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 a maintenance operation on a parked sweeping robot, wherein the execution disc body can be lifted and lowered between a first height position and a second height position based on an adjustable support of a lifting mechanism, and the execution disc body can be arranged with a coupling mechanism. Since the coupling mechanism can generate a controllable coupling force, and the controllable coupling force is greater than the persistent coupling force of the sweeping robot to constrain the wiping assembly on the bottom, based on the cooperation between the controllable coupling force generated by the coupling mechanism and the lifting adjustment of the execution disc body where the coupling mechanism is located by the lifting mechanism, the automatic disassembly and assembly of the wiping module on the bottom of the sweeping robot can be realized.

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] The floor cleaning robot can perform a ground 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 function of dust removal and cleaning, based on the configuration of the hardware module.

[0003] Among them, the dust removal and cleaning function can be considered as the basic function of the floor cleaning robot, which can be realized based on the built-in cleaning module of the floor cleaning robot; and the wiping cleaning function can be considered as the additional function of the floor cleaning robot, which can be realized based on the wiping module detachably installed on the floor cleaning robot.

[0004] Therefore, for the floor cleaning robot that needs to be configured with the wiping cleaning function, it may face the disassembly and assembly requirement of the wiping module, and how to realize the automatic disassembly and assembly of the wiping module becomes a technical problem to be solved in the prior art. SUMMARY

[0005] In an embodiment of the present application, a base station for maintaining a floor cleaning robot is provided, which can realize the automatic disassembly and assembly of the wiping module of the floor cleaning robot.

[0006] One embodiment provides a base station for maintaining a floor cleaning robot, the base station comprising:

[0007] a base station base;

[0008] a maintenance tray, the maintenance tray comprising an execution disc body;

[0009] a coupling mechanism arranged in the execution disc body;

[0010] a lifting mechanism, the lifting mechanism forming an adjustable support for the maintenance tray, and the adjustable support being used to translate the execution disc body in a first direction between a first height position and a second height position;

[0011] Among them, the second height position is adjacent to the bottom installation position of the wiping module on the floor cleaning robot, and the first height position is lower than the second height position;

[0012] The sweeper robot generates a persistent coupling force for attracting the wiping module at the bottom mounting position, and the coupling mechanism is configured to generate a controllable coupling force greater than the persistent coupling force, so as to realize the mounting and dismounting of the wiping module on the sweeper robot based on the cooperation of the controllable coupling force and the translational lifting of the execution disc body.

[0013] In some examples, the sweeper robot is optionally provided with a host coupling assembly, the wiping module includes a module coupling assembly, and the persistent coupling force includes a permanent magnetic attraction force generated between the host coupling assembly and the module coupling assembly; wherein the controllable coupling force is generated between the module coupling assembly and the coupling mechanism; wherein the coupling mechanism includes an electromagnetic assembly, the controllable coupling force includes an electromagnetic attraction force generated between the electromagnetic assembly and the module coupling assembly, and the electromagnetic attraction force is greater than the permanent magnetic attraction force.

[0014] In some examples, the host coupling assembly includes a first ferrous member; the module coupling assembly includes a permanent magnetic member and a second ferrous member; wherein the wiping module includes a medium carrier, the permanent magnetic member is arranged on one side of the medium carrier facing the sweeper robot, and the second ferrous member is arranged on the other side of the medium carrier facing the maintenance tray; wherein the permanent magnetic attraction force is generated between the permanent magnetic member and the first ferrous member, and the electromagnetic attraction force is generated between the electromagnetic assembly and the second ferrous member.

[0015] In some examples, the base station further includes an electric drive module electrically connected to the lifting mechanism and the electromagnetic assembly for cooperative control of lifting drive of the lifting mechanism and controllable power supply of the electromagnetic assembly.

[0016] In some examples, the wiping module includes a medium carrier rotatable driven by the sweeper robot, the medium carrier being configured to mount wiping medium; the host coupling assembly, the module coupling assembly and the coupling mechanism are arranged in alignment with the rotation axis of the medium carrier.

[0017] In some examples, the sweeper robot includes a drive module for driving the medium carrier to rotate; wherein the host coupling assembly is mounted on the output shaft of the drive module.

[0018] In some examples, the ferrous member is mounted on the side of the medium carrier facing away from the sweeper robot.

[0019] In some examples, optionally, the base station dock comprises a dock main housing for parking the robotic sweeper, wherein an interior of the dock main housing forms a dock inner cavity, and the dock main housing has a tray aperture exposing the dock inner cavity; the execution tray is suspendedly supported by the lifting mechanism at the tray aperture; the maintenance tray further comprises a flexible skirt surrounding an outer periphery of the execution tray, wherein the flexible skirt is fixed to an opening edge of the tray aperture, and the flexible skirt generates an elastic deformation in response to the translational lifting of the execution tray.

[0020] In some examples, optionally, the maintenance tray further comprises a hollow cylinder connected to the execution tray; the coupling mechanism is fixedly installed in the hollow cylinder.

[0021] In some examples, optionally, the hollow cylinder extends downwardly from a bottom surface side of the execution tray.

[0022] In some examples, optionally, the base station dock further comprises a guide cylinder arranged in the dock inner cavity; wherein the hollow cylinder and the guide cylinder are slidingly inserted along the first direction to constrain the translational lifting of the execution tray in the first direction.

[0023] In some examples, optionally, the wiping module comprises a medium carrier rotatable by the robotic sweeper; the module coupling assembly and the hollow cylinder accommodating the coupling mechanism are arranged in alignment with a rotation axis of the medium carrier.

[0024] In some examples, optionally, the medium carrier has a positioning groove surrounding the module coupling assembly; the hollow cylinder has an opening flange protruding from a top surface side of the execution tray; wherein the opening flange is configured to form a relatively rotatable sliding insertion fit with the positioning groove.

[0025] Based on the above embodiments, the maintenance tray of the base station has an execution tray for performing maintenance operations on the parked robotic sweeper, wherein the execution tray is capable of translational lifting between a first height position and a second height position based on adjustable support of a lifting mechanism, and the execution tray can be arranged with a coupling mechanism. Since the coupling mechanism can generate a controllable coupling force, and the controllable coupling force is greater than the persistent coupling force of the robotic sweeper for constraining the wiping assembly at the bottom, based on the synergistic cooperation between the controllable coupling force generated by the coupling mechanism and the lifting adjustment of the execution tray where the coupling mechanism is located by the lifting mechanism, the automatic disassembly and assembly of the wiping module at the bottom of the robotic sweeper can be achieved. BRIEF DESCRIPTION OF DRAWINGS

[0026] The following drawings are merely schematic illustrations and explanations of the present application, and do not limit the scope of the present application:

[0027] Figure 1 A schematic diagram of the principle of automatic disassembly of the wiping module for the base station for maintaining the sweeping robot in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the deployment structure of the coupling mechanism of the base station in the embodiment shown in Figure 1

[0029] Figure 3 A schematic diagram of the state of the base station in the embodiment shown in Figure 1

[0030] Figure 4 A schematic diagram of the placement state of the wiping module separated from the sweeping robot in the base station in the embodiment shown in Figure 1

[0031] Figure 5 A schematic diagram of the exploded structure of the base station in the embodiment shown in Figure 1

[0032] Figure 6 A schematic diagram of the working principle of the lifting mechanism of the base station in the embodiment shown in Figure 1

[0033] Figure 7 A schematic diagram of the principle of the lifting mechanism of the base station in the embodiment shown in Figure 1

[0034] Figure 8 A schematic diagram of the assembly relationship between the maintenance tray and the base seat of the base station in the embodiment shown in Figure 1

[0035] Figure 9 A schematic diagram of the limiting structure of the maintenance tray by the base seat of the base station in the embodiment shown in Figure 1

[0036] Figure 10 A schematic diagram of the deployment structure of the cleaning mechanism in the embodiment shown in Figure 1

[0037] Explanation of reference signs

[0038] 10 base seat

[0039] 100 inner cavity of the base seat

[0040] 11 base plate

[0041] 111 guide cylinder

[0042] 112 stop buckle ​​​​​​​​​

[0043] 12 base main housing

[0044] 120 bottom opening

[0045] 121 parking ramp

[0046] 122 tray aperture

[0047] 123 pivot support

[0048] 124 drainage mechanism

[0049] 125 drain member

[0050] 126 anti-slip particles

[0051] 13 protective baffle

[0052] 20 maintenance tray

[0053] 21 execution disc body

[0054] 22 hollow cylinder

[0055] 220 open flange

[0056] 23 vertical buckle

[0057] 24 side convex hanging ear

[0058] 25 tray sliding groove

[0059] 26 flexible skirt

[0060] 27 skirt turnup

[0061] 30 lifting mechanism

[0062] 31 power module

[0063] 32 transmission mechanism

[0064] 321 guide member

[0065] 322 moving assembly

[0066] 322a nut flange

[0067] 322b moving body

[0068] 323 transmission sliding groove

[0069] 33 swing member

[0070] 330 fulcrum pivot

[0071] 331 first end

[0072] 332 second end

[0073] 34 installation bottom box

[0074] 50 Cleaning Organizations

[0075] 51 jet components

[0076] 511 main components

[0077] 512 jet outlet

[0078] 52 flow guiding components

[0079] 53 Scraping Components

[0080] 531 boss base

[0081] 532 raised bump

[0082] 70 Robot Vacuum Cleaner

[0083] 71 Host Coupling Component

[0084] 72 drive modules

[0085] 73 Cleaning Components

[0086] 80 Wiping Module

[0087] 800 Wiping Media

[0088] 81 Module Coupling Components

[0089] 82 Media Holder

[0090] 83 positioning groove

[0091] 90 coupling mechanism Detailed Implementation

[0092] 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.

[0093] Figure 1 This is a schematic diagram illustrating the principle of automatic disassembly and assembly of a wiping module for maintaining a base station of a sweeping robot in one embodiment of this application. Figure 2 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 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.

[0094] For example, the base station 10 can be internally provided with a wireless communication module, and a wired or wireless charging mechanism, so that the sweeping robot can be paired with the base station based on the communication module during the period of parking in the base station 10, and can be charged by the base station based on the charging mechanism after the pairing is successful. In the embodiments of the present application, the arrangement, mounting structure and configuration selection of the charging mechanism in the base station are not concerned, and therefore the illustration and description of the charging mechanism will be omitted in the drawings and the following text.

[0095] Still referring to Figure 1 and Figure 2 In the embodiments of the present application, in order to use the base station for maintaining the sweeping robot to achieve other maintenance operations in addition to charging, the base station can also include a maintenance tray 20.

[0096] For example, the base station 10 can include a base main shell 12, the inside of which can form a base inner cavity 100, and the base main shell 12 can have a tray opening 122 exposing the base inner cavity 100, and the maintenance tray 20 can be disposed above the tray opening 122.

[0097] The maintenance tray 20 can include an execution disc 21, and the execution disc 21 can be used to perform maintenance operations on the sweeping robot 70 parked in the base station 10, for example, the execution disc 21 can be provided with an operation mechanism for performing maintenance operations.

[0098] In the embodiments of the present application, the operation mechanism disposed on the execution disc 21 can include a coupling mechanism 90, wherein the coupling mechanism 90 can be used to automatically disassemble and assemble the wiping module of the sweeping robot.

[0099] The automatic disassembly and assembly of the wiping module requires an operation stroke to switch between a contact position and a non-contact position with the sweeping robot, and therefore, in the embodiments of the present application, the base station for maintaining the sweeping robot can also include 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 disc 21 along a first direction D1 between a first height position and a second height position.

[0100] Wherein 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 opening 122.

[0101] That is, the first height position can be understood as a non-contact position of the execution disc body 21 and the robot, and the execution disc body 21 is adjusted to the first height position by the lifting mechanism 30 before the robot is about to be parked on the base 10 and before the parked robot is about to leave the base 10, so as to avoid interference and collision between the execution disc body 21 and the robot; the second height position can be understood as a contact position of the execution disc body 21 and the robot, and the execution disc body 21 is allowed to be adjusted to the second height position only when the parked robot 70 is in a stopped state. Thus, it can be understood that the base for maintaining the robot in the embodiment of the application can further include a target detection mechanism for detecting the motion state of the robot and the positional relationship of the robot relative to the base 10. The specific implementation of the target detection mechanism is not the focus of the embodiment of the application, and thus will not be described here.

[0102] Specifically, the robot 70 can generate a continuous coupling force for attracting the wiping module 80 at the bottom mounting position for mounting the wiping module 80.

[0103] For example, the robot 70 can be provided with a main machine coupling assembly 71, the wiping module 80 can include a module coupling assembly 81, and the continuous coupling force generated by the robot 70 at the bottom mounting position can include a permanent magnetic attraction force generated between the main machine coupling assembly 71 and the module coupling assembly 81.

[0104] Correspondingly, the coupling mechanism 90 can be used to generate a controllable coupling force greater than the continuous coupling force, so as to realize the dismounting of the wiping module 80 from the robot 70 based on the cooperative operation of the controllable coupling force and the translational lifting of the execution disc body 21.

[0105] 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 attraction 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 attraction force can be greater than the permanent magnetic attraction force generated between the main machine coupling assembly 71 of the robot 70 and the module coupling assembly 81 of the wiping module 80. In this case, the electric drive module in the base for maintaining the robot, which is electrically connected to the lifting mechanism 30, can also be electrically connected to the coupling mechanism 90, so as 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, thereby realizing the cooperative operation of the controllable coupling force and the translational lifting of the execution disc body 21.

[0106] Based on this embodiment, the maintenance tray 20 of the base station has an execution disc 21 for performing maintenance operations on a parked robotic vacuum cleaner. The lifting mechanism 30 can provide adjustable support to the execution disc 21 by utilizing the swing of the swing member 33, allowing the execution disc 21 to move horizontally and vertically between a first height position and a second height position. Furthermore, the second height position of the execution disc 21 can be adjacent to the mounting position of the wiping module on the bottom of the robotic vacuum cleaner. Since the execution disc 21 of the maintenance tray 20 can be equipped with a coupling mechanism 90, and this coupling mechanism 90 can generate a controllable coupling force, and this controllable coupling force can be greater than the continuous coupling force that constrains the wiping component 80 to the bottom of the robotic vacuum cleaner 70, the automatic mounting and dismounting of the wiping module 80 on the bottom of the robotic vacuum cleaner 70 can be achieved through the coordinated cooperation between the controllable coupling force generated by the coupling mechanism 90 and the lifting mechanism 30's adjustment of the execution disc 21 where the coupling mechanism 90 is located.

[0107] Figure 3 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 4 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 3 and Figure 4 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 3-4 The automatic disassembly process is shown in sequence, and according to the order from Figures 4-3 The automatic installation process is shown in the sequence.

[0108] For the automatic disassembly process:

[0109] 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.

[0110] 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;

[0111] 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.

[0112] After the sweeping robot 70, from which the to-be-wiped module 80 is detached, leaves the base station 10, the coupling mechanism 90 can stop generating the controllable coupling force, so that the detached to-be-wiped module 80 can be easily taken from the execution disc 21.

[0113] For the automatic installation process:

[0114] The to-be-wiped module 80 to be installed can be placed on the execution disc 21, and the coupling mechanism 90 can start generating the controllable coupling force;

[0115] When the sweeping robot 70, which needs to install the to-be-wiped module 80, is parked at the base station 10, the execution disc 21 can be lifted from the first height position to the second height position under the drive of the lifting mechanism 30, and the coupling mechanism 90 can not generate the controllable coupling force during the lifting of the execution disc 21;

[0116] When the execution disc 21 reaches the second height position, the to-be-wiped 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 to-be-wiped 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, to realize the automatic installation of the to-be-wiped module 80 on the sweeping robot 70;

[0117] After the coupling mechanism 90 stops generating the controllable coupling force, the execution disc 21 can be lowered from the second height position to the first height position under the drive 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 21;

[0118] After that, the sweeping robot 70, on which the to-be-wiped module 80 is installed, can leave the base station 10.

[0119] In addition, the to-be-wiped module 80 can include a medium bracket 82 that can be driven to rotate by the sweeping robot 70, the medium bracket 82 being used to install a wiping medium 800 such as a cloth, the wiping medium being installed on the side of the medium bracket 82 away from the sweeping robot 70 (i.e. the side of the medium bracket 82 facing the maintenance tray 20), and the host 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 bracket 82.

[0120] For example, the host coupling assembly 71 can include a first ferrous member; the module coupling assembly 81 can include a permanent magnetic member 81a and a second ferrous member 81b, wherein the permanent magnetic member 81a can be arranged at one side of the media tray 82 facing the robotic sweeper 70, and the second ferrous member 81b is arranged at the other side of the media tray 82 facing the maintenance tray 20. Thus, the permanent magnetic attraction force between the host coupling assembly 70 and the module coupling assembly 80 can be generated between the permanent magnetic member 81a of the module coupling assembly 81 and the first ferrous member of the host coupling assembly 71; and the electromagnetic attraction force between the coupling member 90 and the module coupling assembly 81 can be generated between the electromagnetic assembly of the coupling member 90 and the second ferrous member 81b of the module coupling assembly 81.

[0121] Based on the above structure, if the first ferrous member of the host coupling assembly 71, the permanent magnetic member 81a and the second ferrous member 81b of the module coupling assembly 81, and the electromagnetic assembly of the coupling member 90 are arranged in alignment with the rotation axis of the media tray 82, the permanent magnetic attraction force serving as the continuous coupling force and the electromagnetic attraction force serving as the controllable coupling force can be generated along the rotation axis of the media tray 82, and neither the permanent magnetic attraction force nor the electromagnetic attraction force will affect the rotation of the media tray 82.

[0122] In order to more reasonably arrange the first ferrous member of the host coupling assembly 71, the permanent magnetic member 81a and the second ferrous member 81b of the module coupling assembly 81, and the electromagnetic assembly of the coupling member 90 in alignment with the rotation axis of the media tray 82:

[0123] The robotic sweeper 70 can include a drive module 72 for driving the media tray 82 to rotate at the bottom installation position, and the host coupling assembly 71 (for example, the first ferrous member) can be installed at the output shaft (for example, the end surface of the output shaft) of the drive module 72;

[0124] The media tray 82 can have a rotating shaft cylinder 85 at the side facing the robotic sweeper 70, which is used to be inserted into the plug-in 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 plug-in shaft cavity 75, and the permanent magnetic member 81a of the module coupling assembly 81 can be arranged inside the rotating shaft cylinder 85 (for example, the bottom of the rotating shaft cylinder 85);

[0125] The second ferrous member 81b of the module coupling assembly 81 can be installed at the other side of the media tray 82 facing away from the robotic sweeper 70 (i.e., the other side of the media tray 82 facing the maintenance tray 20) to minimize the interference with the permanent magnetic attraction force generated between the permanent magnetic member 81a of the module coupling assembly 81 and the first ferrous member of the host coupling assembly 71.

[0126] In order to better understand the translational lifting function provided by the lifting mechanism 30 for the execution disc body 21, the structure of the base station will be further described in detail as follows.

[0127] Figure 5 An exploded structural schematic view of the base station in the embodiment shown in FIG. 1. Figure 1 An exploded structural schematic view of the base station in the embodiment shown in FIG. 1. Figure 6 An exploded structural schematic view of the base station in the embodiment shown in FIG. 1. Figure 1 An exploded structural schematic view of the base station in the embodiment shown in FIG. 1. Figure 5 An exploded structural schematic view of the base station in the embodiment shown in FIG. 1. Figure 6 In the embodiment of the present application, the lifting mechanism 30 can include a power module 31, a transmission mechanism 32, and a swing member 33.

[0128] The power module 31 can include a power element such as a motor, and the power module 31 is configured to generate a driving force.

[0129] The transmission mechanism 32 is configured to apply the driving force generated by the power module 31 to the swing member 33, so as to drive the translational lifting of the execution disc body 21 through the swing of the swing member 33 in response to the driving force.

[0130] 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 be inserted into the base cavity 100 of the base station base 10 and form the adjustable support for the execution disc body 21 at the tray opening 122.

[0131] Therefore, the maintenance tray 20 of the base station has the execution disc body 21 for performing maintenance operations on the parked cleaning robot, wherein the lifting mechanism 30 can form adjustable support for the execution disc body 21 by swinging the swing member 33, so that the execution disc body 21 can be translational lifted between the first height position and the second height position; and the second height position of the execution disc body 21 can be adjacent to the installation position of the wiping module at the bottom of the cleaning robot, so that based on the lifting adjustment of the execution disc body 21 by the lifting mechanism 30, the contact-type maintenance operation can be performed on the wiping module at the bottom of the cleaning robot by means of any operation mechanism deployed on the execution disc body 21.

[0132] In the embodiment of the present application, the switching direction of the execution disc body 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, the lifting direction of the execution disc body 21 (i.e., the first direction D1) and the transmission direction of the transmission mechanism 32 (i.e., the second direction D2) can have a direction deviation, which can be manifested as a preset angle deviation between the first direction D1 and the second direction D2.

[0133] 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.

[0134] 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).

[0135] Figure 7 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 7 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:

[0136] 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.

[0137] 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;

[0138] 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.

[0139] The second end portion 332 of the swing member 33 forms a second slide-and-rotation fit with the execution disc body 21 of the maintenance tray 20, 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 a second slide-and-rotation fit with the execution disc body 21 at the tray slot 122;

[0140] And the first slide-and-rotation fit and the second slide-and-rotation fit are used to eliminate the fit interference between the swing member 33 and the transmission mechanism 32 and the execution disc body 21 due to the angular deviation between the first direction D1 and the second direction D2.

[0141] Specifically, the transmission mechanism 32 of the lifting mechanism 30 can include a guide member 321 arranged along the second direction D2, and a moving assembly 322 movably installed 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 assembly 31, so as to apply the driving force in the second direction D2 to the first end portion 331 of the swing member 33.

[0142] 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 aforementioned first slide-and-rotation fit 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, so as to form the first slide-and-rotation fit between the first end portion 331 of the swing member 33 and the transmission sliding groove 323.

[0143] Wherein, the extension direction of the transmission sliding groove 323 of the moving assembly 322 is arranged to enable the first slide-and-rotation fit between the first end portion 331 and the transmission sliding groove 323 to decompose the driving force generated by the power assembly 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.

[0144] For example, the power assembly 31 can include a stepper motor, the guide member 321 can include a lead screw coaxially connected with the output shaft of the stepper motor of the power assembly 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 lead screw of the guide member 321, the nut flange 322a can also be fixedly connected with the moving body 322b, and the transmission sliding groove 323 can be formed in the moving body 322b.

[0145] In this case, the first end portion 331 of the swing member 33 not only forms the first sliding rotation fit with the slidable insertion of the first guide post thereof in the transmission slot 323, but also forms a rotation-stopping abutment against the moving body 332b, which is used to form a rotation-stopping constraint that prevents the moving body 332b from rotating in the direction of the lead screw. In the illustrated representation of this embodiment, the first end portion 331 of the swing member 33 is taken as an example of adopting a double-arm structure that forms a clamping of the moving body 332b on opposite sides of the moving body 332b.

[0146] Correspondingly, the nut flange 332a that is fixedly connected with the moving body 332b is also subjected to the above-mentioned rotation-stopping constraint, i.e., the moving body 322b that forms the first sliding rotation fit with the swing member 33 (i.e., the first end portion 331) can form a rotation-stopping constraint against the nut flange 322a.

[0147] Thus, during the rotation of the lead screw of the guide member 321 in response to the driving force generated by the stepping motor of the power module 31, the nut flange 322a that is engaged with the lead screw can be lifted linearly in the second direction D2 in response to the engagement transmission between the rotating lead screw and the nut flange 322a due to the rotation-stopping constraint, and thereby drive the moving body 322b that is 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 portion 331 of the swing member 33 that forms 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 stepping motor of the power module 31.

[0148] The maintenance tray 20 can also include a tray slot 25 located on the tray body 21, and the second end portion 332 of the swing member 33 can form the second sliding rotation fit with the tray slot 25. For example, the second end portion 332 of the swing member 33 can have a laterally protruding second guide post that is slidable inserted in the tray slot 25 to form the second sliding rotation fit between the second end portion 332 of the swing member 33 and the tray slot 25.

[0149] Among them, the extension direction of the tray slot 25 can be arranged to enable the second sliding rotation fit between the second end portion 332 of the swing member 33 and the tray slot 25 to: decompose the aforementioned input force applied to the first end portion 331 to obtain an output force that acts on the tray body 21, and the force direction of the tray slot 25 to the tray body 21 is the first direction D1.

[0150] In addition, in order to avoid the 0° dead angle of the swing member 33 parallel to the transmission chute 323 at the first end 331 and the 0° dead angle parallel to the tray chute 25 at the second end 332, 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 rotating shaft 330 for forming the fixed fulcrum can be located at the arch top of the arch.

[0151] In the process of driving the lifting of the execution disc body 21 of the maintenance tray 20 by the lifting mechanism 30, the embodiment of the present application can also assist the maintenance tray 20 with guidance and limiting, so as to further optimize the lifting stability and reliability of the execution disc body 21 of the maintenance tray 20.

[0152] In addition, the lifting mechanism 30 can also include a position detection assembly, which can be arranged at the limit position of the movement assembly 322 moving 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 movement assembly 322 moves to the preset limit position along the guide member 321. Wherein, the limit position of the movement assembly 322 moving along the guide member 321 can be determined according to the first height position and the second height position.

[0153] Figure 8 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment of the present application. Figure 1 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment of the present application. Figure 9 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment of the present application. Figure 1 As shown in the assembly relationship diagram of the maintenance tray and the base of the base station in the embodiment of the present application. Figure 8 Figure 9 For the case that the base station 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:

[0154] The base station 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 in the first direction D1 towards the tray opening 122;

[0155] Correspondingly, the maintenance tray 20 can also include a hollow cylinder 22 connected to the execution disc body 21, which can be sunken and extended on the side of the execution disc body 21 facing the base inner cavity 100, so that the hollow cylinder 22 can be slidably inserted with the guide cylinder 111 in the first direction D1, so as to constrain the translational lifting of the execution disc body 21 between the first height position and the second height position in the first direction D. ​

[0156] The maintenance tray 20 can be arranged to be movable between a first position and a second position, wherein the maintenance tray 20 is arranged to be movable between the first position and the second position along a first direction D1 which is parallel to the first direction D1 of the hollow cylinder 22.

[0157] As an alternative, the coupling mechanism 90 can be fixedly arranged in the hollow cylinder 22 of the maintenance tray 20. Since the hollow cylinder 22 can be arranged to be slidable into the guiding cylinder 111 towards the bottom side of the base cavity 100, the coupling mechanism 90 arranged in the hollow cylinder 22 can also be arranged to avoid interference with the wiping module 80.

[0158] If the wiping module 80 comprises a media carrier 82 which is arranged to be rotatable by the drive module 72 of the robotic cleaner 70, and the main coupling assembly 71, the module coupling assembly 81 and the coupling mechanism 90 are all arranged to be coaxially aligned with the rotation axis of the media carrier 82, the docking position of the robotic cleaner 70 in the base station 10 can be arranged such that the output shaft of the drive module 72 of the robotic cleaner 70 is coaxially aligned with the hollow cylinder 22 along the first direction D1.

[0159] In this case, the media carrier 82 can comprise a positioning recess 83 which is arranged to surround the rotation axis, for example, the positioning recess 83 can be arranged to surround the module coupling assembly 81 (e.g. the second ferromagnetic member 81b) at the rotation axis, and correspondingly, the hollow cylinder 22 can comprise an open flange 220 which protrudes from the top side of the execution tray 21 away from the base cavity 100, and the open flange 220 is arranged to form a rotatable sliding fit with the positioning recess 83, such that the rotation axis of the media carrier 82 can be coaxially aligned with the output shaft of the drive module 72 of the robotic cleaner 70.

[0160] 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 position, in the embodiments of the present application, the maintenance tray 20 can further comprise a flexible skirt 26 which surrounds the outer periphery of the execution tray 21.

[0161] 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 21, and the lower edge of the flexible skirt 26 can form a skirt flange 27 which is fixed to the opening edge of the tray aperture 122 by riveting or screwing or the like. Preferably, the shielding of the tray aperture 122 by the flexible skirt 26 can form a waterproof seal of the tray aperture 122.

[0162] And, the flexible skirt 26 can generate a telescopic deformation in response to the translational lifting of the execution disc 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 disc body 21 is in the first height position, and the flexible skirt 26 can be in a tensioned state when the execution disc body 21 is in the second height position.

[0163] For the case that the hollow cylinder 22 and the guide cylinder 111 are slidingly inserted along the first direction D1 to form a guide, and the flexible skirt 26 is used to shield the tray aperture 122, the embodiment of the present application can also set a limiting constraint between the base station base 10 and the execution disc body 21 of the maintenance tray 20.

[0164] The limiting constraint is used to constrain the upper limit position of the execution disc body 21 to avoid over-positioned rising of the execution disc body 21 when the position detection assembly of the lifting mechanism 30 fails; and the lower limit position of the execution disc 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 disc body 21 to descend, or the lower limit position of the execution disc body 21 can be constrained by the dimensional interference between the execution disc body 21 and the tray aperture 122.

[0165] One optional limiting constraint mode for preventing over-positioned rising is as follows:

[0166] The maintenance tray 20 can further include a longitudinal vertical buckle 23 formed on the execution disc body 21, which can extend downward from the execution disc body 21 towards the bottom inner cavity 100;

[0167] The base station base 10 can further include a stop buckle 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 by covering the bottom opening 120 of the base main shell 12 with the base bottom plate 11;

[0168] Therefore, when the execution disc body 21 of the maintenance tray 20 is located at the second height position, the longitudinal vertical buckle 23 and the stop buckle 112 interfere with each other to prevent the execution disc body 21 from over-positioned rising beyond the second height position, thereby avoiding the hollow cylinder 22 from disengaging from the guide cylinder 111 due to over-positioned rising 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-positioned rising of the execution disc body.

[0169] Another optional limiting constraint mode for preventing over-positioned rising is as follows:

[0170] 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);

[0171] 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.

[0172] 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.

[0173] 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.

[0174] In the embodiments of this application, the operating mechanism deployed on the execution disk 21 may include a coupling mechanism 90 and a cleaning mechanism 50, wherein the cleaning mechanism 50 can be used to clean the wiping module installed on the sweeping robot.

[0175] 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 10 In 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.

[0176] Specifically, the cleaning mechanism 50 may include a jetting component 51 and a flow guiding component 52.

[0177] The spray member 51 is configured to spray fluid, wherein when the cleaning robot equipped with the wiping module is parked on the base station 10, the execution disc 21 in the second height position can contact the wiping module (for example, contact the wiping medium such as a cloth provided on the wiping module), and the fluid sprayed by the spray member 51 is sprayed from the spray member 51 at an angle avoiding the wiping module (i.e. the wiping medium), that is, the spray member 51 is configured to spray fluid at an angle avoiding the wiping module when the execution disc 21 is in the second height position.

[0178] For example, the spray member 51 can include a member body 511 protruding from the top surface of the execution disc 21, and a spray outlet 512 provided on the side wall of the member body 511, so that the fluid sprayed laterally from the spray outlet 512 can avoid the wiping module, preferably, the spray outlet 512 can be provided on the side wall of the member body 511 close to the bottom of the execution disc 21. In this case, the member body 511 can be a hollow protrusion integrally formed on the execution disc 21, so that the fluid supply pipe below the execution disc can be introduced into the hollow protrusion and sprayed from the spray outlet 512 provided on the wall of the hollow protrusion.

[0179] The flow guide member 52 is configured to guide the fluid sprayed by the spray member 51 at an angle avoiding the wiping module to diffuse to the wiping module (wiping medium).

[0180] For example, the flow guide member 52 can be arranged spaced apart from the spray member 51, wherein the spacing between the flow guide member 52 and the spray member 51 can cause the fluid sprayed from the spray member 51 to impact the flow guide member 52, for example, the fluid sprayed from the spray member 51 can impact the flow guide member 52 at a predetermined intensity, and the flow guide 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 guide 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 guide member 52 can be a plate-shaped protrusion integrally formed on the execution disc 21, which can have an inclined wall facing the spray member 51 to uniformly diffuse and eject the impacting fluid to the wiping module by the inclined wall.

[0181] Therefore, the cleaning mechanism 50 arranged on the execution disc 21 can implement automatic contact cleaning of the wiping module equipped on the cleaning robot without affecting the spraying of fluid when the execution disc 21 contacts the wiping module, and the cleaning mechanism adopts the fluid supply mode that the fluid sprayed by the spray member 51 is uniformly guided to the wiping module by the flow guide member 52, which helps to improve the uniformity of cleaning the wiping module.

[0182] If the wiping module 80 includes the medium carrier 82 rotatable driven by the robotic sweeper 70, the member body 511 of the jet flow member 51 and the flow guide member 52 can both extend radially from the alignment position of the rotational axis of the execution disc body 21 and the medium carrier 82, and the side wall of the member body 511 can be arranged with a plurality of jet outlets 512 in the direction of the radial extension.

[0183] If the wiping module 80 includes the medium carrier 82 rotatable driven by the robotic sweeper 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 body 21 is in the second height position, the scraping member 53 can interfere and rub with the wiping medium 800 installed on the medium carrier 82 in response to the rotation of the medium carrier 82. The scraping member 53 can also extend radially from the alignment position of the rotational axis of the execution disc body 21 and the medium carrier 82, and the scraping member 53 can have a phase interval in the rotation direction of the medium carrier 82 with the jet flow member 51 and the flow guide member 52.

[0184] In addition, the base station base 10 can also have a drainage mechanism 124 and a sewage member 125, wherein the drainage mechanism 124 forms a drainage path for the sewage overflowed from the wiping module to flow from the maintenance tray 20 to the sewage member 125. For example, the sewage member 125 can be detachably installed on the base main shell 12, and the drainage mechanism 124 can be formed on the flow guide slope of the outer periphery of the maintenance tray 20, which can form a guiding trend for the sewage overflowed from the wiping module to flow naturally to the sewage member 125.

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

[0186] The single-sweeping mode refers to that the robotic sweeper 70 performs the dust removal task of sweeping the floating 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 robotic sweeper 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 robotic sweeper 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] The switching between the single-sweep mode and any one of the single-mop mode and the combined mode can be realized by the automatic disassembly and assembly of the wiping module 80 by the coupling mechanism 90.

[0190] Moreover, for the single-mop mode and the combined mode, the wiping medium 800 of the wiping module 80 can be moistened by the cleaning mechanism 50 before the mop task is performed by the sweeping robot 70, and the wiping medium 800 of the wiping module 80 can be cleaned by the cleaning mechanism 50 after the mop task is completed by the sweeping robot 70.

[0191] In addition, if the number of cleanings of the wiping medium 800 of the wiping module 80 after the completion of multiple mop tasks reaches a preset threshold, the wiping module 80 with the clean wiping medium 800 can also be automatically disassembled and assembled by the coupling mechanism 90 to replace the wiping module 80 with the 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) and a hollow cylinder (22) connected to the execution disc body (21); a coupling mechanism (90) arranged in the execution disc body (21) and fixedly installed in the hollow cylinder (22); a lifting mechanism (30) forming an adjustable support for the maintenance tray (20), the adjustable support being used for the execution disc body (21) to translate and lift between a first height position and a second height position in a first direction, the first height position being lower than the second height position, the second height position being adjacent to a bottom installation position of a wiping module (80) of a sweeping robot (70), and the wiping module (80) comprising a module coupling assembly (81) and a medium bracket (82) rotatable driven by the sweeping robot (70); the sweeping robot (70) generates a continuous coupling force for attracting the wiping module (80) in the bottom installation position, the sweeping robot (70) is installed with a main machine coupling assembly (71), and the continuous coupling force comprises a permanent magnetic attraction force generated between the main machine coupling assembly (71) and the module coupling assembly (81); the coupling mechanism (90) is used to generate a controllable coupling force greater than the continuous coupling force, so as to allow the wiping module (80) to be disassembled based on the cooperative matching of the controllable coupling force and the translation and lifting of the execution disc body (21); and the controllable coupling force comprises an electromagnetic attraction force greater than the permanent magnetic attraction force generated between an electromagnetic assembly of the coupling mechanism (90) and the module coupling assembly (81); the module coupling assembly (81) and the hollow cylinder (22) containing the coupling mechanism (90) are arranged in alignment with a rotation axis of the medium bracket (82), the medium bracket (82) has a positioning groove (83) surrounding the module coupling assembly (81), the hollow cylinder (22) has an open flange (220) protruding from a top surface side of the execution disc body (21), and the open flange (220) is used to form a relatively rotatable sliding plug-in matching with the positioning groove (83).

2. The base station according to claim 1, wherein the main machine coupling assembly (71) comprises a first ferrous member; the module coupling assembly (81) comprises a permanent magnetic member (81a) and a second ferrous member (81b); wherein the wiping module (80) comprises a medium bracket (82), the permanent magnetic member (81a) is arranged on one side of the medium bracket (82) facing the sweeping robot (70), and the second ferrous member (81b) is arranged on the other side of the medium bracket (82) facing the maintenance tray (20). The permanent magnetic attraction is generated between the permanent magnetic component (81a) and the first ferrous component, and the electromagnetic attraction is generated between the electromagnetic assembly and the second ferrous component (81b).

3. The base station of claim 1, wherein, The base station further comprises: An electric drive module is electrically connected with the lifting mechanism (30) and the electromagnetic assembly, to cooperatively control the lifting drive of the lifting mechanism (30) and the controllable power supply of the electromagnetic assembly.

4. The base station of claim 1, wherein The host coupling assembly (71) is arranged in alignment with the rotation axis of the medium holder (82).

5. The base station of claim 1, wherein The hollow cylinder (22) extends downwardly from the bottom surface of the execution disc (21).

6. The base station of claim 5, wherein The base station base (10) comprises a base main shell (12) for parking the sweeping robot (70), wherein the inside of the base main shell (12) forms a base inner cavity (100), and the base main shell (12) has a tray opening (122) exposing the base inner cavity (100); The execution disc (21) is suspended and supported by the lifting mechanism (30) at the tray opening (122); The base station base (10) further comprises a guide cylinder (111) arranged in the base inner cavity (100); The hollow cylinder (22) is slidingly inserted with the guide cylinder (111) along the first direction, to constrain the translational lifting of the execution disc (21) in the first direction.

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