Base station for maintaining robotic vacuum cleaners

Abstract

This application discloses a base station for maintaining a robotic vacuum cleaner. The maintenance tray of the base station has an execution disc for performing maintenance operations on a parked robotic vacuum cleaner. A lifting mechanism can provide adjustable support to the execution disc by swinging a swinging member, allowing the execution disc to move up and down between a first height position and a second height position. Furthermore, the second height position of the execution disc can be adjacent to the mounting position of the wiping module on the bottom of the robotic vacuum cleaner. Therefore, based on the lifting adjustment of the execution disc by the lifting mechanism, contact-type maintenance operations can be performed on the wiping module at the bottom of the robotic vacuum cleaner by means of any operating mechanism deployed on the execution disc.

Description

Technical Field

[0001] This application relates to the field of robotic vacuum cleaners, and in particular to a base station for maintaining robotic vacuum cleaners. Background Technology

[0002] Robotic vacuum cleaners can perform floor cleaning tasks in any scene or space. Based on the configuration of hardware modules, robotic vacuum cleaners can selectively perform dust removal and sweeping functions, or perform wiping and cleaning functions using wiping media such as rags, or perform a combination of dust removal and sweeping and wiping and cleaning functions.

[0003] The dust removal and cleaning function can be achieved based on the cleaning module built into the robot vacuum, while the wiping and cleaning function can be achieved based on the detachable wiping module installed on the robot vacuum.

[0004] For robotic vacuum cleaners that need to be equipped with wiping and cleaning functions, maintenance operations will be required for the wiping module, and these maintenance operations may include contact operations.

[0005] However, the base stations currently used for maintaining robotic vacuum cleaners only support non-contact maintenance operations, which limits the operation methods and types of maintenance operations for robotic vacuum cleaners. Summary of the Invention

[0006] In an embodiment of this application, a base station for maintaining a robotic vacuum cleaner is provided, which can support contact-based maintenance operations on the robotic vacuum cleaner.

[0007] One embodiment provides a base station for maintaining a robotic vacuum cleaner, the base station comprising:

[0008] Base station base;

[0009] A maintenance tray, the maintenance tray including an execution disc body, and the execution disc body being used to perform maintenance operations on a sweeping robot parked on the base station base;

[0010] A lifting mechanism that provides adjustable support for the maintenance tray, and the adjustable support is used to allow the actuator body to move up and down along a first direction between a first height position and a second height position.

[0011] The second height position is adjacent to the position where the wiping module is installed on the bottom of the sweeping robot, and the first height position is lower than the second height position;

[0012] The lifting mechanism includes a power module, a transmission mechanism, and a swing member. The transmission mechanism is used to apply the driving force generated by the power module to the swing member, so that the swing member can drive the translation and lifting of the execution disk in response to the swing of the driving force.

[0013] In one example, optionally, the swing member has a fulcrum pivot and a first end and a second end located on opposite sides of the fulcrum pivot; wherein the fulcrum pivot is rotatably engaged with a pivot support of the base station base to constrain the swing of the swing member in response to the driving force to a fixed fulcrum with the fulcrum pivot as the fulcrum pivot; wherein the driving force is applied to the first end by the transmission mechanism along a second direction, and there is a preset angular deviation between the first direction and the second direction; a first sliding fit is formed between the first end and the transmission mechanism, and a second sliding fit is formed between the second end and the execution disk body; and the first sliding fit and the second sliding fit are used to eliminate the fit interference between the swing member and the transmission mechanism and the execution disk body caused by the angular deviation.

[0014] In one example, optionally, the transmission mechanism includes a guide member arranged along the second direction and a movable component movably mounted on the guide member; wherein the movable component has a transmission groove, and the first end forms a first sliding engagement with the transmission groove; and the extension direction of the transmission groove is arranged such that the first sliding engagement: an input force acting on the swing member is obtained by decomposing the driving force, and the direction of the input force at the first end is tangential about the fixed fulcrum.

[0015] In one example, optionally, the motor module includes a motor; the guide member includes a lead screw coaxially connected to the output shaft of the motor; the moving component includes a nut flange and a moving body; wherein the nut flange engages with the lead screw, the nut flange is fixedly connected to the moving body, the moving body forming the first sliding engagement with the swing member forms an anti-rotation constraint on the nut flange, and the transmission groove is formed in the moving body.

[0016] In one example, the maintenance tray may optionally include a tray groove located on the execution disk body; wherein the second end forms a second sliding engagement with the tray groove; wherein the extension direction of the tray groove is arranged such that the second sliding engagement: the input force applied to the first end is decomposed into an output force acting on the execution disk body, and the direction of the output force applied to the execution disk body through the tray groove is the first direction.

[0017] In one example, the swing member is optionally arched with the apex facing downwards, and the pivot point is located at the apex.

[0018] In one example, optionally, the base station base includes a base main shell for parking the robotic vacuum cleaner, wherein the base main shell has a parking slope inclined relative to a horizontal plane; wherein the first direction is an inclined direction perpendicular to the parking slope, and the second direction is a vertical direction perpendicular to the horizontal plane.

[0019] In one example, optionally, the power module and the transmission mechanism are located outside the inner cavity of the base, and the first end is connected to the transmission mechanism outside the inner cavity of the base; the tilting height of the main shell of the base on the side of the tray notch is determined according to the space height occupied by the swing member on the side of the second end.

[0020] In one example, the surface of the stopping slope may optionally be covered with anti-slip particles.

[0021] In one example, optionally, the interior of the base main housing forms a base cavity, and the base main housing has a tray notch that exposes the base cavity; the swing member extends into the base cavity and forms the adjustable support for the actuator at the tray notch.

[0022] In one example, optionally, the stopping ramp curves upward on the side near the inner cavity of the base, and the tray notch is arranged adjacent to the curved side of the stopping ramp.

[0023] In one example, the base station base may optionally include a guide column disposed in the inner cavity of the base; the maintenance tray may also include a hollow column connected to the execution disk; wherein the hollow column and the guide column are slidably inserted into each other along the first direction to constrain the translation and lifting of the execution disk in the first direction.

[0024] In one example, the maintenance tray may optionally include a flexible skirt surrounding the periphery of the execution disk; wherein the flexible skirt is fixed to the opening edge of the tray notch, and the flexible skirt generates the telescopic deformation in response to the translational lifting of the execution disk.

[0025] In one example, optionally, the base station base further includes a stop latch disposed in the inner cavity of the base; the maintenance tray further includes a vertical latch formed in the execution disk body; wherein the vertical latch extends downward into the inner cavity of the base, and when the execution disk body is located at the second height position, the vertical latch and the stop latch interfere with each other to prevent the execution disk body from over-rising beyond the second height position.

[0026] In one example, the maintenance tray may optionally include a side-mounted lug mounted on the execution disc body; wherein the side-mounted lug extends laterally from the lower edge of the flexible skirt, and when the execution disc body is at the second height position, the side-mounted lug interferes with the opening edge of the tray notch to prevent the execution disc body from over-rising beyond the second height position.

[0027] Based on the above embodiments, the base station's maintenance tray has an execution plate for performing maintenance operations on a parked robotic vacuum cleaner. The lifting mechanism can utilize the swing of a swinging member to provide adjustable support to the execution plate, allowing it to move horizontally and vertically between a first height position and a second height position. Furthermore, the second height position of the execution plate can be adjacent to the mounting position of the wiping module on the bottom of the robotic vacuum cleaner. Therefore, based on the lifting mechanism's adjustment of the execution plate, contact-type maintenance operations can be performed on the wiping module at the bottom of the robotic vacuum cleaner using any operating mechanism deployed on the execution plate. For example, the operating mechanism can include at least one of a coupling mechanism for automatically assembling and disassembling the wiping module on the robotic vacuum cleaner, and a cleaning mechanism for contact-type cleaning of the wiping module mounted on the robotic vacuum cleaner. This facilitates the operation method and type of maintenance operations for the robotic vacuum cleaner. Attached Figure Description

[0028] The following figures are for illustrative purposes only and do not limit the scope of this application:

[0029] Figure 1 This is a schematic diagram illustrating the principle of automatic tray lifting and lowering for a base station used to maintain a sweeping robot in one embodiment of this application;

[0030] Figure 2 For example Figure 1 A schematic diagram of the exploded structure of the base station in the illustrated embodiment;

[0031] Figure 3 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.

[0032] Figure 4 For example Figure 1A schematic diagram illustrating the assembly relationship between the maintenance tray and the base station base in the illustrated embodiment.

[0033] Figure 5 For example Figure 1 A schematic diagram of the base station's limiting structure for the maintenance tray using the base station base in the illustrated embodiment;

[0034] Figure 6 For example Figure 1 A schematic diagram illustrating the principle of automatic disassembly and assembly of the wiping module by the base station in the illustrated embodiment;

[0035] Figure 7 For example Figure 1 A schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown;

[0036] Figure 8 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.

[0037] Figure 9 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;

[0038] Figure 10 For example Figure 1 A schematic diagram of the deployment structure of the cleaning mechanism in the illustrated embodiment.

[0039] Explanation of reference numerals in the attached figures

[0040] 10 Base Station Base

[0041] 100 Base inner cavity

[0042] 11. Base plate

[0043] 111 Guide column

[0044] 112 Stop latch

[0045] 12 Base Main Shell

[0046] 120 Bottom opening

[0047] 121 Stop on the slope

[0048] 122 Pallet notch

[0049] 123 Shaft Support

[0050] 124 Traffic Generation Agency

[0051] 125 Sewage Drainage Components

[0052] 126 anti-slip particles

[0053] 13 Protective baffles

[0054] 20 Maintenance tray

[0055] 21 Execution disk

[0056] 22 Hollow cylindrical column

[0057] 220 Opening flange

[0058] 23 Vertical buckle

[0059] 24 Side-convex hanging ears

[0060] 25 Pallet chute

[0061] 26 Flexible skirt hem

[0062] 27. Hem turned up

[0063] 30 Lifting Mechanism

[0064] 31 Power Module

[0065] 32 Transmission Mechanism

[0066] 321 Guide Components

[0067] 322 Mobile Components

[0068] 322a Nut Flange

[0069] 322b Mobile Entity

[0070] 323 Transmission groove

[0071] 33. Oscillating component

[0072] 330 pivot

[0073] 331 First end

[0074] 332 Second end

[0075] 34 Install the bottom box

[0076] 50 Cleaning facilities

[0077] 51 Jet Components

[0078] 511 Main Component

[0079] 512 Jet Exit

[0080] 52. Flow guiding components

[0081] 53 Scraping components

[0082] 531 Boss base

[0083] 532 raised bump

[0084] 70 Robotic Vacuum Cleaner

[0085] 71 Host Coupling Component

[0086] 72 Drive Module

[0087] 73 Cleaning components

[0088] 80 Wiping Module

[0089] 800 Wiping Media

[0090] 81 Module Coupling Component

[0091] 82 Media holder

[0092] 83 Positioning Groove

[0093] 90 Coupling Mechanism Detailed Implementation

[0094] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments.

[0095] Figure 1 This is a schematic diagram illustrating the principle of automatic tray lifting and lowering for a base station used to maintain a sweeping robot in one embodiment of this application. Figure 2 For example Figure 1 A schematic diagram of the exploded structure of the base station in the illustrated embodiment. Please refer to [link / reference]. Figure 1 and Figure 2 In an embodiment of this application, the base station for maintaining the sweeping robot may include a base station base 10, wherein the base station base 10 can be used to park the sweeping robot to be maintained.

[0096] For example, the base station base 10 may have a built-in wireless communication module and a wired or wireless charging mechanism, so that the robot vacuum cleaner can pair with the base station based on the communication module while it is stationed on the base station base 10, and can be charged and maintained by the base station based on the charging mechanism after successful pairing. In the embodiments of this application, the arrangement, installation structure, and configuration selection of the charging mechanism in the base station are not the focus. Therefore, the illustrated representation and textual description of the charging mechanism will be omitted in the accompanying drawings and the following text description.

[0097] See also Figure 1 and Figure 2 In embodiments of this application, in order to enable the base station used for maintaining the robotic vacuum cleaner to perform maintenance operations other than charging, the base station may also include a maintenance tray 20.

[0098] For example, the base station base 10 may include a base main shell 12, the interior of which may form a base cavity 100, and the base main shell 12 may have a tray notch 122 that exposes the base cavity 100, and the maintenance tray 20 may be deployed above the tray notch 122.

[0099] The maintenance tray 20 may include an execution tray 21, which can be used to perform maintenance operations on the sweeping robot 70 parked on the base station base 10. For example, the execution tray 21 may be equipped with an operating mechanism for performing maintenance operations. The operating mechanism deployed on the execution tray 21 may include at least one of a coupling mechanism 90 and a cleaning mechanism 50. The coupling mechanism 90 can be used to automatically disassemble and assemble the wiping module of the sweeping robot, and the cleaning mechanism 50 can be used to clean the wiping module installed on the sweeping robot.

[0100] The maintenance operations supported by the operating mechanism deployed on the execution panel 21 can be contact-based operations. For example, the automatic disassembly and assembly of the wiping module requires an operation stroke that switches between contact and non-contact positions with the sweeping robot. The cleaning performed on the wiping module can also be a contact-based cleaning.

[0101] Therefore, in the embodiments of this application, the base station for maintaining the sweeping robot may further include a lifting mechanism 30, which can form an adjustable support for the maintenance tray 20. The adjustable support is used to move the execution disk 21 up and down along the first direction D1 between a first height position and a second height position.

[0102] The second height position is adjacent to the wiping module 80 installed at the bottom of the robot vacuum cleaner, and the first height position is lower than the second height position. For example, the first height position can be the position where the execution tray 21 is flush with or substantially flush with the tray notch 122.

[0103] In other words, the first height position can be understood as the non-contact position between the execution disc 21 and the robot vacuum cleaner. Before the robot vacuum cleaner stops at the base station base 10 and before the stopped robot vacuum cleaner leaves the base station base 10, the execution disc 21 is adjusted to the first height position by the lifting mechanism 30 to avoid interference or collision between the execution disc 21 and the robot vacuum cleaner. The second height position can be understood as the contact position between the execution disc 21 and the robot vacuum cleaner. The execution disc 21 is only allowed to be adjusted to the second height position when the stopped robot vacuum cleaner 70 is in a stopped state. Therefore, it can be understood that the base station used to maintain the robot vacuum cleaner in this embodiment may further include a target detection mechanism for detecting the movement state of the robot vacuum cleaner and the positional relationship of the robot vacuum cleaner relative to the base station base 10. The specific implementation of the target detection mechanism is not the focus of this embodiment and will not be described here.

[0104] 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.

[0105] The power module 31 may include power components such as motors, and the power module 31 is used to generate driving force.

[0106] 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.

[0107] 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.

[0108] Based on the above embodiments, the maintenance tray 20 of the base station has an execution tray 21 for performing maintenance operations on a parked 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 be moved 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 mounting position of the wiping module 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.

[0109] 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 angular deviation between the first direction D1 and the second direction D2.

[0110] 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.

[0111] 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).

[0112] Figure 3 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 3 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:

[0113] 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.

[0114] The driving force generated by the power module 31 can be applied by the transmission mechanism 32 along the second direction D2 to the first end 331 of the swing member 33;

[0115] The first end 331 of the swing member 33 forms a first sliding engagement with the transmission mechanism 32. For example, the first end 331 of the swing member 33 can form a first sliding engagement with the transmission mechanism 32 outside the base cavity 100 of the base station base 10.

[0116] The second end 332 of the swing member 33 forms a second sliding engagement with the execution disk body 21 of the maintenance tray 20. For example, the second end 322 of the swing member 33 can be inserted into the base cavity 100 of the base station base 10, and the second end 332 of the swing member 33 can form a second sliding engagement with the execution disk body 21 at the tray slot 122.

[0117] Furthermore, the first sliding fit and the second sliding fit are used to eliminate the fit interference caused by the angular deviation between the first direction D1 and the second direction D2 between the swing member 33 and the transmission mechanism 32 and the actuator disc 21.

[0118] Specifically, the transmission mechanism 32 of the lifting mechanism 30 may include a guide member 321 arranged along the second direction D2 and a moving component 322 movably mounted on the guide member 321. The moving component 322 may move along the guide member 321 in the second direction D2 in response to the driving force generated by the power component 31, so as to apply the driving force along the second direction D2 to the first end 331 of the swing member 33.

[0119] Furthermore, the moving component 322 may have a transmission groove 323, and the first end 331 of the swing member 33 may form the first sliding engagement mentioned above with the transmission groove 323. For example, the first end 331 may have a laterally protruding first guide post, which is slidably inserted into the transmission groove 323, thereby forming the first sliding engagement between the first end 331 of the swing member 33 and the transmission groove 323.

[0120] The extension direction of the transmission groove 323 of the moving component 322 is arranged such that the first sliding engagement between the first end 331 and the transmission groove 323 can: decompose the driving force generated by the power module 31 to obtain the input force that acts on the swing member 33, and the direction of the force applied to the first end 331 of the swing member 33 is the tangential direction of the fixed fulcrum formed about the fulcrum axis 330.

[0121] For example, the power module 31 may include a stepper motor, the guide member 321 may include a lead screw coaxially connected to the output shaft of the stepper motor of the power module 31, and the moving component 322 may include a nut flange 322a and a moving body 322b. The nut flange 322a may engage with the lead screw of the guide member 321, and the nut flange 322a may also be fixedly connected to the moving body 322b. Furthermore, a transmission groove 323 may be formed on the moving body 322b.

[0122] In this case, the first end 331 of the swing member 33 not only forms a first sliding engagement by slidably inserting its first guide post into the transmission groove 323, but also forms an anti-rotation abutment against the moving body 332b. This anti-rotation abutment serves to form an anti-rotation constraint that prevents the moving body 332b from rotating in the direction about the lead screw. In the illustrated representation of this embodiment, an example is taken where the first end 331 of the swing member 33 adopts a double-arm structure that clamps the moving body 332b on opposite sides.

[0123] Correspondingly, the nut flange 332a, which is fixedly connected to the moving body 332b, is also subject to the aforementioned anti-rotation constraint. That is, the moving body 322b, which forms a first sliding fit with the swing member 33 (i.e., the first end 331), can form an anti-rotation constraint on the nut flange 322a.

[0124] Therefore, during the rotation of the lead screw 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 meshing with the lead screw, due to the anti-rotation constraint, can linearly rise and fall in the second direction D2 in response to the meshing transmission with the rotating lead screw, thereby driving the moving body 322b fixedly connected to it to linearly rise and fall in the second direction D2, so as to apply the driving force generated by the power module 31 along the second direction D2 to the first end 331 of the swing member 33 forming a first sliding engagement with the transmission slide groove. Moreover, the lifting direction can be switched by switching the forward and reverse rotation of the output shaft of the stepper motor of the power module 31.

[0125] The maintenance tray 20 may also include a tray groove 25 located on the actuation tray body 21, and the second end 332 of the swing member 33 may form the second sliding engagement with the tray groove 25. For example, the second end 332 of the swing member 33 may have a laterally protruding second guide post that is slidably inserted into the tray groove 25 to form the second sliding engagement between the second end 332 of the swing member 33 and the tray groove 25.

[0126] The extension direction of the tray groove 25 can be arranged such that the second sliding engagement between the second end 332 of the swing member 33 and the tray groove 25 can: decompose the aforementioned input force applied to the first end 331 to obtain an output force that acts on the execution disc 21, and the direction of the force applied to the execution disc 21 by the tray groove 25 is the first direction D1.

[0127] In addition, in order to avoid the 0° dead angle of the swing member 33 at the first end 331 parallel to the transmission slide 323 and the 0° dead angle of the swing member 33 at the second end 332 parallel to the tray slide 25, in the embodiments of this application, the swing member 33 can be arched with the top of the arch facing downward, and the pivot shaft 330 for forming a fixed pivot point can be located at the top of the arch.

[0128] While using the lifting mechanism 30 to drive the lifting of the execution plate 21 of the maintenance tray 20, the embodiments of this application can also provide guidance and limiting to the maintenance tray 20 to further optimize the lifting stability and reliability of the execution plate 21 of the maintenance tray 20.

[0129] Additionally, the lifting mechanism 30 may also include a position detection component, which can be arranged at the limit position of the moving component 322 along the guide member 321, so that when the moving component 322 moves along the guide member 321 to a preset limit position, a drive signal can be generated to stop the motor of the power module 31. The limit position of the moving component 322 along the guide member 321 may be determined based on a first height position and a second height position.

[0130] Figure 4 For example Figure 1 A schematic diagram illustrating the assembly relationship between the maintenance tray and the base station base in the illustrated embodiment. Figure 5 For example Figure 1 The illustrated embodiment shows a schematic diagram of the base station's base-based restraint structure for the maintenance tray. Please refer to [link to schematic diagram]. Figure 4 and Figure 5 For the case where the base station base 10 forms a base cavity 100 inside the base main shell 12, the base main shell 12 has a tray notch 122 that exposes the base cavity 100, and the maintenance tray 20 is arranged at the tray notch 122:

[0131] The base station base 10 may also include a guide cylinder 111 arranged in the base cavity 100. For example, the guide cylinder 111 may be formed on the base bottom plate 11, which may cover the bottom opening 120 of the base main shell 12 below the base cavity 100, so that the guide cylinder 111 protrudes toward the tray notch 122 along the first direction D1.

[0132] Accordingly, the maintenance tray 20 may also include a hollow cylindrical column 22 connected to the execution plate body 21. The hollow cylindrical column 22 may extend downward toward the side of the execution plate body 21 facing the inner cavity 100 of the base, so that the hollow cylindrical column 22 can slide into the guide column 111 along the first direction D1, thereby constraining the translational lifting of the execution plate body 21 between the first height position and the second height position in the first direction D.

[0133] When the execution pallet 21 of the maintenance pallet 20 is in the first height position, it can be flush with or substantially flush with the pallet opening 122. However, when the execution pallet 21 is in the second height position, which is higher than the first height position, a gap will be formed between the execution pallet 21 and the pallet opening 122.

[0134] In order to cover the gap between the execution tray 21 and the tray notch 122 when the execution tray 21 is in the second height position, in embodiments of this application, the maintenance tray 20 may further include a flexible skirt 26 surrounding the outer periphery of the execution tray 21.

[0135] The flexible skirt 26 can be fixed to the opening edge of the tray notch 122. For example, the upper edge of the flexible skirt 26 is connected to the tray body 21, and the lower edge of the flexible skirt 26 can form a skirt flange 27. The skirt flange 27 can be fixed to the opening edge of the tray notch 122 by means of riveting or screw connection. Preferably, the flexible skirt 26 can form a waterproof seal for the tray notch 122 by covering it.

[0136] Furthermore, the flexible skirt 26 can expand and contract in response to the translational and lifting movement of the actuator 21 between the first height position and the second height position. For example, the flexible skirt 26 can be folded when the actuator 21 is in the first height position, and the flexible skirt 26 can be in a tensioned state when the actuator 21 is in the second height position.

[0137] In cases where the hollow cylindrical column 22 and the guide cylindrical column 111 are slidably inserted along the first direction D1 to form a guide, and the flexible skirt 26 is used to cover the tray notch 122, the embodiments of this application may also set a limiting constraint between the base station base 10 and the execution disk 21 of the maintenance tray 20.

[0138] The limiting constraint is used to constrain the upper limit position of the execution disk 21 to prevent the execution disk 21 from over-rising when the position detection component of the lifting mechanism 30 fails. The lower limit position of the execution disk 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 disk 21 to fall, or the lower limit position of the execution disk 21 can be constrained by the dimensional interference between the execution disk 21 and the tray notch 122.

[0139] An optional limit constraint method to prevent over-positioning is as follows:

[0140] The maintenance tray 20 may also include a vertical latch 23 formed in the execution tray body 21, which extends downward from the execution tray body 21 toward the bottom cavity 100.

[0141] The base station base 10 may also include a stop buckle 112 arranged in the base cavity 100. The stop buckle 122 may be formed on the base plate 11 and installed by the base plate 11 to cover the bottom opening 120 of the base main shell 12, while protruding in the base cavity 100 toward the tray notch 122.

[0142] Therefore, when the actuator plate 21 of the maintenance tray 20 is in the second height position, the vertical latch 23 and the stop latch 112 interfere with each other to prevent the actuator plate 21 from over-extension beyond the second height position. This prevents the hollow cylinder 22 from detaching from the guide cylinder 111 due to the over-extension of the actuator plate 21, and prevents the flexible skirt 26 from being pulled off or detached from the opening edge of the tray notch 122 due to the over-extension of the actuator plate.

[0143] Another optional limit constraint method to prevent over-positioning is as follows:

[0144] The maintenance tray 20 may also include a side-mounted lug 24 mounted on the execution tray body 21, which can extend laterally from the lower edge of the flexible skirt (26).

[0145] Therefore, when the actuator body 21 of the maintenance tray 20 is in the second height position, the side lug 24 interferes with the opening edge of the tray notch 122 to prevent the actuator body 21 from over-rising beyond the second height position. In turn, it can also prevent the hollow cylinder 22 from detaching from the guide cylinder 111 due to the over-rising of the actuator body 21, and prevent the flexible skirt 26 from being pulled off or detached from the opening edge of the tray notch 122 due to the over-rising of the actuator body.

[0146] In the embodiments of this application, the combination of the above two limiting constraint methods is used as an example, but it is understood that the above two limiting constraint methods can also be used selectively as needed.

[0147] 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.

[0148] As mentioned above, the operating mechanism for deploying disk 21 may include at least one of coupling mechanism 90 and cleaning mechanism 50. In order to better understand the relationship between the operating mechanism and disk 21, the following text will take coupling mechanism 90 and cleaning mechanism as examples to explain in detail the specific structure and working principle of the operating mechanism for deploying disk 21.

[0149] Figure 6 For example Figure 1 The schematic diagram shown in the embodiment illustrates the principle of automatic disassembly and assembly of the wiping module by the base station. Figure 7 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 6 and Figure 7 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] For example, the coupling mechanism 90 may include an electromagnetic component, and the controllable coupling force generated by the coupling mechanism 90 may include: an electromagnetic attraction force controllably generated between the electromagnetic component of the coupling mechanism 90 and the module coupling component 81 of the wiping module 80, and this electromagnetic attraction force may be greater than the permanent magnet attraction force generated between the main unit coupling component 71 of the sweeping robot 70 and the module coupling component 81 of the wiping module 80. In this case, the electric drive module in the base station used to maintain the sweeping robot, which is electrically connected to the lifting mechanism 30, may also be electrically connected to the coupling mechanism 90 to coordinate the lifting drive of the lifting mechanism 30 and the controllable energization of the electromagnetic component of the coupling mechanism 90, thereby achieving the coordinated cooperation of the controllable coupling force and the translational lifting of the actuator 21.

[0154] Therefore, since the execution disc 21 of the maintenance tray 20 can be equipped with a coupling mechanism 90, and the coupling mechanism 90 can generate a controllable coupling force, and the controllable coupling force can be greater than the continuous coupling force that the sweeping robot 70 uses to constrain the wiping component 80 to the bottom, the automatic assembly and disassembly of the wiping module 80 at the bottom of the sweeping robot 70 can be achieved based on the controllable coupling force generated by the coupling mechanism 90 and the coordinated cooperation between the lifting mechanism 30 and the lifting adjustment of the execution disc 21 where the coupling mechanism 90 is located.

[0155] Figure 8 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. Figure 9 For wiping modules that are separate from the robot vacuum cleaner, in such cases... Figure 1 A schematic diagram illustrating the placement of the base station in the illustrated embodiment. Please refer to [link / reference]. Figure 8 and Figure 9 The controllable coupling force generated by the coupling mechanism 90 and the coordinated operation between the lifting mechanism 30 and the lifting adjustment of the execution disk 21 where the coupling mechanism 90 is located can specifically achieve the following: Figures 8 to 9 The automatic disassembly process is shown in sequence, and according to the order from Figures 9 to 8 The automatic installation process is shown in the sequence.

[0156] For the automatic disassembly process:

[0157] When the sweeping robot 70 equipped with the wiping module 80 stops at the base station base 10, the execution disk 21 can rise from the first height position to the second height position under the drive of the lifting mechanism 30.

[0158] When the execution disk 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;

[0159] After the coupling mechanism 90 starts to generate controllable coupling force, the execution disk 21 can be driven by the lifting mechanism 30 to descend from the second height position to the first height position. Furthermore, the coupling mechanism 90 can continuously generate controllable coupling force during the descent of the execution disk 21, so that the wiping module 80 overcomes the continuous coupling force generated by the sweeping robot 70 and descends with the execution disk 21, thereby realizing the automatic disassembly of the wiping module 80 from the sweeping robot 70.

[0160] After the wiping module 80 is removed and the robot vacuum cleaner 70 leaves the base station base 10, the coupling mechanism 90 can stop generating controllable coupling force so that the removed wiping module 80 can be easily taken out from the execution disk 21.

[0161] For the automatic installation process:

[0162] The wiping module 80 to be installed can be placed on the execution disk 21, and the coupling mechanism 90 can begin to generate a controllable coupling force;

[0163] When the sweeping robot 7, which requires the wiping module 80, is stationed on the base station base 10, the execution disk 21 can rise from the first height position to the second height position under the drive of the lifting mechanism 30. Furthermore, the coupling mechanism 90 can maintain the stable placement of the coupling module 80 on the execution disk 21 without generating a controllable coupling force during the rising process of the execution disk 21.

[0164] When the execution disc 21 reaches the second height position, the wiping module 80 reaches the bottom mounting position of the sweeping robot 70, and the coupling mechanism 90 can stop generating controllable coupling force, so that the wiping module 80 is detachably mounted at the bottom mounting position of the sweeping robot 70 under the constraint of the continuous coupling force generated by the sweeping robot 70, so as to realize the automatic installation of the wiping module 80 in the sweeping robot 70;

[0165] After the coupling mechanism 90 stops generating controllable coupling force, the execution disk 21 can be lowered from the second height position to the first height position under the drive of the lifting mechanism 30. Furthermore, the coupling mechanism 90 remains in a state of stopping generating controllable coupling force during the descent of the execution disk 21.

[0166] After that, the robot vacuum cleaner 70 equipped with the wiping module 80 can leave the base station base 10.

[0167] Additionally, the wiping module 80 may include a media holder 82 that can be driven to rotate by the robot vacuum cleaner 70. The media holder 82 is used to hold a wiping medium 800, such as a wiping cloth. The wiping medium can be placed on the side surface of the media holder 82 facing away from the robot vacuum cleaner 70 (i.e., the side surface of the media holder 82 facing the maintenance tray 20). Furthermore, the host coupling assembly 71, the module coupling assembly 81, and the coupling mechanism 90 can all be aligned with the rotation axis of the media holder 82.

[0168] For example, the host coupling assembly 71 may include a first ferrous component; the module coupling assembly 81 may include a permanent magnet component 81a and a second ferrous component 81b, wherein the permanent magnet component 81a may be arranged on the surface of the media tray 82 facing the sweeping robot 70, and the second ferrous component 81b may be arranged on the other surface of the media tray 82 facing the maintenance tray 20. Thus, the permanent magnet attraction force between the host coupling assembly 70 and the module coupling assembly 80 can be generated between the permanent magnet component 81a of the module coupling assembly 81 and the first ferrous component of the host coupling assembly 71; and the electromagnetic attraction force between the coupling component 90 and the module coupling assembly 81 can be generated between the electromagnetic component of the coupling component 90 and the second ferrous component 81b of the module coupling assembly 81.

[0169] Based on the above structure, if the first iron component of the host coupling assembly 71, the permanent magnet component 81a and the second iron component 81b of the module coupling assembly 81, and the electromagnetic component of the coupling component 90 are aligned with the rotation axis of the medium tray 82, then a permanent magnet adsorption force as a continuous coupling force and an electromagnetic adsorption force as a controllable coupling force can be generated along the rotation axis of the medium tray 82. Furthermore, neither the permanent magnet adsorption force nor the electromagnetic adsorption force will affect the rotation of the medium tray 82.

[0170] To more rationally align the first ferrous component of the host coupling assembly 71, the permanent magnet component 81a and the second ferrous component 81b of the module coupling assembly 81, and the electromagnetic component of the coupling assembly 90 with the rotation axis of the dielectric carrier 82:

[0171] The robotic vacuum cleaner 70 may include a drive module 72 mounted at the bottom for rotating the drive medium bracket 82, and a host coupling assembly 71 (e.g., a first iron member) may be mounted on the output shaft (e.g., the end face of the output shaft) of the drive module 72.

[0172] The media holder 82 may have a rotating shaft cylinder 85 on the side surface facing the robot vacuum cleaner 70. The rotating shaft cylinder 85 is for insertion into the insertion shaft cavity 75 at the bottom of the robot vacuum cleaner 70 to be coaxially connected with the output shaft of the drive module 72 within the insertion shaft cavity 75. Furthermore, the permanent magnet component 81a of the module coupling assembly 81 may be arranged inside the rotating shaft cylinder 85 (e.g., at the bottom of the rotating shaft cylinder 85).

[0173] The second iron component 81b of the module coupling assembly 81 can be installed on the other side of the media tray 82 facing away from the sweeping robot 70 (i.e., the other side of the media tray 82 facing the maintenance tray 20) to minimize the interference of the permanent magnet attraction force generated between the permanent magnet component 81a of the module coupling assembly 81 and the first iron component of the host coupling assembly 71.

[0174] For example, the maintenance tray 20 may have a hollow cylindrical column 22 connecting to the execution disk body 21. In this case, the coupling mechanism 90 may be fixedly installed inside the hollow cylindrical cavity 22. Furthermore, as described above, the hollow cylindrical column 22, which constrains the translation and lifting of the execution disk body 21 in the first direction D1, may extend downward toward the bottom surface of the execution disk body 21 toward the base cavity 100, so as to facilitate sliding insertion with the guide column 111 and simultaneously prevent interference between the coupling mechanism 90 it houses and the wiping module 80.

[0175] When the electromagnetic components of the host coupling component 71, the module coupling component 81, and the coupling mechanism 90 can all be aligned with the rotation axis of the medium bracket 82, the stopping position of the sweeping robot 90 on the base station base 10 can be positioned such that the output shaft of the drive module 72 of the sweeping robot 70 is coaxially aligned with the hollow cylinder 22 along the first direction D1.

[0176] In this configuration, the media holder 82 may have a positioning groove 93, which is deployed around a rotation axis. For example, the positioning groove 93 may be arranged around a module coupling assembly 81 (e.g., a second iron member 81b) at the rotation axis. Correspondingly, the hollow cylindrical column 22 may have an open flange 220 protruding from the top surface of the execution disc 21 opposite to the inner cavity 100 of the base. The open flange 220 is used to form a rotatable and slidable insertion engagement with the positioning groove 83, so that the rotation axis of the media holder 82 can be positioned coaxially aligned with the output shaft of the drive module 72 of the sweeping robot 70.

[0177] Figure 10 For example Figure 1 A schematic diagram of the deployment structure of the cleaning mechanism in the illustrated embodiment. Please refer to [link / reference]. Figure 10In this embodiment, the base station for maintaining the robotic vacuum cleaner may further include a cleaning mechanism 50 serving as an operating mechanism. This cleaning mechanism 50 can be arranged on the execution disc 21 of the maintenance tray 220 for contact cleaning of the wiping module installed on the robotic vacuum cleaner. For example, the cleaning mechanism 50 may be positioned outside the contact area where the lifting mechanism 30 provides adjustable support to the execution disc 21, thus utilizing the elastic deformation allowance of the execution disc 21 itself to provide floating support for the cleaning mechanism 50.

[0178] Specifically, the cleaning mechanism 50 may include a jetting component 51 and a flow guiding component 52.

[0179] The jetting member 51 is used to jet fluid. When the sweeping robot equipped with the wiping module is parked on the base station base 10, the execution disk 21 at the second height position can contact the wiping module (e.g., contact the wiping medium such as a rag installed on the wiping module). The fluid jetted by the jetting member 51 is jetted from the jetting member 51 at an angle that avoids the wiping module (i.e., the wiping medium). That is, the jetting member 51 is used to jet fluid at an angle that avoids the wiping module when the execution disk 21 is at the second height position.

[0180] For example, the jetting component 51 may include a component body 511 protruding from the top surface of the execution disk 21, and a jetting outlet 512 formed on the side wall of the component body 511, so that the fluid ejected laterally from the jetting outlet 512 can avoid the wiping module. Preferably, the jetting outlet 512 may be formed at the bottom of the side wall of the component body 511 near the execution disk 21. In this case, the component body 511 may be a hollow rib integrally formed on the execution disk 21, so that the flow supply pipe below the execution disk can be introduced into the hollow rib and ejected from the jetting outlet 512 formed on the rib wall of the hollow rib.

[0181] The flow guide member 52 is used to guide the fluid sprayed by the jet member 51 at an angle that avoids the wiping module to diffuse toward the wiping module (especially the wiping medium of the wiping module).

[0182] For example, the flow guide member 52 can be arranged at a distance from the jet member 51. The distance between the flow guide member 52 and the jet member 51 allows the fluid ejected from the jet member 51 to impact the flow guide member 52. For example, the fluid can be ejected from the jet member 51 and impact the flow guide member 52 with a preset intensity. The flow guide member 52 can eject and diffuse the impacting fluid to the surface area of ​​the wiping module exposed at the distance. For example, after the fluid impacts the flow guide member 52, it can be uniformly diffused and ejected to the surface area of ​​the wiping module exposed at the distance. In this case, the flow guide member 52 can be a plate-shaped baffle integrally formed on the execution disk 21. The plate-shaped baffle can have inclined rib walls facing the jet member 51, so as to use the inclined rib walls to uniformly diffuse and eject the impacting fluid to the wiping module.

[0183] Therefore, the cleaning mechanism 50 arranged on the execution disc 21 can perform contact-type automatic cleaning of the wiping module installed on the sweeping robot without affecting the fluid jet when the execution disc 21 contacts the wiping module. Furthermore, the cleaning mechanism adopts a flow supply method in which the fluid jetted by the jet component 51 is uniformly guided to the wiping module through the flow guide component 52, which helps to improve the uniformity of cleaning the wiping module.

[0184] If the wiping module 80 includes a media holder 82 that can be driven to rotate by the sweeping robot 70, then the main body 511 of the jetting component 51 and the flow guiding component 52 can both extend radially from the alignment position of the rotation axis of the execution disk 21 and the media holder 82 (i.e., the position where the hollow cylinder 22 is located), and the side wall of the main body 511 can be arranged with multiple jet outlets 512 in the radial extension direction.

[0185] If the wiping module 80 includes a media holder 82 that can be driven to rotate by the robotic vacuum cleaner 70, then the cleaning mechanism 50 may also include a scraping member 53. For example, the scraping member 53 may include a boss base 531 and a plurality of raised protrusions 532 distributed on the top surface of the boss base 531. When the actuating disc 21 is in the second height position, in response to the rotation of the media holder 82, the scraping member 53 may interfere with the wiping media 800 mounted on the media holder 82. The scraping member 53 may also extend radially from the alignment position of the rotation axis of the actuating disc 21 and the media holder 82 (i.e., the position where the hollow cylindrical column 22 is located), and the scraping member 53 may have a phase interval with the jetting member 51 and the guiding member 52 in the rotation direction of the media holder 82.

[0186] 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.

[0187] Combining the coupling mechanism 90 and the cleaning mechanism 50 described above, the base station used for maintaining the sweeping robot in this embodiment of the application can support the sweeping robot to flexibly switch between different working modes, such as single sweeping mode, single mopping mode, and combined mode.

[0188] The single-sweep mode means that the robot vacuum cleaner 70 uses the built-in cleaning component 73 to perform the task of cleaning the floating dust on the bottom surface, without installing the wiping module 80 for wiping the bottom surface.

[0189] The single-mop mode means that the robot vacuum cleaner 70 uses the installed wiping module 80 to perform the task of mopping the bottom surface, and the cleaning component 73 stops operating during this period.

[0190] The combined mode refers to the following: the robot vacuum cleaner 70 uses the installed wiping module 80 to perform the task of wiping the bottom surface, and the cleaning component 73 continues to operate during this period.

[0191] The switching between any of the working modes, including single-sweep mode, single-drag mode, and combined mode, can be achieved by automatically assembling and disassembling the wiping module 80 using the coupling mechanism 90.

[0192] Furthermore, for both single-mopping and combined-mode operations: before performing the mopping task, the robot vacuum 70 can use the cleaning mechanism 50 to moisten the wiping medium 800 of the wiping module 80; after completing the mopping task, the robot vacuum 70 can use the cleaning mechanism 50 to clean the wiping medium 800 of the wiping module 80.

[0193] In addition, if the wiping medium 800 of the wiping module 80 reaches a preset threshold after multiple mopping tasks, the wiping module 80 with cleaning wiping medium 800 can be replaced with a self-charging wiping module 80 using the coupling mechanism 90.

[0194] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A base station for maintaining a robotic vacuum cleaner, characterized in that, The base station includes: The base station base (10) includes a base main shell (12) for parking the sweeping robot (70). Maintenance tray (20), the maintenance tray (20) includes an execution disc (21), and the execution disc (21) is used to perform maintenance operations on a sweeping robot (70) parked on the base station base (10); A lifting mechanism (30) forms an adjustable support for the maintenance tray (20), and the adjustable support is used to allow the execution disc (21) to move up and down along a first direction between a first height position and a second height position; The second height position is adjacent to the mounting position of the wiping module (80) on the bottom of the sweeping robot (70), and the first height position is lower than the second height position; The lifting mechanism (30) includes a power module (31), a transmission mechanism (32), and a swing member (33). 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) can drive the translation and lifting of the execution disk (21) in response to the swing of the driving force. in, The swing member (33) has a fulcrum pivot (330) and a first end (331) and a second end (332) located on opposite sides of the fulcrum pivot (330). The pivot shaft (330) is rotatably engaged with the pivot support (123) of the base station base (10) to constrain the swinging member (33) in response to the driving force to use the pivot shaft (330) as a fixed pivot point. The driving force is applied to the first end (331) by the transmission mechanism (32) along the second direction, and there is a preset angular deviation between the first direction and the second direction; The first end (331) forms a first sliding fit with the transmission mechanism (32), and the second end (332) forms a second sliding fit with the execution disc (21).

2. The base station according to claim 1, characterized in that, The first sliding fit and the second sliding fit are used to eliminate the fit interference caused by the angular deviation between the swing member (33) and the transmission mechanism (32) and the execution disk (21).

3. The base station according to claim 1, characterized in that, The transmission mechanism (32) includes a guide member (321) arranged along the second direction and a moving component (322) movably mounted on the guide member (321). The moving component (322) has a transmission groove (323), and the first end (331) forms the first sliding fit with the transmission groove (323); Furthermore, the extension direction of the transmission groove (323) is arranged such that the first sliding engagement: the input force acting on the swing member (33) is obtained by decomposing the driving force, and the direction of the input force at the first end (331) is the tangential direction around the fixed fulcrum.

4. The base station according to claim 1, characterized in that, The maintenance tray (20) also includes a tray groove (25) located on the execution tray body (21); The second end (332) forms a second sliding fit with the tray groove (25); Wherein, the extending direction of the tray groove (25) is arranged such that the second sliding engagement: the output force acting on the execution disk (21) is obtained by decomposing the input force applied to the first end (331), and the direction of the output force applied to the execution disk (21) through the tray groove (25) is the first direction.

5. The base station according to claim 1, characterized in that, The swing member (33) is arched with the top of the arch facing downwards, and the pivot (330) is located at the top of the arch.

6. The base station according to claim 1, characterized in that, The base station base (10) has a parking slope (121) that is inclined relative to the horizontal plane. Wherein, the first direction is an inclined direction perpendicular to the stopping slope (121), and the second direction is a vertical direction perpendicular to the horizontal plane.

7. The base station according to claim 1, characterized in that, The base main shell (12) forms a base cavity (100) inside, and the base main shell (12) has a tray notch (122) that exposes the base cavity (100). The swing member (33) extends into the inner cavity (100) of the base and forms the adjustable support for the execution disc (21) at the tray notch (122).

8. The base station according to claim 7, characterized in that, The base station base (10) also includes a guide cylinder (111) arranged in the inner cavity (100) of the base. The maintenance tray (20) also includes a hollow cylindrical column (22) that connects to the execution disk body (21). The hollow cylindrical column (22) and the guide cylindrical column (111) are slidably inserted into each other along the first direction to constrain the translation and lifting of the execution disk (21) in the first direction.

9. The base station according to claim 7, characterized in that, The maintenance tray (20) also includes a flexible skirt (26) surrounding the outer periphery of the execution tray (21). The flexible skirt (26) is fixed to the opening edge of the tray notch (122), and the flexible skirt (26) expands and contracts in response to the translation and lifting of the execution disc (21).

10. The base station according to claim 9, characterized in that, The base station base (10) also includes a stop buckle (112) arranged in the inner cavity (100) of the base; The maintenance tray (20) also includes a vertical latch (23) formed in the execution tray body (21). The vertical latch (23) extends downward into the inner cavity (100) of the base, and when the execution disk (21) is at the second height position, the vertical latch (23) and the stop latch (112) interfere with each other to prevent the execution disk (21) from over-positioning beyond the second height position.

11. The base station according to claim 9, characterized in that, The maintenance tray (20) also includes a side lug (24) mounted on the execution tray (21). The side-protruding lug (24) extends laterally from the lower edge of the flexible skirt (26), and when the execution disk (21) is in the second height position, the side-protruding lug (24) interferes with the opening edge of the tray notch (122) to prevent the execution disk (21) from over-positioning beyond the second height position.

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