Base station, robot host and sweeper

Abstract

The present invention relates to a base station, a robot host, and a sweeper, comprising a base station body, the base station body being provided with a housing chamber having an opening for accommodating the robot host, the robot host being able to enter and exit the housing chamber through the opening. A first limiting portion is provided on the wall of the housing chamber, and the first limiting portion is configured to engage with a first mating portion on the robot host in a concave-convex manner to press the robot host longitudinally against the wall of the housing chamber. This ensures that the robot host is fixed in the longitudinal direction relative to the base station and does not float, thereby ensuring better results for subsequent water replenishment, pumping, or cleaning.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping machines, and in particular to a base station, a robot host and a sweeping machine. Background Art

[0002] In the field of robot vacuums, a base station is a stationary device used to charge and rehydrate the robot. The base station is typically placed in a fixed location. After completing a sweeping task, the robot returns to the base station. The cavity in the base station that houses the robot is typically slightly larger than the robot itself, so the robot may float after entering the base station, affecting subsequent recharging, pumping, and cleaning. Summary of the Invention

[0003] In response to the problem of floating of the robot host after entering the station, the present invention proposes a base station, a robot host and a sweeper. Through the concave-convex cooperation between the first limiting part and the first matching part, the robot host can be at least partially pressed longitudinally between the first limiting part and the wall of the accommodating chamber, thereby limiting the relative position of the robot host with respect to the base station in the longitudinal direction, preventing the robot host from floating relative to the base station, and ensuring better effects of subsequent water replenishment, water pumping or cleaning.

[0004] A base station, comprising:

[0005] A base station body, wherein the base station body is provided with a receiving cavity having an opening, the receiving cavity being used to receive a robot host, and the robot host being able to enter and exit the receiving cavity through the opening of the receiving cavity;

[0006] A first limiting portion is provided on the cavity wall of the accommodating cavity, and the first limiting portion is used to engage with the first matching portion on the robot host in a concave-convex manner to press the robot host against the cavity wall of the accommodating cavity in the longitudinal direction.

[0007] In one embodiment, the opening of the accommodating cavity is a first opening, the portion of the cavity wall of the accommodating cavity opposite to the first opening is a docking wall, the first limiting portion includes a guide protrusion assembly provided on the docking wall, and the guide protrusion assembly extends at least partially into the accommodating cavity relative to the docking wall, and the extension direction is a first direction.

[0008] In one embodiment, the guide protrusion assembly includes a guide bracket and a guide wheel, the guide bracket is connected to the base station body, and the guide bracket is at least partially protruded in the accommodating cavity along the first direction, the guide wheel is rotatably mounted on the part of the guide bracket located in the accommodating cavity, and the axis of rotation of the guide wheel relative to the guide bracket is perpendicular to the entry and exit direction of the robot main body in and out of the accommodating cavity, and the outer peripheral surface of the guide wheel is at least partially tangent to the surface of the guide bracket or protrudes outside the surface of the guide bracket.

[0009] In one embodiment, a portion of the outer circumference of the guide wheel protrudes above the guide bracket, and another portion protrudes below the guide bracket.

[0010] In one embodiment, the guide wheel is arranged in a horizontal direction relative to the axis of rotation of the guide bracket.

[0011] In one embodiment, the end of the guide bracket protruding from the accommodating cavity and close to the first opening is a guide end, and the cross-sectional area of ​​the guide end gradually decreases in a direction away from the first opening.

[0012] In one embodiment, the guide wheel is rotatably mounted on the guide end.

[0013] In one embodiment, the base station body includes a shell, the shell enclosing the accommodating cavity, the guide bracket includes a fixing portion, the fixing portion is located on a side of the shell away from the accommodating cavity, and the fixing portion is provided with a plurality of positioning holes and a plurality of assembly holes, and a positioning post is provided on the shell at a position corresponding to the positioning hole, and the positioning post is inserted into the positioning hole;

[0014] The base station further includes a screw. A threaded hole is provided on the shell at a position corresponding to the assembly hole. The screw passes through the assembly hole and the threaded hole in sequence to fix the fixing part to the shell.

[0015] In one embodiment, the first direction is arranged at an angle to the horizontal direction;

[0016] Alternatively, the first direction is parallel to the direction in which the robot main body enters and exits the accommodating cavity.

[0017] In one embodiment, the portion of the cavity wall of the accommodating cavity located between the docking wall and the first opening and facing parallel to the horizontal direction is a limiting side wall, and two oppositely arranged first guide portions are provided on the limiting side wall. After the robot main body enters the accommodating cavity, the two first guide portions respectively abut against both sides of the robot main body.

[0018] A robot host, comprising:

[0019] The host body is provided with a first matching portion at a position corresponding to the first limiting portion after the host body enters the accommodating cavity of the base station. The first matching portion is used to match the first limiting portion in a concave-convex manner. When the first matching portion matches the first limiting portion in a concave-convex manner, the host body is pressed longitudinally against the cavity wall of the accommodating cavity.

[0020] In one embodiment, the first matching portion is a limiting groove provided on the host body, and the direction of the limiting groove is consistent with the entry direction of the host body when entering the accommodating cavity.

[0021] A sweeping machine, comprising the above-mentioned base station and the above-mentioned robot host;

[0022] After the robot main body enters the accommodating cavity, when the first limiting portion and the first matching portion are engaged with each other in a concave-convex manner, the robot main body is at least partially pressed longitudinally between the first limiting portion and the cavity wall of the accommodating cavity.

[0023] The above scheme provides a base station, a robot host and a sweeper. When the first limiting portion on the base station and the first matching portion on the robot host are matched together, the first limiting portion can provide a force for the robot host, so that the robot host is pressed against the wall of the accommodating cavity in the longitudinal direction, thereby ensuring that the relative position of the robot host relative to the base station in the longitudinal direction is fixed and will not float, thereby ensuring that the subsequent water replenishment, water pumping or cleaning effects are better. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 is a cross-sectional view of the sweeping machine described in this embodiment;

[0027] Figure 2 for Figure 1 A partial enlarged view of point A in the middle;

[0028] Figure 3is a cross-sectional view of the sweeping machine described in this embodiment from another perspective;

[0029] Figure 4 This is a main view of the base station described in this embodiment;

[0030] Figure 5 This is a schematic structural diagram of the guide protrusion assembly described in this embodiment;

[0031] Figure 6 for Figure 5 a right side view of the guide boss assembly shown;

[0032] Figure 7 for Figure 5 a rear view of the guide boss assembly shown;

[0033] Figure 8 Schematic diagram of the structure of the robot host described in this embodiment.

[0034] Description of reference numerals:

[0035] 10. Sweeping machine; 20. Base station; 21. Base station body; 211. Shell; 2111. Docking wall; 2112. Limiting side wall; 2113. Bottom wall; 2114. Top wall; 212. Accommodating cavity; 213. First opening; 214. First limiting portion; 2141. Guide bracket; 2142. Guide wheel; 2143. Wheel axle; 2144. Guide end; 2145. Fixing portion; 2146. Positioning hole; 2147. Assembly hole; 215. First guide portion; 22. Support assembly; 30. Robot host; 31. Host body; 311. First mating portion. DETAILED DESCRIPTION

[0036] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] like Figure 1 and Figure 3 As shown, in some embodiments, a sweeping machine 10 is provided, which includes a base station 20 and a robot host 30. The robot host 30 corresponds to the base station 20, and after sweeping the floor, the robot host 30 can return to the base station 20 for water replenishment, cleaning, or pumping.

[0038] In certain embodiments, as Figure 4As shown, the base station 20 includes a base station body 21, and the base station body 21 is provided with a receiving cavity 212 with an opening. Figure 1 and Figure 3 As shown, the accommodating chamber 212 is used to accommodate the robot host 30 , and the robot host 30 can enter and exit the accommodating chamber 212 through an opening of the accommodating chamber 212 .

[0039] A first limiting portion 214 is provided on the wall of the accommodating cavity 212 . The first limiting portion 214 is configured to engage with the first matching portion 311 on the robot host 30 in a concave-convex manner to press the robot host 30 against the wall of the accommodating cavity 212 in the longitudinal direction.

[0040] like Figure 1 and Figure 2 As shown, when the robot host 30 returns to the station, the first limiting portion 214 and the first matching portion 311 will fit together to provide a longitudinal pressing force for the robot host 30, and the robot host 30 will abut against the cavity wall of the accommodating cavity 212 in the longitudinal direction, thereby making the robot host 30 at least partially pressed longitudinally between the first limiting portion 214 and the cavity wall of the accommodating cavity 212, so that the robot host 30 cannot float longitudinally relative to the base station 20, so as to ensure better effects of subsequent water replenishment, water pumping or cleaning.

[0041] Specifically, the first position-limiting portion 214 can be a raised structure provided on the wall of the accommodating cavity 212, or a recessed structure provided on the wall of the accommodating cavity 212. When the first position-limiting portion 214 is a raised structure, the first mating portion 311 on the robot main body 30 is a recessed structure. When the first position-limiting portion 214 is a recessed structure, the first mating portion 311 on the robot main body 30 is a raised structure.

[0042] Moreover, if Figure 4 As shown, the portion of the cavity wall of the accommodating cavity 212 opposite the first opening 213 is the docking wall 2111, the portion located between the docking wall 2111 and the first opening 213 and oriented parallel to the horizontal direction is the limiting side wall 2112, and the other portions located between the docking wall 2111 and the first opening are the bottom wall 2113 and the top wall 2114, which are arranged opposite each other. It can be understood that the accommodating cavity 212 is a rectangular space with an opening, which is surrounded by a docking wall 2111, two limiting side walls 2112, a bottom wall 2113, and a top wall 2114. The first limiting portion 214 can be provided on the docking wall 2111, the limiting side walls 2112, the bottom wall 2113, or the top wall 2114.

[0043] In one embodiment, Figure 4 As shown, the first limiting portion 214 is provided on the docking wall 2111. Figure 8As shown, the first mating portion 311 of the robot host 30 is provided on a surface of the host body 31 facing the docking wall 2111 .

[0044] The robot host 30 will not contact the first limit portion 214 at the initial stage of entering the station. The first limit portion 214 will not hinder the robot host 30 from entering the station. The robot host 30 will cooperate with the first limit portion 214 only at the end of entering the station to improve the smoothness of entering the station.

[0045] Furthermore, if Figure 3 and Figure 4 As shown, two first guide portions 215 arranged opposite to each other are provided on the limiting side wall 2112 . After the robot main body 30 enters the accommodating cavity 212 , the two first guide portions 215 respectively abut against two sides of the robot main body 30 .

[0046] When entering the station, the two first guide parts 215 preliminarily position the robot main body 30 in the horizontal direction. Then, after the first limiting part 214 and the first matching part 311 are matched with each other in a concave and convex manner, the longitudinal displacement of the robot main body 30 relative to the base station 20 is also limited. At this time, the position of the robot main body 30 in the base station 20 is fixed, so that the various connectors on the robot main body 30 and the various connectors on the base station 20 can be stably docked, and the mop can also be stably located in the cleaning position.

[0047] like Figure 3 As shown, the distance between the two first guide parts 215 is D, the width of the robot main body 30 in the spacing direction of the two first guide parts 215 is d, and the single-side gap 1 / 2 (Dd) between the robot main body 30 and the first guide part 215 is 0.5mm~2mm.

[0048] Furthermore, if Figure 4 As shown, the first limiting portion 214 includes a guide protrusion assembly provided on the docking wall 2111 , the guide protrusion assembly at least partially extends into the accommodating cavity 212 relative to the docking wall 2111 , and the extension direction of this portion of the guide protrusion assembly is a first direction.

[0049] Specifically, in one embodiment, the first direction is parallel to the direction in which the robot main body 30 enters and exits the accommodating chamber 212. As the robot main body 30 enters the accommodating chamber 212, the first limiting portion 214 and the first mating portion 311 engage with each other in a concave-convex manner. Of course, in other embodiments, the first direction and the direction in which the robot main body 30 enters and exits the accommodating chamber 212 may also be at a certain angle, as long as the portion of the guide protrusion assembly extending into the accommodating chamber 212 can engage with the first mating portion 311 in a concave-convex manner as the robot main body 30 enters the accommodating chamber 212.

[0050] like Figure 8As shown, in some embodiments, the first mating portion 311 on the robot body 30, which is used to mate with the guide protrusion assembly, is a retaining groove. The retaining groove is formed on the surface of the body 31 facing the docking wall 2111. The retaining groove is oriented in the same direction as the body 31 enters the accommodating cavity 212. During the station entry process, the robot body 30 gradually approaches the guide protrusion assembly until the guide protrusion assembly is inserted into the retaining groove.

[0051] Furthermore, if Figure 1 and Figure 2 As shown, the first direction is set at an angle relative to the horizontal direction, and the closer the portion of the guide protrusion assembly is to the middle of the accommodating cavity 212, the lower its horizontal height.

[0052] The angle between the first direction and the horizontal direction is 3° to 6°. Figure 1 As shown, the robot host 30 moves forward along a certain slope when entering the station, and the angle between the first direction and the horizontal direction is consistent with the slope angle, so that the guide protrusion assembly can be smoothly inserted into the limiting groove.

[0053] Specifically, if Figure 5 and Figure 6 As shown, in some embodiments, the guide protrusion assembly includes a guide bracket 2141 and a guide wheel 2142. The guide bracket 2141 is connected to the base station body 21, and at least a portion of the guide bracket 2141 protrudes into the accommodating cavity 212 along a first direction. The guide wheel 2142 is rotatably mounted on the portion of the guide bracket 2141 located within the accommodating cavity 212, with the axis of rotation of the guide wheel 2142 relative to the guide bracket 2141 being perpendicular to the direction in which the robot main body 30 enters and exits the accommodating cavity 212. When the guide protrusion assembly is inserted into the retaining groove, the guide wheel 2142 contacts the groove wall of the retaining groove. Under the push of the robot main body 30, the guide wheel 2142 rolls relative to the guide bracket 2141, reducing friction between the guide protrusion assembly and the groove wall of the retaining groove. This makes it easier for the guide bracket 2141 to be inserted into the retaining groove, further improving the smoothness of the robot main body 30's entry into the station.

[0054] Moreover, if Figure 2 As shown, the outer circumference of the guide wheel 2142 is at least partially tangent to the surface of the guide bracket 2141 or protrudes from the surface of the guide bracket 2141. Ensure that the guide wheel 2142 can contact the groove wall of the limiting groove to play a guiding and frictional resistance reduction effect.

[0055] Furthermore, if Figure 2As shown, a portion of the outer circumference of the guide wheel 2142 protrudes above the guide bracket 2141, and another portion protrudes below the guide bracket 2141. When the guide protrusion assembly is inserted into the limiting groove, the guide wheel 2142 can abut against the groove wall of the limiting groove, thereby providing a longitudinal pressing force to the robot main body 30.

[0056] When the guide wheel 2142 is located in the limiting groove, the single-side distance between the guide wheel 2142 and the groove wall of the limiting groove is 0 mm to 2 mm.

[0057] Specifically, if Figure 1 、 Figure 2 and Figure 4 As shown, in one embodiment, the guide wheel 2142 is arranged in a horizontal direction relative to the axis of rotation of the guide bracket 2141.

[0058] like Figure 5 As shown, the guide wheel 2142 is snapped onto the guide bracket 2141 via the wheel axle 2143 .

[0059] In certain embodiments, as Figure 5 and Figure 6 As shown, the end of the guide bracket 2141 that protrudes from the accommodating cavity 212 and is close to the first opening 213 is a guide end 2144. The cross-sectional area of ​​the guide end 2144 gradually decreases in the direction away from the first opening 213. The guide end 2144 plays a certain guiding role during the insertion of the guide bracket 2141 into the limiting groove.

[0060] The guide wheel 2142 is rotatably mounted on the guide end 2144. The outer circumference of the guide wheel 2142 is at least partially tangential to the surface of the guide end 2144 or protrudes outside the surface of the guide end 2144.

[0061] Furthermore, in some embodiments, Figure 1 and Figure 4 As shown, the base station body 21 includes a housing 211, and the housing 211 forms a receiving cavity 212. Figures 5 to 7 As shown, the guide bracket 2141 includes a fixing portion 2145, which is located on a side of the housing 211 facing away from the accommodating cavity 212. The fixing portion 2145 is provided with a plurality of positioning holes 2146. Positions corresponding to the positioning holes 2146 are provided on the housing 211, and the positioning posts are inserted into the positioning holes 2146. The base station 20 also includes screws. The fixing portion 2145 is further provided with a plurality of assembly holes 2147. Positions corresponding to the assembly holes 2147 are provided on the housing 211, and threaded holes are provided. The screws pass through the assembly holes 2147 and the threaded holes in sequence to secure the fixing portion 2145 to the housing 211.

[0062] During assembly, the guide bracket 2141 is partially inserted into the accommodating cavity 212 from the side of the shell 211 away from the accommodating cavity 212, the positioning column is inserted into the corresponding positioning hole 2146, and then the fixing part 2145 is fastened to the shell 211 with screws.

[0063] The guide bracket 2141 is an axisymmetric figure, and the longitudinal plane passing through the axis of symmetry is the symmetry reference plane. The multiple positioning holes 2146 and the multiple assembly holes 2147 are symmetrically distributed with respect to the symmetry reference plane.

[0064] Furthermore, if Figure 1 As shown, a support assembly 22 is provided on the bottom wall 2113 of the accommodating cavity 212 , and the robot host 30 is pressed against the support assembly 22 by the first limiting portion 214 , so that the position of the robot host 30 relative to the base station 20 in the longitudinal direction is fixed.

[0065] The distance between the support assembly 22 and the docking wall 2111 is smaller than the distance between the support assembly 22 and the first opening 213. The support assembly 22 abuts against the bottom of one end of the robot host 30 close to the docking wall 2111, so that this end of the robot host 30 is lifted.

[0066] Furthermore, if Figure 8 As shown, in some embodiments, the robot host 30 includes a host body 31. After the host body 31 enters the accommodating cavity 212 of the base station 20, a first mating portion 311 is provided at a position corresponding to the first limiting portion 214. The first mating portion 311 is configured to engage with the first limiting portion 214 in a concave-convex manner. When the first mating portion 311 engages with the first limiting portion 214 in a concave-convex manner, the host body 31 is pressed against the cavity wall of the accommodating cavity 212 in the longitudinal direction.

[0067] like Figure 1 and Figure 2 As shown, after the robot host 30 enters the accommodating cavity 212, when the first limiting portion 214 and the first matching portion 311 are matched together, the robot host 30 is at least partially pressed longitudinally between the first limiting portion 214 and the cavity wall of the accommodating cavity 212, so that the relative position of the robot host 30 relative to the base station 20 in the longitudinal direction is fixed, and there will be no floating, thereby ensuring better effects of subsequent water replenishment, water pumping or cleaning.

[0068] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0070] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0071] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0072] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0073] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A base station, characterized in that: include: A base station body, wherein the base station body is provided with a receiving cavity having an opening, the receiving cavity being used to receive a robot host, and the robot host being able to enter and exit the receiving cavity through the opening of the receiving cavity; A first limiting portion is provided on the cavity wall of the accommodating cavity, and the first limiting portion is used to engage with the first matching portion on the robot host in a concave-convex manner to press the robot host against the cavity wall of the accommodating cavity in the longitudinal direction. The opening of the accommodating cavity is the first opening, and the portion of the cavity wall of the accommodating cavity opposite to the first opening is the docking wall. The first limiting portion includes a guide protrusion assembly provided on the docking wall, and the guide protrusion assembly extends at least partially into the accommodating cavity relative to the docking wall, and the extension direction is the first direction. The guide protrusion assembly includes a guide bracket and a guide wheel. The guide bracket is connected to the base station body, and the guide bracket is at least partially protruded in the accommodating cavity along the first direction. The guide wheel is rotatably assembled on the part of the guide bracket located in the accommodating cavity, and the axis of rotation of the guide wheel relative to the guide bracket is perpendicular to the entry and exit direction of the robot host in and out of the accommodating cavity. The outer peripheral surface of the guide wheel is at least partially tangent to the surface of the guide bracket or protrudes outside the surface of the guide bracket.

2. The base station according to claim 1, wherein A portion of the outer peripheral surface of the guide wheel protrudes above the guide bracket, and another portion protrudes below the guide bracket.

3. The base station according to claim 1, wherein The guide wheel is arranged in a horizontal direction relative to an axis of rotation of the guide bracket.

4. The base station according to claim 1, wherein An end of the guide bracket protruding from the accommodating cavity and close to the first opening is a guide end, and a cross-sectional area of ​​the guide end gradually decreases in a direction away from the first opening.

5. The base station according to claim 4, characterized in that The guide wheel is rotatably assembled on the guide end. The base station according to claim 1 , wherein: The base station body includes a shell, the shell enclosing the accommodating cavity, the guide bracket includes a fixing portion, the fixing portion is located on a side of the shell away from the accommodating cavity, and the fixing portion is provided with a plurality of positioning holes and a plurality of assembly holes, and a positioning post is provided at a position corresponding to the positioning hole on the shell, and the positioning post is inserted into the positioning hole; The base station further includes a screw. A threaded hole is provided on the shell at a position corresponding to the assembly hole. The screw passes through the assembly hole and the threaded hole in sequence to fix the fixing part to the shell.

7. The base station according to claim 1, wherein The first direction is arranged at an angle to the horizontal direction, and the portion of the guide protrusion assembly closer to the middle of the accommodating cavity has a lower horizontal height; Alternatively, the first direction is parallel to the direction in which the robot main body enters and exits the accommodating cavity.

8. The base station according to any one of claims 1 to 7, characterized in that The portion of the cavity wall of the accommodating cavity that is located between the docking wall and the first opening and is parallel to the horizontal direction is a limiting side wall. Two oppositely arranged first guide portions are provided on the limiting side wall. After the robot main body enters the accommodating cavity, the two first guide portions respectively abut against both sides of the robot main body.

9. A robot host, characterized in that: Used to cooperate with the base station according to any one of claims 1 to 8, the robot host comprises: The host body is provided with a first matching portion at a position corresponding to the first limiting portion after the host body enters the accommodating cavity of the base station. The first matching portion is used to match the first limiting portion in a concave-convex manner. When the first matching portion matches the first limiting portion in a concave-convex manner, the host body is pressed longitudinally against the cavity wall of the accommodating cavity.

10. The robot host according to claim 9, characterized in that: The first matching portion is a limiting groove provided on the host body, and the direction of the limiting groove is consistent with the entry direction of the host body when entering the accommodating cavity.

11. A sweeping machine, characterized in that: Comprising the base station according to any one of claims 1 to 8, and the robot host according to claim 9 or 10; After the robot main body enters the accommodating cavity, when the first limiting portion and the first matching portion are engaged with each other in a concave-convex manner, the robot main body is at least partially pressed longitudinally between the first limiting portion and the cavity wall of the accommodating cavity.

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