lifting mechanism to translate between the first height position and the second height position, and the second height position of the executive disc body can be adjacent to the wiping module arranged at the bottom of the robot sweeper. Therefore, the cleaning mechanism arranged on the executive disc body can implement automatic contact cleaning of the wiping module without affecting fluid spraying when the executive disc body contacts the wiping module, and the cleaning mechanism adopts the supply flow mode of the fluid sprayed by the spray flow member and guided to the wiping module by the guide flow member, which helps to improve the uniformity of cleaning the wiping module. BRIEF DESCRIPTION OF DRAWINGS

[0025] The following drawings are only illustrative and explanatory of the present application, and do not limit the scope of the present application:

[0026] Figure 1 The deployment structure diagram of the cleaning mechanism of the base station for maintaining the robot sweeper in an embodiment of the present application;

[0027] Figure 2 The exploded structure diagram of the base station in the embodiment shown in Figure 1 ;

[0028] Figure 3 The working principle diagram of the lifting mechanism of the base station in the embodiment shown in Figure 1 ;

[0029] Figure 4 The principle structure diagram of the lifting mechanism of the base station for adapting to the direction deviation in the embodiment shown in Figure 1 ;

[0030] Figure 5 The assembly relationship diagram of the maintenance tray of the base station and the base station base in the embodiment shown in Figure 1 ;

[0031] Figure 6 The limiting structure diagram of the base station for the maintenance tray of the base station base in the embodiment shown in Figure 1 ;

[0032] Figure 7 For example Figure 1 A schematic diagram illustrating the principle of automatic disassembly and assembly of the wiping module in the base station of the illustrated embodiment;

[0033] Figure 8 For example Figure 1 A schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown;

[0034] Figure 9 For example Figure 1 The illustrated embodiment shows a schematic diagram of the state when the base station uses a coupling mechanism to perform contact-type disassembly and assembly operations on the wiping module.

[0035] Figure 10 For wiping modules that are separate from the robot vacuum cleaner, in such cases... Figure 1 A schematic diagram of the placement of the base station in the illustrated embodiment.

[0036] Explanation of reference numerals in the attached figures

[0037] 10 base station bases

[0038] 100 base inner cavity

[0039] 11 Base Plate

[0040] 111 Guide Column

[0041] 112 Stop buckle

[0042] 12-base main shell

[0043] 120 bottom opening

[0044] 121 Stopping on the slope

[0045] 122 pallet notch

[0046] 123 Shaft Support

[0047] 124 Traffic Generation Agency

[0048] 125 sewage components

[0049] 126 anti-slip particles

[0050] 13 protective barriers

[0051] 20 maintenance trays

[0052] 21 Execution disk body

[0053] 22 Hollow cylindrical column

[0054] 220 Open Flange

[0055] 23 Vertical buckles

[0056] 24 side tabs

[0057] 25 tray slide

[0058] 26 flexible skirt

[0059] 27 skirt flange

[0060] 30 lifting mechanism

[0061] 31 power module

[0062] 32 transmission mechanism

[0063] 321 guide member

[0064] 322 moving assembly

[0065] 322a nut flange

[0066] 322b moving body

[0067] 323 transmission slide

[0068] 33 swing member

[0069] 330 fulcrum pivot

[0070] 331 first end

[0071] 332 second end

[0072] 34 mounting base

[0073] 50 cleaning mechanism

[0074] 51 spray member

[0075] 511 member body

[0076] 512 spray outlet

[0077] 52 flow guide member

[0078] 53 scraping member

[0079] 531 boss base

[0080] 532 raised boss

[0081] 70 robotic sweeper

[0082] 71 host coupling assembly

[0083] 72 drive module

[0084] 73 cleaning assembly

[0085] 80 wiping module

[0086] 800 wiping medium

[0087] 81 module coupling assembly

[0088] 82 media tray

[0089] 83 positioning groove

[0090] 90 coupling mechanism DETAILED DESCRIPTION

[0091] For the purpose, technical solutions and advantages of the present application to be more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples.

[0092] Figure 1 A schematic diagram of a deployment structure of a cleaning mechanism of a base station for maintaining a robotic sweeper in an embodiment of the present application. Please refer to Figure 1 In an embodiment of the present application, the base station for maintaining a robotic sweeper can include a base seat 10, wherein the base seat 10 can be used to park a robotic sweeper to be maintained.

[0093] For example, the base seat 10 can be internally built with a wireless communication module, and a wired or wireless charging mechanism, so that during the period when the robotic sweeper is parked at the base seat 10, the robotic sweeper can be paired with the base station based on the communication module, and can be charged by the base station based on the charging mechanism after the pairing is successful. In an embodiment of the present application, the arrangement, installation structure and configuration selection of the charging mechanism in the base station are not concerned, therefore, the illustration and description of the charging mechanism will be omitted in the accompanying drawings and the following textual description.

[0094] Still referring to Figure 1 In an embodiment of the present application, in order for the base station for maintaining a robotic sweeper to achieve other maintenance operations in addition to charging, the base station can further include a maintenance tray 20.

[0095] For example, the base seat 10 can include a seat main shell 12, the inside of the seat main shell 12 can form a seat inner cavity 100, and the seat main shell 12 can have a tray opening 122 exposing the seat inner cavity 100, and the maintenance tray 20 can be deployed above the tray opening 122.

[0096] The maintenance tray 20 can include an execution disc body 21, and the execution disc body 21 can be used to perform maintenance operations on the robotic sweeper 70 parked at the base seat 10, for example, the execution disc body 21 can be deployed with an operation mechanism for performing maintenance operations.

[0097] In an embodiment of the present application, the operation mechanism deployed on the execution disc body 21 can include a cleaning mechanism 50, wherein the cleaning mechanism 50 can be used to perform contact cleaning on the wiping module installed on the robotic sweeper.

[0098] The contact cleaning performed on the wiping module needs to generate an operation stroke switching between a contact position and a non-contact position with the sweeping robot, therefore, in the embodiments of the present application, the base station for maintaining the sweeping robot can further comprise a lifting mechanism 30 which can form an adjustable support for the maintenance tray 20, and the adjustable support is used to translate the execution tray 21 along the first direction D1 between a first height position and a second height position.

[0099] The second height position is adjacent to the bottom installation position of the wiping module 80 on the sweeping robot, and the first height position is lower than the second height position, for example, the first height position can be a position where the execution tray 21 is flush or substantially flush with the tray gap 122.

[0100] That is, the first height position can be understood as a non-contact position of the execution tray 21 with the sweeping robot, before the sweeping robot is about to be parked on the base 10 of the base station, and before the parked sweeping robot is about to leave the base 10 of the base station, the execution tray 21 is adjusted to the first height position by the lifting mechanism 30 to avoid interference and collision between the execution tray 21 and the sweeping robot; the second height position can be understood as a contact position of the execution tray 21 with the sweeping robot, and the execution tray 21 is allowed to be adjusted to the second height position only when the parked sweeping robot 70 is in a stopped state. It can be understood that the base station for maintaining the sweeping robot in the embodiments of the present application can further comprise a target detection mechanism for detecting the motion state of the sweeping robot and the positional relationship of the sweeping robot relative to the base 10 of the base station. The specific implementation of the target detection mechanism is not the focus of the embodiments of the present application, and therefore will not be expanded here.

[0101] In addition, the cleaning mechanism 50 can be located outside the contact area of the adjustable support formed by the lifting mechanism 30 for the execution tray 21 at the arrangement position of the execution tray 21, so as to provide floating support for the cleaning mechanism 50 by using the elastic deformation allowance of the execution tray 21 itself.

[0102] In the embodiments of the present application, the cleaning mechanism 50 can comprise a jet flow member 51 and a flow guide member 52.

[0103] The jet flow member 51 is used to spray fluid, wherein when the sweeping robot provided with the wiping module is parked on the base 10 of the base station, the execution tray 21 in the second height position can contact the wiping module (for example, contact the wiping medium such as a wiping cloth provided by the wiping module), and the fluid sprayed by the jet flow member 51 is sprayed out of the jet flow member 51 at an angle avoiding the wiping module (i.e. the wiping medium), that is, the jet flow member 51 is used to spray fluid at an angle avoiding the wiping module when the execution tray 21 is in the second height position.

[0104] For example, the jetting member 51 can include a member body 511 protruding from the top surface of the execution disc body 21, and a jetting outlet 512 opened in the sidewall of the member body 511, so that the fluid jetted laterally from the jetting outlet 512 can avoid the wiping module, preferably, the jetting outlet 512 can be opened in the sidewall of the member body 511 close to the bottom of the execution disc body 21. In this case, the member body 511 can be a hollow protruding rib integrally formed in the execution disc body 21, so that the fluid supply pipeline from below the execution disc body can be introduced into the hollow protruding rib, and jetted from the jetting outlet 512 opened in the rib wall of the hollow protruding rib.

[0105] The flow guiding member 52 is used to guide the fluid jetted by the jetting member 51 at an angle avoiding the wiping module to diffuse to the wiping module (especially the wiping medium installed on the wiping module).

[0106] For example, the flow guiding member 52 can be arranged in spaced relation with the jetting member 51, wherein the spacing between the flow guiding member 52 and the jetting member 51 can be such that the fluid jetted from the jetting member 51 can impact the flow guiding member 52, for example, the fluid jetted from the jetting member 51 can impact the flow guiding member 52 at a preset intensity, and the flow guiding member 52 can eject and diffuse the impacting fluid to the surface area of the wiping module exposed at the spacing, for example, the fluid impacting the flow guiding member 52 can be uniformly diffused and ejected to the surface area of the wiping module exposed at the spacing. In this case, the flow guiding member 52 can be a plate-shaped blocking rib integrally formed in the execution disc body 21, and the plate-shaped blocking rib can have an inclined rib wall facing the jetting member 51, so as to utilize the inclined rib wall to uniformly diffuse and eject the impacting fluid to the wiping module.

[0107] Based on the above embodiment, the maintenance tray 20 of the base station has an execution disc body 21 for performing maintenance operations on the parked cleaning robot, wherein the lifting mechanism 30 can utilize the swinging of the swinging member 33 to form adjustable support for the execution disc body 21, so that the execution disc body 21 can be translated and lifted between the first height position and the second height position. Since the second height position of the execution disc body 21 can be adjacent to the position of the wiping module installed at the bottom of the cleaning robot, the cleaning mechanism arranged on the execution disc body 21 can implement contact automatic cleaning for the wiping module installed on the cleaning robot without affecting fluid jetting when the execution disc body 21 contacts the wiping module, and the cleaning mechanism utilizes the fluid supply mode of the fluid jetted by the jetting member 51 and uniformly guided to the wiping module by the flow guiding member 52, which helps to improve the uniformity of cleaning the wiping module.

[0108] Additionally, the base station base 10 may also have a diversion mechanism 124 and a drain component 125, wherein the diversion mechanism 124 forms a diversion path for the waste overflowing from the wiping module to flow from the maintenance tray 20 to the drain component 125. For example, the drain component 125 may be detachably mounted on the base main housing 12, and the diversion mechanism 124 may be formed on a guide ramp on the outer periphery of the maintenance tray 20, which can guide the waste overflowing from the wiping module to flow naturally towards the drain component 125.

[0109] To better understand the translation and lifting functions provided by the lifting mechanism 30 to the actuator 21, the structure of the base station will be further described in detail below.

[0110] Figure 2 For example Figure 1 A schematic diagram of the exploded structure of the base station in the illustrated embodiment. Figure 3 For example Figure 1 A schematic diagram illustrating the working principle of the lifting mechanism of the base station in the illustrated embodiment. Please refer to [link / reference]. Figure 2 and Figure 3 In the embodiments of this application, the lifting mechanism 30 may include a power module 31, a transmission mechanism 32, and a swing member 33.

[0111] The power module 31 may include power components such as motors, and the power module 31 is used to generate driving force.

[0112] 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 drives the execution disk 21 to move up and down in response to the swing of the driving force.

[0113] For example, the power module 31 and the transmission mechanism 32 can be located outside the base cavity 100 of the base station base 10, and the swing member 33 can extend into the base cavity 100 of the base station base 10 and form the adjustable support for the execution disk 21 at the tray notch 122.

[0114] Therefore, the maintenance tray 20 of the base station has an execution tray 21 for performing maintenance operations on the stationary sweeping robot. The lifting mechanism 30 can form an adjustable support for the execution tray 21 by swinging the swing member 33, so that the execution tray 21 can move up and down between a first height position and a second height position. Furthermore, the second height position of the execution tray 21 can be adjacent to the position where the wiping module is installed on the bottom of the sweeping robot. Therefore, based on the lifting adjustment of the execution tray 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 any operating mechanism deployed on the execution tray 21.

[0115] In the embodiments of this application, the switching direction of the execution disc 21 of the maintenance tray 20 between the first height position and the second height position is in the first direction D1, and the transmission mechanism 32 can apply the driving force generated by the power module 31 to the swing member 33 in a second direction different from the first direction D1. That is, there can be a directional deviation between the lifting direction of the execution disc 21 (i.e., the first direction D1) and the transmission direction of the transmission mechanism 32 (i.e., the second direction D2). This directional deviation can be expressed as a preset angle deviation between the first direction D1 and the second direction D2.

[0116] For example, the base shell 12 of the base station base 10 may have a bottom surface arranged horizontally, on which a base plate 11 located below the base cavity 100 may be mounted; and the base shell 12 of the base station base 10 may also have a parking ramp 121 inclined relative to the horizontal plane (i.e., the base plate 11 or the bottom surface of the base station base 10), which can be used to park a sweeping robot. The parking ramp 121 is inclined upwards on the side near the maintenance tray 20 (i.e., the tray notch 22), and the incline height can be determined based on the space height required by the swing member 33 near the second end 322 in the bottom cavity 100. Furthermore, since the parking ramp 121 is inclined, its surface may be provided with anti-slip particles 126.

[0117] In this case, the first direction D1 for switching the lifting and lowering of the actuator 21 between the first height position and the second height position can be an inclined direction perpendicular to the parking slope 121; and the second direction D2 for the transmission mechanism 32 to apply driving force to the swing member 33 can be a vertical direction perpendicular to the horizontal plane (i.e., the bottom surface of the base plate 11 or the base station base 10).

[0118] Figure 4 For example Figure 1 The illustrated embodiment shows a schematic diagram of the lifting mechanism of the base station used to adapt to directional deviations. Please refer to [link / reference]. Figure 4 To accommodate the aforementioned directional deviation, in embodiments of this application, the swing member 33 can adopt a lever-type structure with sliding fit allowances at both ends. Specifically, the swing member 33 can have a fulcrum pivot 330, and a first end 331 and a second end 332 located on opposite sides of the fulcrum pivot 330, wherein:

[0119] The pivot shaft 330 of the swing member 33 is rotatably engaged with the pivot support 123 of the base station base 10 so as to constrain the swing of the swing member 33 in response to the driving force to use the pivot shaft 330 as a fixed pivot point.

[0120] The driving force generated by the power module 31 can be applied to the first end portion 331 of the swing member 33 in the second direction D2 by the transmission mechanism 32;

[0121] The first end portion 331 of the swing member 33 and the transmission mechanism 32 form a first sliding and rotating fit, for example, the first end portion 331 of the swing member 33 can form the first sliding and rotating fit with the transmission mechanism 32 outside the base inner cavity 100 of the base station base 10;

[0122] The second end portion 332 of the swing member 33 and the execution disc body 21 of the maintenance tray 20 form a second sliding and rotating fit, for example, the second end portion 322 of the swing member 33 can be inserted into the base inner cavity 100 of the base station base 10, and the second end portion 332 of the swing member 33 can form the second sliding and rotating fit with the execution disc body 21 at the tray notch 122;

[0123] And the first sliding and rotating fit and the second sliding and rotating fit are used to eliminate the fit interference between the swing member 33 and the transmission mechanism 30 and the execution disc body 21 due to the angle deviation between the first direction D1 and the second direction D2.

[0124] Specifically, the transmission mechanism 32 of the lifting mechanism 30 can include a guide member 321 arranged in the second direction D2, and a moving assembly 322 movably arranged on the guide member 321, wherein the moving assembly 322 can move along the guide member 321 in the second direction D2 in response to the driving force generated by the power module 31, so as to apply the driving force to the first end portion 331 of the swing member 33 in the second direction D2.

[0125] Moreover, the moving assembly 322 can have a transmission sliding groove 323, and the first end portion 331 of the swing member 33 can form the first sliding and rotating fit mentioned above with the transmission sliding groove 323, for example, the first end portion 331 can have a laterally protruding first guide column which is slidably inserted into the transmission sliding groove 323, and the first sliding and rotating fit between the first end portion 331 of the swing member 33 and the transmission sliding groove 323 can be formed.

[0126] Wherein, the extension direction of the transmission sliding groove 323 of the moving assembly 322 is arranged to enable the first sliding and rotating fit between the first end portion 331 and the transmission sliding groove 323 to decompose the driving force generated by the power module 31 into an input force effective to the swing member 33, and the input force is in the force application direction of the first end portion 331 of the swing member 33, which is the tangential direction of the fixed fulcrum formed by the fulcrum pivot 330.

[0127] For example, the power module 31 can include a stepper motor, the guide member 321 can include a screw rod coaxially connected with an output shaft of the stepper motor of the power module 31, and the moving assembly 322 can include a nut flange 322a and a moving body 322b, wherein the nut flange 322a can be engaged with the screw rod of the guide member 321, the nut flange 322a can be fixedly connected with the moving body 322b, and a transmission slot 323 can be formed in the moving body 322b.

[0128] In this case, the first end 331 of the swing member 33 not only forms the first sliding rotation fit with the slidable insertion of the transmission slot 323 by the first guide column thereof, but also forms a rotation-stopping abutment against the moving body 322b for forming a rotation-stopping constraint for preventing the moving body 322b from rotating in the direction of the screw rod. In the illustrated expression of this embodiment, the first end 331 of the swing member 33 is taken as an example of adopting a double-arm structure for forming a clamping of the moving body 322b on opposite sides of the moving body 322b.

[0129] Correspondingly, the nut flange 322a fixedly connected with the moving body 322b is also subjected to the above-mentioned rotation-stopping constraint, i.e., the moving body 322b forming the first sliding rotation fit with the swing member 33 (i.e., the first end 331) can form a rotation-stopping constraint against the nut flange 322a.

[0130] Thus, during the rotation of the screw rod of the guide member 321 in response to the driving force generated by the stepper motor of the power module 31, the nut flange 322a engaged with the screw rod can be lifted linearly in the second direction D2 in response to the engagement transmission between the rotating screw rod and the nut flange 322a due to the rotation-stopping constraint, and thereby drive the moving body 322b fixedly connected therewith to be lifted linearly in the second direction D2, so as to apply the driving force generated by the power module 31 to the first end 331 of the swing member 33 forming the first sliding rotation fit with the transmission slot in the second direction D2. Moreover, the switching of the lifting direction can be realized by the forward and reverse switching of the output shaft of the stepper motor of the power module 31.

[0131] The maintenance tray 20 can also include a tray slot 25 located in the tray body 21, and the second end 332 of the swing member 33 can form the second sliding rotation fit with the tray slot 25. For example, the second end 332 of the swing member 33 can have a laterally protruding second guide column which is slidable inserted in the tray slot 25 to form the second sliding rotation fit between the second end 332 of the swing member 33 and the tray slot 25.

[0132] The extension direction of the tray sliding groove 25 can be arranged to enable the second sliding rotation cooperation between the second end portion 332 of the swing member 33 and the tray sliding groove 25 to be able to: be decomposed from the aforementioned input force applied to the first end portion 331 to obtain an output force acting on the execution disc body 21, and the force direction of the execution disc body 21 to the tray sliding groove 25 by the output force is the first direction D1.

[0133] In addition, in order to avoid the 0° dead angle of the swing member 33 at the first end portion 331 parallel to the transmission sliding groove 323, and the 0° dead angle of the swing member 33 at the second end portion 332 parallel to the tray sliding groove 25, in the embodiment of the present application, the swing member 33 can be arched, the arch top of the arch is downward, and the fulcrum rotation shaft 330 for forming the fixed fulcrum can be located at the arch top of the arch.

[0134] While driving the execution disc body 21 of the maintenance tray 20 to rise and fall by the lifting mechanism 30, the embodiment of the present application can also guide and limit the maintenance tray 20 to further optimize the lifting stability and reliability of the execution disc body 21 of the maintenance tray 20.

[0135] In addition, the lifting mechanism 30 can also include a position detection assembly, which can be arranged at the limit position of the moving assembly 322 along the guide member 321, so as to generate a driving signal for prompting the motor of the power module 31 to stop rotating when the moving assembly 322 moves to the preset limit position along the guide member 321. Wherein, the limit position of the moving assembly 322 along the guide member 321 can be determined according to the first height position and the second height position.

[0136] Figure 5 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment. Figure 1 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment. Figure 6 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment. Figure 1 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment. Figure 5 Figure 6 For the case that the base station base 10 forms the base inner cavity 100 inside the base main shell 12, the base main shell 12 has a tray opening 122 exposing the base inner cavity 100, and the maintenance tray 20 is arranged at the tray opening 122:

[0137] The base station base 10 can also include a guide cylinder 111 arranged in the base inner cavity 100, for example, the guide cylinder 111 can be formed on the base bottom plate 11, which can cover the bottom opening 120 arranged below the base inner cavity 100 of the base main shell 12, so that the guide cylinder 111 protrudes along the first direction D1 towards the tray opening 122;

[0138] ​Correspondingly, the maintenance tray 20 can further include a hollow cylinder 22 connected to the execution tray body 21, which can extend downwards on the side of the execution tray body 21 facing the base inner cavity 100, so that the hollow cylinder 22 can be slidingly inserted with the guide cylinder 111 along the first direction D1 to constrain the translational lifting of the execution tray body 21 between the first height position and the second height position in the first direction D.

[0139] The execution tray 21 of the maintenance tray 20 can be flush or substantially flush with the tray aperture 122 when it is in the first height position, and when the execution tray 21 is in the second height position higher than the first height position, a gap is formed between the execution tray 21 and the tray aperture 122.

[0140] In order to shield the gap between the execution tray 21 and the tray aperture 122 when the execution tray 21 is in the second height position, in the embodiment of the present application, the maintenance tray 20 can further include a flexible skirt 26 surrounding the outer periphery of the execution tray body 21.

[0141] The flexible skirt 26 can be fixed to the opening edge of the tray aperture 122, for example, the upper edge of the flexible skirt 26 is connected to the execution tray body 21, the lower edge of the flexible skirt 26 can form a skirt flange 27, and the skirt flange 27 can be fixed to the opening edge of the tray aperture 122 by riveting or screw connection, etc. Preferably, the shielding of the flexible skirt 26 to the tray aperture 122 can form a waterproof seal to the tray aperture 122.

[0142] And the flexible skirt 26 can produce elastic deformation in response to the translational lifting of the execution tray body 21 between the first height position and the second height position, for example, the flexible skirt 26 can be in a crumpled and folded state when the execution tray body 21 is in the first height position, and the flexible skirt 26 can be in a tensioned state when the execution tray body 21 is in the second height position.

[0143] For the case where the hollow cylinder 22 and the guide cylinder 111 slidingly insert along the first direction D1 to form a guide, and the flexible skirt 26 shields the tray aperture 122, the embodiment of the present application can further provide a limiting constraint between the base 10 and the execution tray body 21 of the maintenance tray 20.

[0144] The limiting constraint is used to constrain the upper limit position of the execution tray body 21 to avoid over-ascending of the execution tray body 21 when the position detection assembly of the lifting mechanism 30 fails; and the lower limit position of the execution tray body 21 can be set as the physical limit position of the transmission mechanism 32 of the lifting mechanism 30 in the direction of driving the execution tray body 21 to descend, or the lower limit position of the execution tray body 21 can be constrained by the dimensional interference between the execution tray body 21 and the tray aperture 122.

[0145] An alternative limit constraint for preventing over-raise is as follows:

[0146] The maintenance tray 20 can further include a longitudinal downward clasp 23 formed on the execution disc body 21, which can extend downward from the execution disc body 21 towards the bottom inner cavity 100;

[0147] The base 10 can further include a stopper clasp 112 arranged in the base inner cavity 100, which can be formed on the base bottom plate 11 and protrude in the base inner cavity 100 towards the tray aperture 122 through the capping of the bottom opening 120 of the base main shell 12 by the base bottom plate 11;

[0148] Therefore, when the execution disc body 21 of the maintenance tray 20 is located at the second height position, the longitudinal downward clasp 23 interferes with the stopper clasp 112 to prevent the execution disc body 21 from over-raise beyond the second height position, thereby avoiding the hollow cylinder 22 from disengaging from the guide cylinder 111 due to over-raise of the execution disc body 21 and avoiding the flexible skirt 26 from being pulled off or disengaging from the opening edge of the tray aperture 122 due to over-raise of the execution disc body.

[0149] Another alternative limit constraint for preventing over-raise is as follows:

[0150] The maintenance tray 20 can further include a side protruding hanging ear 24 arranged on the execution disc body 21, which can extend laterally from the lower edge of the flexible skirt 26;

[0151] Therefore, when the execution disc body 21 of the maintenance tray 20 is located at the second height position, the side protruding hanging ear 24 interferes with the opening edge of the tray aperture 122 to prevent the execution disc body 21 from over-raise beyond the second height position, thereby also avoiding the hollow cylinder 22 from disengaging from the guide cylinder 111 due to over-raise of the execution disc body 21 and avoiding the flexible skirt 26 from being pulled off or disengaging from the opening edge of the tray aperture 122 due to over-raise of the execution disc body.

[0152] In the embodiments of the present application, the above two limit constraints are used in combination as an example, but it can be understood that the above two limit constraints can also be used selectively according to needs.

[0153] In some examples, the maintenance tray 20, including the actuator body 21, hollow cylindrical column 22, vertical latch 23, tray groove 25, flexible skirt 26, and skirt flange 27, can be integrally molded using injection molding, while the side lugs 24 can be independent rigid components. In this case, the actuator body 21, hollow cylindrical column 22, vertical latch 23, tray groove 25, flexible skirt 26, and skirt flange 27 can all possess the flexible characteristics of injection-molded materials. The flexibility of the flexible skirt 26 refers to its greater deformability compared to other integrally molded parts of the maintenance tray 20, and is not intended to restrict the other integrally molded parts of the maintenance tray 20 to be rigid.

[0154] In the embodiments of this application, the operating mechanism deployed on the execution disk 21 may include not only the cleaning mechanism 50, but also a coupling mechanism 90, wherein the coupling mechanism 90 can be used to automatically disassemble and assemble the wiping module of the sweeping robot.

[0155] Figure 7 For example Figure 1 The illustrated embodiment is a schematic diagram illustrating the principle of automatic disassembly and assembly of the wiping module in the base station. Figure 8 For example Figure 1 A schematic diagram of the deployment structure of the coupling mechanism of the base station in the illustrated embodiment. Please refer to [link / reference]. Figure 7 and Figure 8 In this embodiment, the base station for maintaining the sweeping robot may further include a coupling mechanism 90 as an operating mechanism, which may be arranged on the execution plate 21 of the maintenance tray 220 for automatically disassembling and assembling the wiping module 80 of the sweeping robot 70.

[0156] Specifically, the robot vacuum cleaner 70 can generate a continuous coupling force at the bottom mounting position for mounting the wiping module 80 to adsorb the wiping module 80.

[0157] For example, the robot vacuum cleaner 70 may be equipped with a host coupling component 71, the wiping module 80 may include a module coupling component 81, and the continuous coupling force generated at the bottom mounting position of the robot vacuum cleaner 70 may include the permanent magnet adsorption force generated between the host coupling component 71 and the module coupling component 81.

[0158] Accordingly, the coupling mechanism 90 can be used to generate a controllable coupling force greater than the continuous coupling force, so as to realize the assembly and disassembly of the wiping module 80 in the sweeping robot 70 based on the coordinated cooperation of the controllable coupling force and the translation and lifting of the execution disk 21.

[0159] For example, the coupling mechanism 90 can include an electromagnetic assembly, and the controllable coupling force controllably generated by the coupling mechanism 90 can include an electromagnetic adsorption force controllably generated between the electromagnetic assembly of the coupling mechanism 90 and the module coupling assembly 81 of the wiping module 80, and the electromagnetic adsorption force can be greater than the permanent magnetic adsorption force generated between the main machine coupling assembly 71 of the sweeping robot 70 and the module coupling assembly 81 of the wiping module 80. In this case, the electric drive module electrically connected to the lifting mechanism 30 in the base station for maintaining the sweeping robot can also be electrically connected to the coupling mechanism 90 to cooperatively control the lifting drive of the lifting mechanism 30 and the controllable power supply of the electromagnetic assembly of the coupling mechanism 90, so as to realize the cooperative matching of the controllable coupling force and the translational lifting of the execution disc body 21.

[0160] Therefore, based on the cooperative matching between the controllable coupling force generated by the coupling mechanism 90 and the lifting adjustment of the execution disc body 21 where the coupling mechanism 90 is located by the lifting mechanism 30, the automatic disassembly of the wiping module 80 on the bottom of the sweeping robot 70 can be realized.

[0161] Figure 9 For the base station in the embodiment shown in Figure 1 , the state diagram when the coupling mechanism is used to implement the contact type disassembly operation on the wiping module. Figure 10 For the wiping module separated from the sweeping robot, the placement state diagram of the base station in the embodiment shown in Figure 1 . Please refer to Figure 9 and Figure 10 , the cooperative matching between the controllable coupling force generated by the coupling mechanism 90 and the lifting adjustment of the execution disc body 21 where the coupling mechanism 90 is located by the lifting mechanism 30 can specifically realize the automatic disassembly process shown in the order from Figures 9-10 , and the automatic installation process shown in the order from Figures 10-9 .

[0162] For the automatic disassembly process:

[0163] When the sweeping robot 70 provided with the wiping module 80 is parked on the base 10, the execution disc body 21 can be lifted from the first height position to the second height position under the drive of the lifting mechanism 30;

[0164] When the execution disc body 21 reaches the second height position, the coupling mechanism 90 contacts the wiping module 80, and the coupling mechanism 90 can generate a controllable coupling force;

[0165] After the coupling mechanism 90 starts to generate the controllable coupling force, the execution disc body 21 can be lowered from the second height position to the first height position under the driving of the lifting mechanism 30, and the coupling mechanism 90 can continuously generate the controllable coupling force during the lowering of the execution disc body 21, so that the wiping module 80 is lowered along with the execution disc body 21 to overcome the continuous coupling force generated by the sweeping robot 70, thereby realizing the automatic disassembly of the wiping module 80 from the sweeping robot 70.

[0166] After the sweeping robot 70 with the disassembled wiping module 80 leaves the base station base 10, the coupling mechanism 90 can stop generating the controllable coupling force, so that the disassembled wiping module 80 can be easily taken from the execution disc body 21.

[0167] For the automatic installation process:

[0168] The wiping module 80 to be installed can be placed on the execution disc body 21, and the coupling mechanism 90 can start to generate the controllable coupling force;

[0169] When the sweeping robot 70 requiring installation of the wiping module 80 is parked at the base station base 10, the execution disc body 21 can be raised from the first height position to the second height position under the driving of the lifting mechanism 30, and the coupling mechanism 90 can not generate the controllable coupling force during the raising of the execution disc body 21, so as to keep the stable placement of the coupling module 80 on the execution disc body 21.

[0170] When the execution disc body 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 the controllable coupling force, so that the wiping module 80 is detachably installed at the bottom installation position of the sweeping robot 70 under the constraint of the continuous coupling force generated by the sweeping robot 70, thereby realizing the automatic installation of the wiping module 80 on the sweeping robot 70.

[0171] After the coupling mechanism 90 stops generating the controllable coupling force, the execution disc body 21 can be lowered from the second height position to the first height position under the driving of the lifting mechanism 30, and the coupling mechanism 90 still maintains the state of stopping generating the controllable coupling force during the lowering of the execution disc body 21.

[0172] After that, the sweeping robot 70 with the wiping module 80 installed can leave the base station base 10.

[0173] In addition, the wiping module 80 can include a medium carrier 82 rotatable driven by the robot 70, the medium carrier 82 is used to mount a wiping medium 800 such as a cloth, the wiping medium can be mounted on a side surface of the medium carrier 82 facing away from the robot 70 (i.e. a side surface of the medium carrier 82 facing the maintenance tray 20), and the main machine coupling assembly 71, the module coupling assembly 81 and the coupling mechanism 90 can be arranged in alignment with the rotation axis of the medium carrier 82.

[0174] For example, the main machine coupling assembly 71 can include a first ferrous member; the module coupling assembly 81 can include a permanent magnet member 81a and a second ferrous member 81b, wherein the permanent magnet member 81a can be arranged on a side surface of the medium carrier 82 facing the robot 70, and the second ferrous member 81b is arranged on the other side surface of the medium carrier 82 facing the maintenance tray 20. Thus, the permanent magnetic attraction force between the main machine coupling assembly 70 and the module coupling assembly 80 can be generated between the permanent magnet member 81a of the module coupling assembly 81 and the first ferrous member of the main machine coupling assembly 71; and the electromagnetic attraction force between the coupling mechanism 90 and the module coupling assembly 81 can be generated between the electromagnetic assembly of the coupling mechanism 90 and the second ferrous member 81b of the module coupling assembly 81.

[0175] Based on the above structure, if the first ferrous member of the main machine coupling assembly 71, the permanent magnet member 81a and the second ferrous member 81b of the module coupling assembly 81, and the electromagnetic assembly of the coupling mechanism 90 are arranged in alignment with the rotation axis of the medium carrier 82, the permanent magnetic attraction force serving as a continuous coupling force and the electromagnetic attraction force serving as a controllable coupling force can be generated along the rotation axis of the medium carrier 82, and neither the permanent magnetic attraction force nor the electromagnetic attraction force will affect the rotation of the medium carrier 82.

[0176] In order to more reasonably arrange the first ferrous member of the main machine coupling assembly 71, the permanent magnet member 81a and the second ferrous member 81b of the module coupling assembly 81, and the electromagnetic assembly of the coupling mechanism 90 in alignment with the rotation axis of the medium carrier 82:

[0177] The robot 70 can include a drive module 72 mounted at the bottom for driving the medium carrier 82 to rotate, and the main machine coupling assembly 71 (e.g. the first ferrous member) can be mounted on the output shaft (e.g. the end surface of the output shaft) of the drive module 72;

[0178] The media tray 82 can have a rotating shaft cylinder 85 on the side surface facing the robotic sweeper 70, which is used to be inserted into the insertion shaft cavity 75 at the bottom of the robotic sweeper 70 to be coaxially connected with the output shaft of the drive module 72 in the insertion shaft cavity 75, and the permanent magnet member 81a of the module coupling assembly 81 can be arranged inside the rotating shaft cylinder 85 (e.g. the bottom of the rotating shaft cylinder 85);

[0179] The second ferrous member 81b of the module coupling assembly 81 can be arranged on the other side surface of the media tray 82 away from the robotic sweeper 70 (i.e. the other side surface of the media tray 82 facing the maintenance tray 20), so as to minimize the interference with the permanent magnetic attraction force generated between the permanent magnet member 81a of the module coupling assembly 81 and the first ferrous member of the host coupling assembly 71.

[0180] For example, the maintenance tray 20 can have a hollow cylinder 22 connected to the execution disc body 21, in which case the coupling mechanism 90 can be fixedly arranged in the hollow cylinder 22. As described above, the hollow cylinder 22 for constraining the translational lifting of the execution disc body 21 in the first direction D1 can be extended to the bottom surface side of the base inner cavity 100 facing the execution disc body 21, so as to facilitate the sliding insertion with the guide cylinder 111, and at the same time avoid the interference contact between the coupling mechanism 90 contained therein and the wiping module 80.

[0181] For the case that the electromagnetic components of the host coupling assembly 71, the module coupling assembly 81 and the coupling mechanism 90 are arranged in alignment with the rotating shaft center of the media tray 82, the parking position of the robotic sweeper 90 on the base 10 can be positioned such that the output shaft of the drive module 72 of the robotic sweeper 70 is coaxially aligned with the hollow cylinder 22 in the first direction D1.

[0182] In this case, the media tray 82 can have a positioning groove 83 arranged around the rotating shaft center, for example, the positioning groove 83 can be arranged around the module coupling assembly 81 (e.g. the second ferrous member 81b) at the rotating shaft center, accordingly, the hollow cylinder 22 can have an open flange 220 protruding from the top surface side of the execution disc body 21 away from the base inner cavity 100, which is used to form a relatively rotatable sliding insertion fit with the positioning groove 83, so that the rotating shaft center of the media tray 82 can be positioned coaxially with the output shaft of the drive module 72 of the robotic sweeper 70.

[0183] If the wiping module 80 includes the medium bracket 82 rotatable driven by the sweeping robot 70, the member body 511 of the jet flow member 51 and the guide flow member 52 can both radially extend from the position aligned with the rotation axis of the medium bracket 82 (i.e. the position where the hollow cylinder 22 is located), and the side wall of the member body 511 can be provided with a plurality of jet outlets 512 in the direction of the radial extension.

[0184] If the wiping module 80 includes the medium bracket 82 rotatable driven by the sweeping robot 70, the cleaning mechanism 50 can further include the scraping member 53, for example, the scraping member 53 can include the boss base 531 and a plurality of raised bumps 532 distributed on the top surface of the boss base 531. When the execution disc 21 is in the second height position, the scraping member 53 can interfere with the wiping medium 800 installed on the medium bracket 82 and rub in response to the rotation of the medium bracket 82. The scraping member 53 can also radially extend from the position aligned with the rotation axis of the medium bracket 82 (i.e. the position where the hollow cylinder 22 is located), and the scraping member 53 can have a phase interval in the rotation direction of the medium bracket 82 with the jet flow member 51 and the guide flow member 52.

[0185] In combination with the coupling mechanism 90 and the cleaning mechanism 50 described above, the base station for maintaining the sweeping robot in the embodiments of the present application can support the sweeping robot to flexibly switch between different working modes, for example, single sweeping mode, single mopping mode and combined mode.

[0186] The single sweeping mode refers to that the sweeping robot 70 performs the dust removal task of sweeping the dust on the floor surface by using the built-in cleaning assembly 73, without installing the wiping module 80 for wiping the floor surface.

[0187] The single mopping mode refers to that the sweeping robot 70 performs the mopping task of wiping the floor surface by using the installed wiping module 80, and the cleaning assembly 73 stops running during this period.

[0188] The combined mode refers to that the sweeping robot 70 performs the mopping task of wiping the floor surface by using the installed wiping module 80, and the cleaning assembly 73 continues to run during this period.

[0189] Among them, the switching between the single sweeping mode and any one of the single mopping mode and the combined mode can be realized by automatically disassembling the wiping module 80 by the coupling mechanism 90.

[0190] Moreover, for the single mopping mode and the combined mode: before performing the mopping task, the sweeping robot 70 can wet the wiping medium 800 of the wiping module 80 by means of the cleaning mechanism 50; after completing the mopping task, the sweeping robot 70 can clean the wiping medium 800 of the wiping module 80 by means of the cleaning mechanism 50.

[0191] In addition, if the number of times of cleaning the wiping medium 800 of the wiping module 80 after completing a plurality of mopping tasks reaches a preset threshold, the coupling mechanism 90 can also be used to automatically disassemble and replace the wiping module 80 with clean wiping medium 800 for the sweeping robot 70.

[0192] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A base station for maintaining a robotic vacuum cleaner, characterized in that, The base station comprises: a base station base (10); a maintenance tray (20) comprising an execution disc body (21); a cleaning mechanism (50) arranged on the execution disc body (21); a lifting mechanism (30) forming an adjustable support for the maintenance tray (20), the adjustable support being used to translate the execution disc body (21) along a first direction between a first height position and a second height position, the second height position being adjacent to a bottom-mounted position of a wiping module (80) of a sweeping robot (70), and the first height position being lower than the second height position; wherein the cleaning mechanism (50) comprises: a jet flow member (51) for jetting fluid, the jet flow member (51) comprising a member body (511) protruding from a top surface of the execution disc body (21), and a jetting outlet (512) opened in a side wall of the member body (511), and the jetting outlet (512) being opened in the member body (511) close to a side wall bottom of the execution disc body (21); a flow guide member (52) comprising a plate-shaped ridge integrally formed on the execution disc body (21), the plate-shaped ridge having an inclined ridge wall facing the jet flow member (51), and the flow guide member (52) being arranged in a spaced manner with the jet flow member (51), so that the fluid jetted from the jetting outlet (512) is guided to diffuse to the wiping module (80) by impacting the flow guide member (52).

2. The base station according to claim 1, wherein: the member body (511) is a hollow ridge integrally formed on the execution disc body (21), and the jetting outlet (512) is opened in a ridge wall of the hollow ridge.

3. The base station according to claim 1, wherein: the wiping module (80) comprises a medium bracket (82) rotatable driven by the sweeping robot (70); wherein the member body (511) and the flow guide member (52) extend radially from a position aligned with a rotation axis of the execution disc body (21) and the medium bracket (82).

4. The base station according to claim 3, wherein: a plurality of jetting outlets (512) are arranged on the side wall of the member body (511) in a direction of the radial extension.

5. The base station according to claim 1, wherein: the wiping module (80) comprises a medium bracket (82) rotatable driven by the sweeping robot (70); the cleaning mechanism (50) further comprises a scraping member (53); wherein, when the execution disc body (21) is in the second height position, the scraping member (53) interferes and rubs with a wiping medium (800) mounted on the medium bracket (82).

6. The base station according to claim 5, wherein: The component body (511), the flow guide component (52) and the scraping component (53) extend radially from the alignment position of the rotating shaft center of the execution disc body (21) and the medium bracket (82), and the scraping component (53) has a phase interval in the rotating direction of the medium bracket (82) between the jet flow component (51) and the flow guide component (52).

7. The base station of claim 5, wherein, The scraping component (53) comprises a boss base (531) and a plurality of raised convexes (532) distributed on the top surface of the boss base (531).

8. The base station of claim 1, wherein, The base station base (10) has a drainage mechanism (124) and a sewage component (125), wherein the drainage mechanism (124) forms a drainage path for the sewage overflowing from the wiping module (80) to flow from the maintenance tray (20) to the sewage component (125).

9. The base station of claim 1, wherein, The jet flow component (51) is used to spray the fluid from the jet outlet (512) at an angle avoiding the wiping module (80) when the execution disc body (21) is in the second height position; The cleaning mechanism (50) is located outside the contact area of the execution disc body (21) formed by the lifting mechanism (30) to provide the adjustable support for the execution disc body (21) to provide floating support for the cleaning mechanism (50) by using the elastic deformation allowance of the execution disc body (21).

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