Self-moving robot system

Abstract

A self-moving robot system comprises a dust collecting base station (1) and a self-moving robot (2), the self-moving robot (2) comprises a main machine (21) and a dust containing box (22), the dust containing box (22) is detachably installed on the main machine (21), the dust collecting base station (1) comprises a power device, a dust collecting device (16) and a transfer device (13), the transfer device (13) can be combined with the dust containing box (22) and assist the dust containing box (22) to separate from the main machine (21) or assist the dust containing box (22) to be installed on the main machine (21); the dust collecting device (16) is used for collecting garbage (3) of the dust containing box (22); the power device drives the transfer device (13) and can make the transfer device (13) move the dust containing box (22) to a dust collecting port of the dust collecting device (16) to transfer the garbage (3) to the dust collecting device (16). By transferring the dust containing box (22) through the transfer device (13) without using a wind pump to suck the garbage (3) in the dust containing box (22), etc., the working noise is low, the whole self-moving robot (2) does not need to be moved during dust collection, and the system load is small.

Description

Technical Field

[0001] This disclosure relates to the field of electromechanical technology, and particularly to a self-moving robot system. Background Technology

[0002] The main function of traditional self-propelled robot base stations is to charge the self-propelled robot. Users need to empty and clean the dust collection box of the self-propelled robot themselves. In order to reduce the frequency of user intervention, a "suction-type" dust collection base station has been introduced. A blower is installed in the dust collection base station to suck up the garbage in the dust collection box of the self-propelled robot.

[0003] Currently, the operation of "suction-type" dust collection base stations generally suffers from excessive noise, with some levels reaching as high as 75dB. This far exceeds the normal conversational level of 40dB to 60dB, affecting users' ability to converse normally and easily causing them to feel irritable and unable to concentrate. The dust collection base station performs a suction operation every time the self-moving robot returns to the base station; frequent, noisy suction can cause user discomfort and damage to the auditory nerves. Summary of the Invention

[0004] This disclosure is made in view of the state of the prior art described above. The purpose of this disclosure is to provide a self-moving robot system with a dust collection base station. The dust collection base station does not use a blower to suck up garbage from the self-moving robot, resulting in lower operating noise and higher user comfort.

[0005] A self-moving robot system is provided, comprising a dust collection base station and a self-moving robot. The dust collection base station is used to collect the waste from the self-moving robot. The self-moving robot includes a main unit and a dust collection box, the dust collection box being detachably mounted to the main unit.

[0006] The dust collection base station includes a power unit, a dust collection device, and a transfer device. The transfer device can be combined with the dust container and assist the dust container in separating from the host or in installing the dust container on the host. The dust collection device is used to collect the waste from the dust container. The power unit drives the transfer device and enables the transfer device to move the dust container to the dust collection port of the dust collection device to transfer the waste to the dust collection device.

[0007] Preferably, the self-moving robot system further includes a first opening device, which can open or close the lid of the dust container. When the lid of the dust container is opened, the waste in the dust container can be transferred to the dust collection device.

[0008] Preferably, the dust collection base station includes an operating position for the self-propelled robot to dock, and the dust collection device is located above the operating position.

[0009] Preferably, the power unit includes a transmission assembly, which includes a first transmission section arranged in a vertical direction and a second transmission section arranged in a horizontal direction, and the transfer device is connected to the power unit to follow the movement of the transmission assembly.

[0010] Preferably, the transmission assembly includes a timing belt assembly, the first transmission section includes a first timing belt, and the second transmission section includes a second timing belt.

[0011] Preferably, the self-moving robot system includes a loading and unloading unit, which is used to operate the dust container to separate from the host or to install it on the host.

[0012] Preferably, one of the dust container and the main unit includes a locking pin, and the other includes a locking groove, wherein the locking pin can be inserted into or removed from the locking groove; the loading and unloading part can apply force to one of the dust container and the main unit to disengage the locking pin from the locking groove, thereby assisting in the separation of the dust container from the main unit; and / or the loading and unloading part can release the force applied to the locking pin to allow the locking pin to be inserted into the locking groove, thereby assisting in the installation of the dust container onto the main unit.

[0013] Preferably, the loading / unloading part includes a latch, the transfer device includes an electromagnetic switch, a drive spring, and a supporting part, the latch is connected to the drive spring, the electromagnetic switch drives the latch to push or release the locking pin, and the supporting part is used to support the dust collection box separated from the main unit; or,

[0014] The loading and unloading part includes a clamping claw, the transfer device includes a clamping motor and a first tooth structure, the clamping claw includes a second tooth structure, the first tooth structure driven by the clamping motor meshes with the second tooth structure, thereby causing the clamping claw to clamp or release the dust box.

[0015] Preferably, the self-moving robot includes an operating unit that is responsive to a user pressing or releasing the pressure to assist in separating the dustbin from the host or installing it onto the host.

[0016] Preferably, the dust collection base station includes a sealing part that can sealably connect the dust container and the dust collection port.

[0017] Preferably, the sealing part has a large opening and a small opening, the diameter of the large opening is larger than that of the small opening, the large opening is used to fit into the dust collection port, and the small opening is used to connect to the dust collection box.

[0018] Preferably, the dust collection base station further includes an auxiliary dust emptying device, which includes a vibration motor and an eccentric component. The vibration motor drives the eccentric component to vibrate. The auxiliary dust emptying device is disposed on the transfer device and moves together with the transfer device. The eccentric component can connect to or contact the dust collection box so that when the eccentric component vibrates, it can drive the dust collection box to vibrate.

[0019] Preferably, the auxiliary dust removal device includes a shock absorber connected between the vibration motor and the transfer device.

[0020] Preferably, the dust collection base station includes a charging device, and when the self-propelled robot docks at the dust collection base station, the charging device is electrically connected to the self-propelled robot to charge the self-propelled robot.

[0021] Preferably, the dust collection device includes a trash can and a folding lid. The trash can has the dust collection port. When the folding lid is unfolded, it can cover the dust collection port. During the process of the transfer device transferring the dust container, the dust container can push the folding lid to fold, thereby exposing the dust collection port.

[0022] Preferably, the first opening device includes an opening motor and a rotating part. The rotating part is connected to the lid of the dust container. When the dust container moves to the dust collection port of the dust collection device, the opening motor drives the rotating part to rotate to open the lid of the dust container. After the dust container finishes emptying the garbage, the opening motor drives the rotating part to rotate to close the lid of the dust container.

[0023] Preferably, the self-moving robot system includes a second opening device, which includes: a driving member disposed on the loading and unloading part; and a rotating member disposed on one side of the dust container and in contact with the lid of the dust container. The rotating member is configured to rotate between a first position and a second position under the drive of the driving member. When the rotating member is in the first position, the lid is closed. When the rotating member rotates from the first position to the second position, the lid is opened under the drive of the rotating member.

[0024] The technical solution provided in this disclosure has at least the following beneficial effects:

[0025] In this self-moving robot system, the dust collection box can be detached from the main unit and moved to the dust collection port. This allows the dust and other debris inside the box to be collected by a dust collection device, ensuring centralized disposal and avoiding frequent emptying by the user. Furthermore, dust collection does not require moving the entire self-moving robot, resulting in a lower system load and less demand on the drive unit. By using a transfer device to move the dust collection box instead of a blower to suck up the debris, operating noise is lower, enhancing user comfort.

[0026] The technical solution provided in this disclosure can also have the following beneficial effects:

[0027] During the synchronous belt component transfer process, the dust collection device can be loaded and unloaded, thus enabling the simultaneous transfer of the dust collection box and the loading and unloading of the dust collection device, and the simultaneous operation of loading and unloading the dust collection device and moving the dust collection box.

[0028] During the transfer of the dust collection box by the transfer device, the clamping claws bear the entire weight of the dust collection box, and the meshing of the first tooth structure and the second tooth structure can provide a reliable locking force, thereby ensuring that the dust collection box is transferred stably and reliably.

[0029] The shock absorber reduces vibration, thereby reducing the vibration force transmitted from the vibration motor to the transfer device and maximizing the effect of the vibration force on the dust collection box.

[0030] When the dust collection box is moved to the dust collection port, the auxiliary dust emptying device taps the dust collection box to facilitate the dumping of garbage and other waste.

[0031] During the transfer of the dust collection box by the transfer device, the dust collection device is located above the operating position, and the layout inside the dust collection base station is compact.

[0032] The self-propelled robot can be charged simultaneously during the garbage collection process. Attached Figure Description

[0033] Figure 1-1 This is a schematic diagram of a first embodiment of the self-moving robot system provided in this disclosure.

[0034] Figure 1-2 This is a top view of the dust collection base station of a self-propelled robot system, which does not show the dust collection device.

[0035] Figure 1-3a This is a schematic diagram showing the top cover of the dust collection box of the self-moving robot system when it is open.

[0036] Figure 1-3b This is a schematic diagram showing the dustbin separating from the main unit of the self-moving robot.

[0037] Figure 1-3c This is a diagram showing the dust collection box installed on the main unit.

[0038] Figure 1-3d This is a top view of the dustbin installed on the main unit.

[0039] Figure 1-4 This is a schematic diagram of the transfer device for the dust collection base station.

[0040] Figure 1-5 This is a schematic diagram of the working steps of a self-moving robot system, showing the preparation for installing a dust collection device.

[0041] Figure 1-6 This is a schematic diagram of the working steps of a self-moving robot system, showing the self-moving robot entering the dust collection station.

[0042] Figure 1-7 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device preparing to connect with the dust collection box.

[0043] Figure 1-8 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device separating the dust collection box from the main unit.

[0044] Figure 1-9 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device lifting the dust collection box.

[0045] Figure 1-10 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device horizontally moving the dust collection box.

[0046] Figure 1-11 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device installing the dust collection box onto the dust collection device.

[0047] Figure 1-12 This is a schematic diagram of the working steps of a self-moving robot system, showing the first opening device opening the dust box and the tapping structure tapping the dust box.

[0048] Figure 1-13 This is a schematic diagram of the working steps of a self-moving robot system, showing that after the garbage in the dust collection box falls into the dust collection device, the opening mechanism closes the dust collection box.

[0049] Figure 1-14 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device moving the dust container back to the main unit of the self-moving robot.

[0050] Figure 2-1 This is a schematic diagram of a second embodiment of the self-moving robot system provided in this disclosure.

[0051] Figure 2-2 This is a top view of a self-moving robot system.

[0052] Figure 2-3 This is a schematic diagram of a self-moving robot system.

[0053] Figure 2-4 This is a schematic diagram of the transfer device for the dust collection base station.

[0054] Figure 2-5a This is a schematic diagram of the opening mechanism of the self-moving robot system when the lower cover of the dust collection box is not engaged.

[0055] Figure 2-5b This is a schematic diagram showing the combination of the opening mechanism and the lower flip cover.

[0056] Figure 2-5c A schematic diagram showing the dust collection box being opened by the lid-opening mechanism.

[0057] Figure 2-6 This is a schematic diagram of the working steps of a self-propelled robot system, showing the preparation for installing a dust collection device and the self-propelled robot entering the station for charging.

[0058] Figure 2-7 This is a schematic diagram of the working steps of the self-moving robot system, showing the dust collection device after installation.

[0059] Figure 2-8 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device separating the dust container from the main unit of the self-moving robot.

[0060] Figure 2-9 This is a schematic diagram of the working steps of a self-moving robot system, showing the main unit of the self-moving robot moving along the exit direction.

[0061] Figure 2-10 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device lifting the dust collection box.

[0062] Figure 2-11 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device horizontally moving the dust collection box.

[0063] Figure 2-12 This is a schematic diagram of the working steps of a self-moving robot system, showing the transfer device installing the dust collection box onto the dust collection device.

[0064] Figure 2-13 This is a schematic diagram of the working steps of a self-moving robot system, showing the opening mechanism opening the dust box and the tapping mechanism tapping the dust box.

[0065] Figure 3-1 This is a schematic diagram of an embodiment where the rotating member is in the first position.

[0066] Figure 3-2 This is a schematic diagram of an embodiment where the rotating component is in the second position.

[0067] Figure 3-3 This is a schematic diagram of the working steps of an embodiment of a self-moving robot system, showing the loading and unloading unit clamping and opening the dust collection box.

[0068] Explanation of reference numerals in the attached figures:

[0069] 1. Dust collection base station; 11. Synchronous belt; 111. First synchronous belt; 112. Second synchronous belt; 121. Track; 122. Track; 123. First track section; 124. Second track section; 125. Descending section; 13. Transfer device; 130. Bearing unit; 131. Transfer frame; 135. Electromagnetic switch; 136. Buckle; 137. Drive spring; 138. Clamping claw; 139. Rack; 141. Rolling bearing; 15. First opening device; 151. Synchronous belt pulley; 152. Tensioner; 153. Synchronous belt; 154. Pin; 155. Pin groove; 16. Dust collection device; 161. Trash can; 162. Adapter cover; 163. Folding cover; 164. Pressure ring; 165. Trash bag; 166. Dust full detection device; 17. Auxiliary dust emptying device; 18. Charging device; 19. Fan;

[0070] 2. Self-moving robot, 21. Main unit, 22. Dust box, 220. Filter components, 23. Upper flip cover, 24. Lower flip cover, 26. Locking spring, 27. Locking pin, 28. Charging connector, 29. Linkage part, 20A, 20B. Hook part, 211. Button, 212. Adapter mechanism;

[0071] 3. Garbage;

[0072] 4. Second opening device; 41. Driving component; 42. Rotating component;

[0073] I indicates the direction of entry, and O indicates the direction of exit. Detailed Implementation

[0074] Exemplary embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are intended only to teach those skilled in the art how to implement this disclosure, and are not intended to exhaust all possible ways of implementing this disclosure, nor to limit the scope of this disclosure.

[0075] like Figures 1-1 to 1-4 ,as well as Figures 2-1 to 2-3 As shown, this disclosure provides a self-moving robot system, which includes a self-moving robot 2 (e.g., a sweeping robot) and a dust collection station 1. The self-moving robot 2 includes a host 21 and a dust collection box 22. The dust collection box 22 is detachably installed on the host 21 and is used to hold garbage 3, dust, etc. The host 21 includes the circuit part of the self-moving robot 2.

[0076] The dust collection base station 1 includes a charging device 18, a power unit (not shown), a dust collection device 16, and a transfer device 13. The self-moving robot 2 has a charging connector 28. The charging device 18 is used to electrically connect to the charging connector 28 to charge the self-moving robot 2. The charging device 18 may include metal contacts, and the charging connector 28 may include metal contacts that match the metal contacts of the charging device 18.

[0077] The transfer device 13 can be combined with the dust container 22 and assist the dust container 22 in separating from the host 21 or in installing the dust container 22 on the host 21. For example, it can drive the locking pin 27 out of the locking slot to separate the dust container 22 from the host 21, or release the dust container 22 and at the same time insert the locking pin 27 into the locking slot to install the dust container 22 on the host 21.

[0078] It should be understood that the separation of the transfer device 13's "auxiliary" dust collection box 22 from the main unit 21 includes the following two situations:

[0079] First, the dust collection box 22 is removed from the main unit 21 by the transfer device 13;

[0080] Second, the dust collection box 22 is actively unloaded by the host 21, for example, by popping out or pushing out, and the transfer device 13 is used to receive and remove the dust collection box 22 that has detached from the host 21.

[0081] A power unit is connected to the transfer device 13 to move the transfer device 13 along a predetermined path, thereby transferring the dust container 22 to the dust collection port of the dust collection device 16. The self-moving robot system includes a first opening device 15, which is installed on the dust collection base station 1 or the self-moving robot 2. When the dust container 22 reaches the dust collection port, the first opening device 15 opens the dust container 22, allowing the garbage 3 and other debris inside the dust container 22 to fall from the dust collection port into the dust collection device 16. During the transfer of the dust container 22 by the transfer device 13, the charging device 18 can be electrically connected to the main unit 21 of the self-moving robot 2 to charge the self-moving robot 2.

[0082] In this self-moving robot system, the dust collection box 22 of the self-moving robot 2 can be detached from the main unit 21 and moved to the dust collection port, so that the garbage 3 and other debris inside the dust collection box 22 are collected by the dust collection device 16, allowing the garbage 3 and other debris to be cleaned up in a unified manner and avoiding frequent garbage disposal by the user. Moreover, in this system, there is no need to move the entire self-moving robot 2, the system load is small, and the driving capability requirements of the drive device are low. By transferring the dust collection box 22 through the transfer device 13 instead of using a blower to suck up the garbage 3 and other debris inside the dust collection box 22, the operating noise is low, and the user comfort is high.

[0083] In addition, the self-moving robot 2 can be charged simultaneously during the collection of garbage 3, etc.

[0084] The direction in which the mobile robot 2 enters the dust collection base station 1 is defined as the inbound direction I, and the direction in which it leaves the dust collection base station 1 is defined as the outbound direction O.

[0085] The following sections describe two specific embodiments of this self-moving robot system.

[0086] First Embodiment

[0087] like Figures 1-1 to 1-4 As shown, the power unit includes a transmission assembly, which comprises a first transmission section arranged vertically and a second transmission section arranged horizontally. A transfer device is connected to the power unit to follow the movement of the transmission assembly. The transmission assembly includes a synchronous belt assembly, with the first transmission section including a first synchronous belt and the second transmission section including a second synchronous belt.

[0088] The power unit may include a drive motor (not shown) that drives a synchronous belt assembly. The synchronous belt assembly includes a synchronous belt 11 and a roller. The synchronous belt 11 is mounted on the roller. The roller is driven by the drive motor to drive the synchronous belt 11. The synchronous belt 11 includes a first synchronous belt 111 arranged in the vertical direction and a second synchronous belt 112 arranged in the horizontal direction.

[0089] In other embodiments, the power unit may also include other structures such as a rack and pinion mechanism, a linkage mechanism, a wire or chain, a lead screw, and a bolt.

[0090] For example, the power unit includes a rack assembly and a gear assembly mounted on the transfer device, the gear assembly meshing with the rack assembly to rotate and thus drive the transfer device to move.

[0091] The dust collection device 16 can be located to the side of the first synchronous belt 111 and below the second synchronous belt 112. The transfer device 13 can be connected to the synchronous belt assembly, for example, riveted to the synchronous belt 11 or fastened to the synchronous belt 11 by bolts, so that the transfer device 13 can follow the synchronous belt assembly along the first synchronous belt 111 and the second synchronous belt 112 to the dust collection port. The dust collection base station 1 includes an operating position for the self-propelled robot 2 to dock, and a charging device 18 can be provided at the operating position. The dust collection device 16 is set above the charging device 18 (operating position). The self-propelled robot 2 enters and exits the dust collection base station 1 below the dust collection device 16, and the conveying component is located to the side and above the dust collection device 16. During the transfer of the dust collection box 22 by the transfer device 13, the dust collection device 16 is located above the operating position, making the structure of the dust collection base station 1 compact.

[0092] The dust collection base station 1 may also include a sealing part, which is used to seal the connection between the dust collection box 22 and the dust collection port to prevent dust and other substances from leaking out.

[0093] In this embodiment, the sealing part may include an adapter cover 162, and the dust collection device 16 may include a trash can 161 and the adapter cover 162. The trash can 161 has a dust collection port and can be used with a trash bag. The adapter cover 162 has a large opening and a small opening, with the diameter of the large opening being larger than that of the small opening. The large opening of the adapter cover 162 is fitted with the dust collection port, and the small opening is used to align with the dust collection box 22. When the dust collection box 22 is moved above the dust collection device 16, the trash pouring port of the dust collection box 22 can align with the small opening of the adapter cover 162, so that there is no gap between the dust collection box 22 and the trash can 161 when dumping trash 3, etc., thus preventing dust from being emitted.

[0094] In other embodiments, a vent can be opened on one side of the trash can 161 and a fan can be installed on the outer wall of the trash can 161. The fan can be rotated to create a vacuum in the space between the trash can 161 and the trash bag, so that the trash bag is tightly attached to the inner wall of the trash can 161 under atmospheric pressure.

[0095] In other embodiments, the dust collection device 16 may have a trash can mounting location but does not include a trash can 161, and the user can directly place a household trash can at the mounting location or put a trash bag over the trash can mounting location.

[0096] In other embodiments, the self-moving robot system further includes a transmission mechanism for controlling the movement of the dust collection device 16. Optionally, the transmission mechanism includes a drive belt and a drive motor. Optionally, the drive belt can move the dust collection device to a garbage bag installation position outside the dust collection base station 1, a recycling mop position inside the base station 1, and an initial position for dust collection. Optionally, the initial position for dust collection can be located between the garbage bag installation position and the recycling mop position.

[0097] like Figure 1-13 As shown, a dust full detection device 166 is also installed on the upper edge of the trash can 161, such as an infrared sensor, an ultrasonic sensor, a distance sensor, etc. When the trash can 161 is about to be full, the dust full detection device 166 will detect it and remind the user to empty it.

[0098] The dust collection base station 1 may further include a track 121 closely attached to the synchronous belt 11 and a track 122 spaced apart from the synchronous belt 11, with tracks 121 and 122 arranged approximately parallel to the synchronous belt 11. The transfer device 13 may be limited by tracks 121 and 122 and move from its first end to its last end along tracks 121 and 122. Tracks 121 and 122 may include a first track segment 123 parallel to the transmission trajectory of the first synchronous belt 111 and a second track segment 124 parallel to the transmission trajectory of the second synchronous belt 112, as well as a descending segment 125 connected to the second track segment 124. The descending segment 125 may be inclined relative to the vertical direction and located at the last end of tracks 121 and 122. The transfer device 13 moves vertically along the first track segment 123, moves horizontally along the second track segment 124, and descends along the descending segment 125, so that the dust collection box 22 can pass over the adapter cover 162 in height before descending and fitting tightly against the adapter cover 162.

[0099] The transfer device 13 may include a plurality of rolling bearings 141, which are installed in the tracks 121 and 122, thereby the transfer device 13 is tactilely connected to the tracks 121 and 122.

[0100] like Figures 1-3a to 1-3d As shown, the self-moving robot 2 may include the aforementioned first opening device 15, and the first opening device 15 may be fixedly installed on the dust container 22 of the self-moving robot 2 so that it can be transferred together with the dust container 22. The dust container 22 includes an upper flip-top 23 and a lower flip-top 24 (lid). The upper flip-top 23 is operated manually to open or close the dust container 22, and the lower flip-top 24 is operated by an opening mechanism to open or close the dust container 22. The upper flip-top 23 may be located on the upper surface of the dust container 22, and the lower flip-top 24 may be located on the lower surface of the dust container 22, thereby facilitating both manual and automatic opening.

[0101] The dust collection box 22 may also contain a filter element 220, which filters the garbage sucked in when the self-moving robot 2 is working. The filter element 220 may include a HEPA filter, a sponge pad, non-woven fabric, etc.

[0102] The first opening device 15 includes an opening motor and a rotating part. The rotating part may include a synchronous pulley 151, a tensioning pulley 152, and a synchronous belt 153. The output end of the opening motor can be equipped with the synchronous pulley 151. The synchronous pulley 151 and the tensioning pulley 152 are connected by the synchronous belt 153. The opening motor drives the rotating part to rotate, that is, drives the synchronous pulley 151 and the tensioning pulley 152 to rotate and drives the synchronous belt 153 to roll. The opening motor can be installed on the dust collection box 22, and the rotating part can be installed on the lower flip-top 24 of the dust collection box 22. The first opening device 15 is fixedly installed on the dust collection box 22, so that the first opening device 15 and the dust collection box 22 are reliably connected. When the dust collection box 22 moves to the dust collection port of the dust collection device 16, the opening motor drives the rotating part to rotate to open the lower flip-top 24; when the dust collection box 22 has finished emptying the garbage, the opening motor drives the rotating part to rotate to close the lower flip-top 24.

[0103] In other embodiments, the first opening device 15 may also include a linkage mechanism disposed in the dust box 22. After the transfer device 13 clamps the dust box 22, it opens and closes the lower flip cover 24 by acting on the linkage mechanism.

[0104] like Figure 1-2 As shown, contact electrodes can be provided at corresponding positions of the dust collection box 22 and the transfer device 13. When the transfer device 13 docks with the dust collection box 22, the contact electrodes are connected, thereby turning on the power supply of the opening motor. The first opening device 15 can be controlled to open as needed.

[0105] like Figure 1-1 and Figure 1-2 As shown, the transfer device 13 includes a power source, a transfer frame 131, and a loading / unloading section. The loading / unloading section is used to operate the dust collection box 22 to separate from or install onto the main unit 21. Specifically, the loading / unloading section may include a clamping claw 138. The transfer frame 131 is mounted on the synchronous belt 11 (power unit), and the power source and clamping claw 138 are mounted on the transfer frame 131. The power source includes a clamping motor and a gear (first tooth structure). The clamping claw 138 includes a rack 139 (second tooth structure). The gear driven by the clamping motor meshes with the rack 139, thereby causing the rack 139 to drive the clamping claw 138 to clamp or release the dust collection box 22.

[0106] In this embodiment, the loading and unloading section is located in the transfer device 13. In other embodiments, the loading and unloading section may also be located in the self-moving robot.

[0107] The dust container 22 is equipped with a locking pin 27 and a linkage part 29. When the gripper 138 engages with the linkage part 29 and pushes the linkage part 29 horizontally, the locking pin 27 can be linked with the linkage part 29 to disengage from the locking slot. The linkage part 29 has a locking spring 26 connected to the locking pin 27, and the main unit 21 of the self-moving robot 2 is equipped with a locking slot. For example, the linkage part 29 can be located downstream of the locking pin 27 in the entry direction I, and the linkage part 29 and the locking pin 27 can move simultaneously in opposite directions in the horizontal direction.

[0108] When the transfer device 13 is engaged with the dust collection box 22, the clamping claw 138 clamps the linkage part 29 and can push the linkage part 29 along the exit direction O. When the linkage part 29 moves, the locking spring 26 is compressed, and the locking pin 27 is linked with the linkage part 29, thereby moving along the entry direction I and exiting the locking groove (e.g., Figure 1-3b (As shown). When the transfer device 13 releases the dust collection box 22, the clamping claw 138 releases the linkage part 29, and the elastic force of the locking spring 26 ejects the locking pin 27 along the exit direction O. The locking pin 27 is inserted into the locking groove (as shown). Figure 1-3c (As shown).

[0109] In one embodiment, such as Figure 3-1 and Figure 3-2 As shown, the self-moving robot system includes a second opening device 4, which includes: a driving member 41, disposed in the loading and unloading part; and a rotating member 42, disposed on one side of the dust container 22 and in contact with the lid (i.e., the lower flip-top 24) of the dust container 22. The rotating member 42 is configured to rotate between a first position and a second position under the drive of the driving member 41. When the rotating member 42 is in the first position, the lid is closed. When the rotating member 42 rotates from the first position to the second position, the lid is opened under the drive of the rotating member 42.

[0110] Optional, please continue to refer to Figure 3-1 and Figure 3-2 One end of the rotating member 42 is rotatably connected to the dust collection box 22 via a connecting shaft, and the end away from the connecting shaft contacts the box lid under the action of gravity. When the rotating member 42 is in the first position, the box lid is closed; when the rotating member 42 is driven by the driving member 41 to rotate around the connecting shaft to the second position, the end of the rotating member 42 away from the connecting shaft will push the box lid open, thereby allowing the dust in the dust collection box to fall into the dust collection device 16. Optionally, the rotating member 42 has a limiting part. When the rotating member 42 is in the first position, there is a gap between the end of the box lid away from the rotating member 42 and the limiting part. When the rotating member 42 is driven by the driving member 41 to rotate around the connecting shaft to the second position, the end of the box lid away from the rotating member 42 abuts against the limiting part, and the end of the rotating member 42 away from the connecting shaft abuts against the box lid, thereby the rotating member 42 and the box lid mutually limit each other.

[0111] Optional, such as Figure 3-3The diagram illustrates the timing process of the loading and unloading unit clamping and opening the dust container. The loading and unloading unit may have clamping claws 138, and a driving member 41 may be independently disposed on one side of the end of the clamping claws 138. First, after the clamping claws 138 tighten inwards to clamp the dust container 22 and transfer it to the dust collection port (timing 2), the driving member 41 moves towards the end of the rotating member 42 near the connecting shaft under external force (timing 3), thereby pushing the rotating member 42 to rotate. When the dust in the dust container 22 has been emptied, the external force on the driving member 41 is removed, thereby resetting the driving member 41 (timing 4), which in turn resets the rotating member 42. Even if the rotating member 42 rotates from the second position to the first position, when the rotating member 42 returns to the first position, the lid closes again.

[0112] like Figure 1-3d As shown, the self-moving robot 2 includes an operating unit that responds to user pressing or releasing pressure to assist in separating the dustbin 22 from or attaching it to the host 21. Specifically, when the dustbin 22 is manually opened, for example, by pressing the button 211 (operating unit) in the direction of arrow A, the locking spring 26 is compressed, the linkage 29 moves, and the locking pin 27 is driven by the adapter 212. The adapter 212 brings the linkage 29 and the locking pin 27 closer together. For example, the linkage 29 moves in the direction of arrow B2, and the locking pin 27 moves in the direction of arrow B1, thereby retracting the locking pin 27 to unlock it from the host 21.

[0113] The dust collection box 22 has a connecting groove that opens upwards, and the main unit 21 has an opening that opens upwards, through which the dust collection box 22 leaves the main unit 21. The clamping claw 138 can enter the connecting groove and clamp the dust collection box 22. After clamping the dust collection box 22, the clamping claw 138 moves vertically along the first synchronous belt 111.

[0114] During the process of transferring the dust collection box 22 by the transfer device 13, the gripping claw 138 bears the entire weight of the dust collection box 22, and the meshing structure of the gear and rack 139 can provide a reliable locking force, thereby ensuring that the dust collection box 22 is transferred stably and reliably.

[0115] The gripper 138 can apply force to the dust container 22 to disengage the locking pin 27 from the locking slot to assist in separating the dust container 22 from the host 21, and can also release the force applied to the locking pin 27 to allow the locking pin 27 to insert into the locking slot to assist in installing the dust container 22 onto the host 21.

[0116] Dust collection base station 1 may also include auxiliary dust emptying device 17 (shown in...) Figure 2-2The auxiliary dust-discharging device 17 includes a vibrating motor and an eccentric block (eccentric assembly). The vibrating motor drives the eccentric block to vibrate. The vibrating motor can be installed on the transfer frame 131 (the auxiliary dust-discharging device 17 is installed on the transfer device 13) and moves together with the transfer device 13. The eccentric block can be connected to or in contact with the dust collection box 22 to drive the dust collection box 22 to vibrate. When the dust collection box 22 is moved to the dust collection port, the auxiliary dust-discharging device 17 taps the dust collection box 22 to promote the dumping of garbage 3, etc.

[0117] The auxiliary dust emptying device 17 may also include, for example, four damping balls (shock absorbers), which can be connected between the vibrating motor and the transfer device 13, such as between the vibrating motor and the transfer frame 131. The damping balls serve to reduce vibration, thereby reducing the vibration force transmitted from the vibrating motor to the transfer frame 131 and maximizing the effect of the vibration force on the dust collection box 22.

[0118] The dust collection base station 1 includes a control system, which controls the drive motor, clamping motor, cover opening motor, and vibration motor, etc.

[0119] The following is combined with Figures 1-5 to 1-14 This paper introduces the workflow of the self-moving robot system, namely the control method of the self-moving robot system.

[0120] Dust collection device installation steps

[0121] like Figure 1-5 As shown, a dust collection device 16 is installed, for example, a dust collection device 16 (trash can 161) can be installed along the direction of entry I.

[0122] Robot entry procedure

[0123] like Figure 1-6 As shown, when the self-mobile robot 2 enters the station, the transfer device 13 descends and approaches the self-mobile robot 2, and the charging device 18 and the charging connector 28 are connected.

[0124] Dust box separation steps

[0125] like Figure 1-7 As shown, the transfer device 13 continues to approach the self-moving robot 2. The transfer device 13 engages with the dust container 22 and assists in separating the dust container 22 from the host 21. For example, the gripper 138 enters the engagement slot and prepares to engage with the dust container 22. Figure 1-8 As shown, the clamping motor drives the clamping claw 138 to clamp the dust box 22, the locking pin 27 exits from the locking groove, and the dust box 22 separates from the main unit 21 of the self-moving robot 2.

[0126] Transfer steps

[0127] The transfer device 13 transfers the dust container 22 to the dust collection port. For example... Figure 1-9 As shown, the transfer device 13 moves along the first synchronous belt 111 and the first track section 123, thereby lifting the dust collection box 22, which then detaches vertically from the main unit 21. Figure 1-10 As shown, the transfer device 13 moves along the second synchronous belt 112 and the second track segment 124, thereby moving the dust collection box 22 horizontally so that the dust collection box 22 is positioned above the dust collection device 16. Figure 1-11 As shown, the transfer device 13 descends along the descending section 125, thereby aligning the dust collection box 22 with the dust collection port and sealing the dust collection port, that is, the dust collection box 22 and the adapter cover 162 are tightly connected.

[0128] Opening steps

[0129] like Figure 1-12 As shown, the first opening device 15 opens the lower cover 24 of the dust box 22. For example, when the opening motor is started, the rotating part rotates, and the lower cover 24 of the dust box 22 opens by rotating along with the rotating part.

[0130] Patting steps

[0131] Activate the auxiliary dust emptying device 17, for example, by starting the vibration motor, thereby tapping the dust collection box 22. Figure 1-13 As shown, after the garbage 3 etc. are dumped, the cover motor reverses, and the lower cover 24 of the dust collection box 22 closes with the rotating part, turning off the vibration motor.

[0132] Return to step

[0133] like Figure 1-14 As shown, the transfer device 13 descends, the clamping motor drives the clamping claw 138 to release the dust box 22, the locking pin 27 is inserted into the locking groove, and the dust box 22 is installed on the host 21 of the self-moving robot 2.

[0134] The order of the dust collection device installation steps and the robot entry steps can be reversed.

[0135] Second Embodiment

[0136] The self-moving robot system of the second embodiment has a similar structure to the self-moving robot system of the first embodiment. This section only introduces the differences between the two.

[0137] like Figures 2-1 to 2-4 As shown, the dust collection base station 1 does not include the track 121 that is closely attached to the synchronization belt 11, but only includes the track 122 that is spaced apart from the synchronization belt 11.

[0138] The transfer device 13 includes a power source, a transfer frame 131, and a latch 136 (which does not have the gripping claw 138 of the first embodiment; the latch 136 serves as the loading and unloading part of the transfer device 13). The transfer frame 131 is connected to the power source and includes a support part 130. The power source and the latch 136 are mounted on the transfer frame 131. The power source includes an electromagnetic switch 135 and a drive spring 137 (which does not have the gripping motor and gear rack structure of the first embodiment). The latch 136 is connected to the drive spring 137 and can enter the engagement groove of the dust collection box 22 and push the locking pin 27.

[0139] Specifically, the drive spring 137 can be arranged vertically, and the electromagnetic switch 135 can be energized to move the latch 136 upward, thereby releasing the locking pin 27 and allowing the locking pin 27 to insert into the locking groove, so that the dust collection box 22 is installed with the main unit 21. When the electromagnetic switch 135 is de-energized, the elastic force of the drive spring 137 can move the latch 136 downward, pushing the locking pin 27 out of the locking groove, and the dust collection box 22 is separated from the main unit 21.

[0140] Alternatively, the dust container 22 can be unlocked and separated from the main unit 21 by pressing the operating part. After the dust container 22 is separated from the main unit 21, the transfer device 13 can transfer the dust container 22. Alternatively, the main unit 21 can eject the dust container 22 and leave it in place for the transfer device 13 to transfer it.

[0141] like Figure 2-3 As shown, the locking pin 27 may include an upward-facing hook 20A for inserting into the locking slot of the main unit 21 to hook onto the main unit 21. The locking pin 27 may also include a hook 20B located on the side near the dust collection base station 1, opening upwards and downstream in the entry direction I, for hooking onto the latch 136. This facilitates pressing the locking pin 27 downwards to compress the locking spring 26 and release the locking pin 27 from the main unit 21, and also prevents the dust collection box 22 from separating from the transfer device 13 in the entry direction I. The support portion 130 supports the dust collection box 22 from below, and the latch 136 hooks onto the dust collection box 22 downstream in the entry direction I, thereby stably holding the dust collection box 22.

[0142] The main unit 21 has a horizontally open vent. When the transfer device 13 transfers the dust collection box 22, the main unit 21 of the self-moving robot 2 moves a small distance, for example, about 5 centimeters, along the exit direction O to remove the obstruction to the dust collection box 22 in the vertical direction.

[0143] The support portion 130 is disc-shaped and has an opening, which is used to support the dust box 22 separated from the main unit 21. During the process of the transfer device 13 lifting the dust box 22, the support portion 130 can reliably support the dust box 22.

[0144] The bearing portion 130 has a large opening and a small opening on both sides in the thickness direction. The bearing portion 130 can be used as a sealing part for sealing the dust collection port and the dust box 22. The bearing portion 130 can cover the dust collection port.

[0145] like Figure 2-1 As shown, the dust collection device 16 may also include a fan 19, which can be installed on the side wall of the trash can 161. When the trash bag 165 is replaced, the fan 19 can be activated to draw air from the inside of the trash can 161, thus allowing the trash bag 165 to adhere to the inner wall of the trash can 161. The power of the fan 19 is much less than that of the air pump in a traditional suction-type dust collection station, resulting in extremely low noise. The fan 19 is only activated when the trash bag 165 is replaced.

[0146] The dust collection device 16 may also include a pressure ring 164. The dust collection port of the trash can 161 may be provided with a pressure groove, and the opening of the trash bag 165 can enter the pressure groove and be pressed by the pressure ring 164, so that the trash bag 165 is stably fixed.

[0147] The dust collection device 16 may also include a folding cover 163 (and does not have the adapter cover 162 in the first embodiment), which covers the dust collection port when unfolded. When the transfer device 13 transfers the dust collection box 22, causing the dust collection box 22 to move horizontally, the dust collection box 22 can simultaneously push the folding cover 163 to fold, thereby exposing the dust collection port. When the support portion 130 covers the dust collection port, the folding cover 163 folds, and the dust collection box 22 is sealed to the dust collection port.

[0148] When not emptying garbage (Category 3), the folding lid 163 covers the garbage can 161 to prevent odors and dust from overflowing.

[0149] like Figures 2-5a to 2-5c As shown, the tensioning wheel 152 of the first opening device 15 may have a pin groove 155, and the lower flip cover 24 may be equipped with an "I"-shaped pin 154, which is inserted into the pin groove 155. When the tensioning wheel 152 rotates, the lower flip cover 24 rotates together to open or close the dust collection box 22. The first opening device 15 can be installed with the transfer device 13. Specifically, the opening motor can be installed on the transfer frame 131, and the pin groove 155 of the tensioning wheel 152 can be detachably installed with the pin 154 of the lower flip cover 24. When the dust collection box 22 is combined with the transfer device 13, the first opening device 15 is connected to the lower flip cover 24 of the dust collection box 22, that is, the pin 154 is inserted into the pin groove 155 (e.g., ...). Figure 2-5b and Figure 2-5c As shown), when the dust collection box 22 detaches from the transfer device 13, the first opening device 15 separates from the lower flip cover 24, that is, the pin 154 leaves the pin groove 155 (as shown). Figure 2-5a (As shown).

[0150] The following is combined with Figures 2-6 to 2-13 This section introduces the workflow of the self-mobile robot system.

[0151] like Figure 2-6 and Figure 2-7 As shown, a dust collection device 16 can be installed along the direction of entry I.

[0152] like Figure 2-8 As shown, when the mobile robot 2 enters the station, the electromagnetic switch 135 is energized, the drive spring 137 is compressed, and the charging connector 28 of the mobile robot 2 is connected to the charging device 18.

[0153] like Figure 2-9 As shown, the transfer device 13 continues to approach the self-moving robot 2. The electromagnetic switch 135 can be de-energized, and the drive spring 137 drives the latch 136 to reset and move downward. The latch 136 pushes the locking pin 27 downward, and the locking pin 27 exits from the locking groove. The dust box 22 separates from the main unit 21 of the self-moving robot 2, and the rotating part connects to the dust box 22.

[0154] The self-moving robot 2 moves along the exit direction O, removing the vertical obstruction to the dust collection box 22, and the bearing part 130 carries the dust collection box 22.

[0155] like Figure 2-10 As shown, the transfer device 13 moves along the first synchronous belt 111 and the first track section 123, thereby lifting the dust collection box 22, which then detaches from the main unit 21 in a vertical direction.

[0156] like Figure 2-11 As shown, the transfer device 13 moves along the second synchronous belt 112 and the second track segment 124, thereby moving the dust collection box 22 above the dust collection device 16 in the horizontal direction.

[0157] like Figure 2-12 As shown, the transfer device 13 descends along the descending section 125, thereby sealing the dust collection box 22 to the dust collection port.

[0158] like Figure 2-13 As shown, when the cover motor is started, the lower cover 24 of the dust box 2 opens by rotating along with the rotating part, and the vibration motor is started to beat the dust box 22.

[0159] The control system of dust collection base station 1 is used to control the drive motor, electromagnetic switch 135, cover opening motor, vibration motor and fan 19, etc.

[0160] In other embodiments, the transfer device 13 can be indirectly connected to the synchronous belt 11 (power device) via a bracket or the like, as long as the transfer device 13 can be moved by the synchronous belt 11.

[0161] In other embodiments, the dust collection device 16 may also be installed into the dust collection base station 1 from the side of the entry direction I and the exit direction O.

[0162] In other embodiments, the descending segment 125 may be arranged in a vertical direction.

[0163] It should be understood that the above embodiments are merely exemplary and are not intended to limit this disclosure. Those skilled in the art can make various modifications and changes to the above embodiments under the teachings of this disclosure without departing from the scope of this disclosure.

Claims

1. A self-moving robot system comprising a dust collection base station (1) and a self-moving robot (2), wherein the dust collection base station (1) is used to collect the waste of the self-moving robot (2), and the self-moving robot (2) comprises a main unit (21) and a dust collection box (22), wherein the dust collection box (22) is detachably mounted on the main unit (21), characterized in that: The dust collection base station (1) includes a power unit, a transfer device (13), and an auxiliary dust dumping device (17). The transfer device (13) can be combined with the dust collection box (22) and assist the dust collection box (22) in separating from the host (21) or assist the dust collection box (22) in being installed on the host (21). The power unit drives the transfer device (13) and enables the transfer device (13) to move the dust collection box (22) at least upward to above the dust collection device (16) that collects the garbage in the dust collection box (22), and the dust collection port of the dust collection box (22) is located below the dust collection box (22), so that when the dust collection box (22) is opened, the garbage falls into the dust collection device (16) from the dust collection port of the dust collection device (16) at least under the action of gravity. When the dust collection box (22) is moved to the dust collection port, the auxiliary dust dumping device (17) promotes the dumping of the garbage (3). The self-moving robot system also includes a first opening device (15), which can open or close the lid of the dust box (22). When the lid of the dust box (22) is opened, the garbage (3) in the dust box (22) can be transferred to the dust collection device (16).

2. The self-moving robot system according to claim 1, characterized in that, The self-moving robot system includes the dust collection device (16), which is located inside the dust collection base station (1).

3. The self-moving robot system according to claim 1, characterized in that, The dust collection device (16) is a household trash can or a trash bag, which is independent of the self-moving robot system.

4. The self-moving robot system according to claim 1, characterized in that, The dust collection base station (1) includes an operating position for the self-moving robot (2) to dock, and the dust collection device (16) is located above the operating position.

5. The self-moving robot system according to claim 1, characterized in that, The power unit includes a transmission assembly, which includes a first transmission section arranged in a vertical direction and a second transmission section arranged in a horizontal direction. The transfer device is connected to the power unit to follow the movement of the transmission assembly.

6. The self-moving robot system according to claim 1, characterized in that, The self-moving robot system includes a loading and unloading unit, which is used to operate the dust container (22) to separate from the host (21) or to install it on the host (21).

7. The self-moving robot system according to claim 6, characterized in that: One of the dust container (22) and the host (21) includes a locking pin (27), and the other includes a locking groove. The locking pin (27) can be inserted into or removed from the locking groove. The loading and unloading part can apply force to one of the dust container (22) and the host (21) to make the locking pin (27) retract from the locking groove, so as to assist the separation of the dust container (22) and the host (21). And / or the loading and unloading part can release the force applied to the locking pin (27) to make the locking pin (27) insert into the locking groove, so as to assist the dust container (22) to be installed on the host (21).

8. The self-moving robot system according to claim 7, characterized in that, The loading and unloading part includes a latch (136), and the transfer device (13) includes an electromagnetic switch (135), a drive spring (137), and a support part (130). The latch (136) is connected to the drive spring (137), and the electromagnetic switch (135) drives the latch (136) to push or release the locking pin (27). The support part (130) is used to carry the dust box (22) separated from the host (21); or, The loading and unloading part includes a clamping claw (138), the transfer device (13) includes a clamping motor and a first tooth structure, the clamping claw (138) includes a second tooth structure, the first tooth structure driven by the clamping motor meshes with the second tooth structure to drive the clamping claw (138) to clamp or release the dust box (22).

9. The self-moving robot system according to claim 1, characterized in that, The self-moving robot (2) includes an operating unit that is responsive to a user pressing or releasing the press to assist the dustbin (22) in separating from or being installed on the host (21).

10. The self-moving robot system according to claim 1, characterized in that, The dust collection base station (1) includes a sealing part, which can sealably connect the dust collection box (22) and the dust collection port; the sealing part has a large end and a small end, the diameter of the large end is larger than that of the small end, the large end is used to fit into the dust collection port, and the small end is used to connect to the dust collection box (22).

11. The self-moving robot system according to claim 1, characterized in that, The dust collection base station (1) also includes an auxiliary dust emptying device (17), which includes a vibration motor and an eccentric component. The vibration motor drives the eccentric component to vibrate. The auxiliary dust emptying device (17) is located on the transfer device (13) and moves together with the transfer device (13). The eccentric component can connect to or contact the dust collection box (22) so that when the eccentric component vibrates, it can drive the dust collection box (22) to vibrate. The auxiliary dust emptying device (17) includes a shock absorber, which is connected between the vibration motor and the transfer device (13).

12. The self-moving robot system according to claim 1, characterized in that, The dust collection device (16) includes a trash can (161) and a folding lid (163). The trash can (161) has the dust collection port. When the folding lid (163) is unfolded, it can cover the dust collection port. During the process of the transfer device (13) transferring the dust container (22), the dust container (22) can push the folding lid (163) to fold, thereby exposing the dust collection port.

13. The self-moving robot system according to claim 1, characterized in that, The first opening device (15) includes an opening motor and a rotating part. The rotating part is connected to the lid of the dust collection box (22). When the dust collection box (22) moves to the dust collection port of the dust collection device (16), the opening motor drives the rotating part to rotate to open the lid of the dust collection box (22). After the dust collection box (22) finishes emptying the garbage, the opening motor drives the rotating part to rotate to close the lid of the dust collection box (22).

14. The self-moving robot system according to claim 6, characterized in that, The self-moving robot system includes a second opening device (4), which comprises: The drive unit (41) is provided in the loading and unloading section; A rotating member (42) is disposed on one side of the dust container (22) and contacts the lid of the dust container (22). The rotating member (42) is configured to rotate between a first position and a second position under the drive of the driving member (41). When the rotating component (42) is in the first position, the lid is closed; When the rotating member (42) rotates from the first position to the second position, the box cover opens under the drive of the rotating member (42).

Images