Docking guide dual-function module, base station and sweeper

Abstract

The present invention relates to a docking and guiding dual-function module, a base station, and a sweeper, comprising a dynamic docking unit and a support base. The dynamic docking unit comprises a guide member and a docking joint connected to each other, wherein the relative positions of the guide member and the docking joint are fixed, and the guiding direction of the guide member is parallel to the docking direction of the docking joint; the support base is used to connect to the base station, and the dynamic docking unit is provided on the support base, and the dynamic docking unit can move within a preset range relative to the support base. Therefore, the guide member and the docking joint move synchronously relative to the support base, thereby improving docking accuracy and avoiding water leakage.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping machines, and in particular to a docking and guiding dual-function module, a base station and a sweeping machine. Background Art

[0002] In the field of sweeping robots, the base station structure is designed to be movable within a certain range relative to the base station itself to accommodate deviations when the robot enters the station. However, the structure on the base station used to guide the robot is generally fixed relative to the base station itself. In other words, the guidance structure can only be limited in its range, resulting in insufficient docking precision and leakage during use. Summary of the Invention

[0003] In order to solve the problem of insufficient docking precision and water leakage, the present invention proposes a docking guide dual-function module, a base station and a sweeper. Based on the synchronous floating of the guide member and the docking joint relative to the support base, the docking precision can be further improved and water leakage can be avoided.

[0004] A docking and guiding dual-function module, comprising:

[0005] A dynamic docking unit, comprising a guide member and a docking joint connected to each other, wherein the relative positions of the guide member and the docking joint are fixed, and a guiding direction of the guide member is parallel to a docking direction of the docking joint;

[0006] The support base is used to connect with the base station. The dynamic docking unit is arranged on the support base, and the dynamic docking unit can move within a preset range relative to the support base.

[0007] In one embodiment, the direction in which the dynamic docking unit is movable relative to the support seat is a dynamic movement direction, and the dynamic movement direction intersects with the guiding direction of the guide member.

[0008] In one embodiment, the docking guide dual-function module further includes an elastic member, the elastic member acts between the dynamic docking unit and the support seat, and the elastic force direction of the elastic member is the dynamic movement direction.

[0009] In one embodiment, the elastic member is a compression spring, and the dynamic docking unit further comprises a spring guide post connected to the guide member, wherein the relative position between the spring guide post and the guide member is fixed, and the spring guide post is inserted into the compression spring;

[0010] A spring limiting cylinder is provided on the support seat, the compression spring and the spring guide column are both inserted into the spring limiting cylinder, and the two ends of the compression spring act on the guide member and the support seat respectively.

[0011] In one embodiment, the spring guide column is provided with a socket, the insertion direction of the socket is consistent with the axial direction of the spring guide column, the bottom wall of the spring limit cylinder is provided with an insertion column, the insertion column is inserted into the socket, and the insertion column can slide in the socket along the insertion direction of the socket.

[0012] In one embodiment, the dynamic docking unit further includes a first stop portion and a second stop portion, the first stop portion is connected to the guide member, and the relative position of the first stop portion relative to the guide member in the guide direction is fixed, the second stop portion is provided at the docking joint, and the relative position of the second stop portion relative to the docking joint in the guide direction is fixed, and the support seat includes a blocking wall, and the first stop portion and the second stop portion are respectively limited to opposite sides of the blocking wall in the guide direction.

[0013] In one embodiment, the support base is a box body, the blocking wall is a side wall of the box body, one side of the space enclosed by the box body is the inner side of the blocking wall, and the other side is the outer side of the blocking wall;

[0014] The second stop portion is located on the inner side of the blocking wall, the first stop portion is located on the outer side of the blocking wall, the guide member and the butt joint both pass through the blocking wall along the guide direction, and the butt joint also passes through the first stop portion along the guide direction;

[0015] The first stopper covers a position on the barrier wall through which the guide member and the butt joint pass.

[0016] In one embodiment, the dynamic docking unit further includes an initial positioning stop portion, which is connected to the guide member, and the relative position of the initial positioning stop portion relative to the guide member in the guide direction is fixed, the initial positioning stop portion is located on the side of the second stop portion away from the first stop portion, the initial positioning stop portion is also located in the box body, and the initial positioning stop portion is provided with an avoidance groove for the docking joint to pass through along the guide direction, the docking joint is connected to the initial positioning stop portion, and the relative position between the docking joint and the initial positioning stop portion is fixed.

[0017] In one embodiment, the guide member is a columnar structure, the axial direction of the guide member is the guide direction, and the guide member and the butt joint are spaced apart in a direction perpendicular to the guide direction.

[0018] In one embodiment, the dynamic docking unit includes a plurality of guide members and a plurality of docking joints, the axial direction of each guide member is the guide direction, the guide members are arranged at intervals, and the docking joints are arranged between two adjacent guide members.

[0019] A base station comprises the above-mentioned docking and guidance dual-function module.

[0020] In one embodiment, the base station further comprises a base station body, wherein the base station body is provided with an accommodating cavity for accommodating the robot host;

[0021] The support base is assembled on the base station body, or the support base is the base station body.

[0022] A sweeping machine comprises a robot host and the above-mentioned base station, wherein the robot host can enter the base station and dock with the docking connector, while the guide member is inserted into the robot host.

[0023] The above scheme provides a docking and guiding dual-function module, a base station and a sweeper. Based on the fact that the relative positions of the guide member and the docking joint are fixed, and the dynamic docking unit can move within a preset range relative to the support base, the guide member and the docking joint move synchronously relative to the support base, thereby improving the docking accuracy and avoiding water leakage. 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 This is a main view of the base station described in this embodiment;

[0027] Figure 2 This is a structural diagram of the docking and guiding dual-function module described in this embodiment;

[0028] Figure 3 This is a front view of the docking guide dual-function module described in this embodiment;

[0029] Figure 4 This is a left view of the docking guide dual-function module described in this embodiment;

[0030] Figure 5 This is a schematic structural diagram of the docking and guiding dual-function module in this embodiment in a cross-sectional view;

[0031] Figure 6 This is a top view of the docking guide dual-function module in a cross-sectional state described in this embodiment;

[0032] Figure 7 This is a front view of the support base described in this embodiment;

[0033] Figure 8 Schematic diagram of the structure of the lower shell of this embodiment;

[0034] Figure 9 This is a schematic structural diagram of the guide assembly described in this embodiment;

[0035] Figure 10 is a structural schematic diagram of the guide assembly described in this embodiment from another perspective;

[0036] Figure 11 This is a rear view of the guide assembly described in this embodiment;

[0037] Figure 12 Schematic diagram of the structure of the docking assembly described in this embodiment.

[0038] Description of reference numerals:

[0039] 10. Base station; 11. Base station body; 20. Docking and guiding dual-function module; 21. Support seat; 211. Upper shell; 212. Lower shell; 2121. Spring limit cylinder; 2122. Insert column; 213. Blocking wall; 214. First avoidance hole; 215. Second avoidance hole; 22. Dynamic docking unit; 221. Guide assembly; 2211. Guide member; 2212. First stopper; 2213. Initial positioning stopper; 2214. Support platform; 2215. Spring guide column; 2216. Avoidance groove; 2217. Reinforcement rib; 222. Docking assembly; 2221. Docking joint; 2222. Second stopper; 23. Elastic member. DETAILED DESCRIPTION

[0040] 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.

[0041] like Figures 2 to 6As shown, in some embodiments, a docking and guiding dual-function module 20 is provided, comprising a dynamic docking unit 22 and a support base 21. The dynamic docking unit 22 comprises a guide member 2211 and a docking joint 2221 connected to each other, wherein the relative positions of the guide member 2211 and the docking joint 2221 are fixed.

[0042] The guiding direction of the guide member 2211 is parallel to the docking direction of the docking connector 2221. When the robot host enters the station, the guide member 2211 is inserted into the robot host and the docking connector 2221 can be docked with the robot host. The guiding direction is parallel to the direction of the robot host entering and exiting the station.

[0043] The support base 21 is used to connect with the base station 10 . The dynamic docking unit 22 is disposed on the support base 21 , and the dynamic docking unit can move within a preset range relative to the support base 21 .

[0044] Because the guide member 2211 and the docking joint 2221 are fixed relative to each other, and the dynamic docking unit 22 can move within a predetermined range relative to the support base 21, the guide member 2211 and the docking joint 2221 move synchronously relative to the support base 21. During the robot's docking process, when the guide member 2211 moves within a certain range relative to the robot mainframe, the docking joint 2221 also moves in the same manner relative to the robot mainframe. This synchronized movement improves docking accuracy and prevents water leaks.

[0045] The direction in which the dynamic docking unit 22 is movable relative to the support base 21 is a dynamic motion direction that intersects with the guiding direction of the guide member 2211 or is parallel to the guiding direction of the guide member 2211 .

[0046] Specifically in one embodiment, the dynamic motion direction is perpendicular to the guiding direction of the guide member 2211. Figure 1 and Figure 3 As shown, the guiding direction of the guide member 2211 is horizontal, and the dynamic movement direction is longitudinal.

[0047] Furthermore, in certain embodiments, Figure 5 and Figure 6 As shown, the docking guide dual-function module 20 further includes an elastic member 23, which acts between the dynamic docking unit 22 and the support base 21, and the elastic force of the elastic member 23 is directed in the direction of the dynamic motion. Under the support of the elastic member 23, the dynamic docking unit 22 can float relative to the support base 21 in the direction of the dynamic motion.

[0048] Specifically in one embodiment, Figure 5 and Figure 6 As shown, the elastic member 23 acts between the guide member 2211 and the support seat 21 . When the guide member 2211 floats relative to the support seat 21 , the docking joint 2221 moves synchronously with the guide member 2211 .

[0049] like Figure 5 and Figure 6 As shown, the elastic member 23 is a compression spring. Figures 9 to 11 As shown, the dynamic docking unit 22 further includes a spring guide column 2215 connected to the guide member 2211, and the relative position between the spring guide column 2215 and the guide member 2211 is fixed. The spring guide column 2215 is inserted into the compression spring.

[0050] like Figure 8 As shown, the support seat 21 is provided with a spring retaining cylinder 2121, into which the compression spring and the spring guide post 2215 are inserted. The compression spring's two ends engage the guide member 2211 and the support seat 21, respectively. The axial direction of the spring guide post 2215, the axial direction of the spring retaining cylinder 2121, and the elastic force of the elastic member are aligned.

[0051] The compression spring provides elastic force between the guide member 2211 and the support base 21 in the direction of compression spring expansion and contraction, allowing the guide member 2211 to float in the direction of compression spring expansion and contraction relative to the support base 21. The spring guide column 2215 and the spring stopper 2121 are respectively positioned on the inner and outer sides of the compression spring to ensure that the compression spring expands and contracts in the expansion and contraction direction.

[0052] In some embodiments, one end of the compression spring directly abuts the support seat 21, and the other end of the compression spring indirectly abuts the guide member 2211 through an intermediate element, providing the guide member 2211 with an elastic force to move relative to the support seat 21 along the expansion and contraction direction of the compression spring.

[0053] like Figure 5 and Figure 6 As shown, the dynamic docking unit 22 further includes a support platform 2214, which is connected to the guide member 2211, and the relative position between the support platform 2214 and the guide member 2211 is fixed. The two ends of the compression spring are respectively in contact with the support platform 2214 and the support seat 21. Figures 9 to 11 As shown, the spring guide column 2215 is provided on the support platform 2214 for contacting the end surface of the compression spring.

[0054] Furthermore, in some embodiments, the spring guide column 2215 is provided with a socket, and the insertion direction of the socket is consistent with the axial direction of the spring guide column 2215. Figure 8 As shown, the bottom wall of the spring retaining cylinder is provided with a plug 2122, which is inserted into the insertion hole and can slide in the insertion direction of the insertion hole. Under the cooperation between the plug 2122 and the insertion hole, the spring guide column 2215 moves more smoothly in the spring retaining cylinder 2121.

[0055] like Figures 2 to 8 As shown, the support base 21 is a box body, with the spring retaining cylinder 2121 and the insertion post 2122 both located within the box body. The elastic member 23 and the spring guide post 2215 are also located within the box body. The support platform 2214 is located within the box body. The guide member 2211 extends through the box body. The portion of the guide member 2211 located outside the box body is inserted into the robot main unit. The portion of the guide member 2211 located inside the box body can interact with the elastic member 23. The portion of the guide member 2211 located inside the box body is connected to the spring guide post 2215. Furthermore, the docking joint 2221 may also extend through the box body.

[0056] In certain embodiments, as Figures 2 to 8 As shown, the box body includes an upper shell 211 and a lower shell 212 , and the dynamic docking unit 22 is provided at the junction where the upper shell 211 and the lower shell 212 are connected.

[0057] like Figure 8 As shown, the spring limiting cylinder 2121 is provided on the inner wall of the lower shell 212 , and the plug post 2122 is provided on the inner wall of the lower shell 212 .

[0058] Furthermore, in some embodiments, Figure 5 and Figure 6 As shown, the dynamic docking unit 22 further includes a first stopper 2212 and a second stopper 2222 .

[0059] like Figure 9 and Figure 10 As shown, the first stopper 2212 is connected to the guide member 2211, and the relative position of the first stopper 2212 relative to the guide member 2211 in the guide direction is fixed. Figure 12 As shown, the second stop portion 2222 is provided on the butt joint 2221 , and the relative position of the second stop portion 2222 relative to the butt joint 2221 in the guide direction is fixed.

[0060] like Figures 5 to 8As shown, the support base 21 includes a blocking wall 213. The first stop portion 2212 and the second stop portion 2222 are respectively limited to opposite sides of the blocking wall 213 in the guide direction. As a result, the relative position between the dynamic docking unit 22 and the support base 21 is fixed in the guide direction of the guide member 2211. When the guide member 2211 and the docking connector 2221 are inserted into the robot host, they will not be pushed backward, ensuring that the robot host and the docking connector 2221 can be securely connected and preventing water leakage.

[0061] In some embodiments, as Figures 5 to 8 As shown, the blocking wall 213 is a side wall of the box body, one side of the space enclosed by the box body is the inner side of the blocking wall 213 , and the other side is the outer side of the blocking wall 213 .

[0062] The second stopping portion 2222 is located inside the blocking wall 213, and the first stopping portion 2212 is located outside the blocking wall 213. In other words, the second stopping portion 2222 is located inside the box body, and the first stopping portion 2212 is located outside the box body.

[0063] Furthermore, if Figures 5 to 8 As shown, the guide member 2211 and the butt joint 2221 both penetrate the blocking wall 213 along the guiding direction, and the butt joint 2221 also penetrates the first stopper 2212 along the guiding direction. The guide member 2211 and the butt joint 2221 are both movable relative to the support base 21 within the preset range. Specifically, in one embodiment, the guide member 2211 and the butt joint 2221 are both movable relative to the blocking wall 213 within the preset range. Therefore, the cross-sectional area of ​​the hole in the blocking wall 213 through which the guide member 2211 passes is larger than the cross-sectional area of ​​the guide member 2211, and the cross-sectional area of ​​the hole in the blocking wall 213 through which the butt joint 2221 passes is larger than the cross-sectional area of ​​the butt joint 2221.

[0064] The first stop portion 2212 covers the position on the blocking wall 213 for the guide member 2211 and the docking joint 2221 to pass through, so that the hole on the box body for the docking joint 2221 and the guide member 2211 to pass through cannot be observed from the outside of the box body, making the appearance of the docking and guiding dual-function module 20 more integrated.

[0065] Furthermore, in some embodiments, Figure 5 and Figure 6 As shown, the dynamic docking unit 22 also includes an initial positioning stopper 2213. Figures 9 to 11As shown, the initial positioning stop portion 2213 is connected to the guide member 2211, and the relative position of the initial positioning stop portion 2213 relative to the guide member 2211 in the guiding direction is fixed.

[0066] like Figure 5 and Figure 6 As shown, the initial positioning stop portion 2213 is located on a side of the second stop portion 2222 away from the first stop portion 2212. The initial positioning stop portion 2213 is also located in the box body. The initial positioning stop portion 2213 is provided with an avoidance groove 2216 for the butt joint 2221 to pass through along the guide direction. The butt joint 2221 is connected to the initial positioning stop portion 2213, and the relative position between the butt joint 2221 and the initial positioning stop portion 2213 is fixed.

[0067] The dynamic docking unit 22 includes a guide assembly 221 and a docking assembly 222. The guide member 2211, the first stop portion 2212, the initial positioning stop portion 2213, the support platform 2214 and the spring guide column 2215 all belong to the guide assembly 221; the docking joint 2221 and the second stop portion 2222 both belong to the docking assembly 222.

[0068] During installation, first place the guide assembly 221 onto the lower shell 212, with the first stop 2212 positioned outside the lower shell 212 and the initial positioning stop 2213 positioned inside the lower shell 212, completing the initial positioning between the guide assembly 221 and the lower shell 212. Then, insert the butt joint 2221 through the avoidance groove 2216, the blocking wall 213, and the first stop 2212, with the second stop 2222 positioned between the initial positioning stop 2213 and the blocking wall 213. Finally, use screws or other fasteners to secure the butt joint 2221 to the initial positioning stop 2213. After this, assemble the upper shell 211 onto the lower shell 212.

[0069] like Figures 9 to 11 As shown, the support platform 2214 is provided on the initial positioning stop portion 2213 , and both the support platform 2214 and the initial positioning stop portion 2213 are located in the box body.

[0070] Furthermore, Figures 9 to 11 As shown, in one embodiment, the guide member 2211 is a columnar structure, and the axial direction of the guide member 2211 is the guiding direction. The guide member 2211 and the butt joint 2221 are spaced apart in a direction perpendicular to the guiding direction.

[0071] When the robot host enters the station, it needs to be accurately aligned with the guide member 2211 and the docking connector 2221 to ensure that the docking connector 2221 is inserted therein.

[0072] like Figures 1 to 12 As shown, in some embodiments, the dynamic docking unit 22 includes a plurality of guide members 2211 and a plurality of docking joints 2221, the axial direction of each guide member 2211 is the guide direction, the guide members 2211 are arranged at intervals, and the docking joints 2221 are arranged between two adjacent guide members 2211.

[0073] Each of the guide members 2211 is connected to the first stopper 2212, and each of the guide members 2211 is connected to the initial positioning stopper 2213. In one embodiment, each of the guide members 2211, the first stopper 2212, and the initial positioning stopper 2213 are integrally formed and connected.

[0074] Each butt joint 2221 is connected to the second stopper 2222. The second stopper 2222 can pass through the avoidance groove 2216 on the initial positioning stopper 2213 for the butt joint 2221 to pass through along the guide direction. Figure 11 As shown, the avoidance groove 2216 is a rounded rectangle, and the shape of the avoidance groove 2216 is consistent with the cross-sectional shape of the second stop portion 2222 , ensuring that the second stop portion 2222 can pass through the initial positioning stop portion 2213 and abut against the blocking wall 213 .

[0075] like Figure 5 and Figure 8 As shown, the docking and guiding dual-function module 20 includes two docking connectors 2221. One docking connector 2221 is a sewage connector, used to direct sewage generated by cleaning in the robot main unit into the sewage tank of the base station 10. The other docking connector 2221 is a fresh water connector, used to direct fresh water from the fresh water tank of the base station 10 into the robot main unit. The box body is provided with a first avoidance hole 214 for the sewage pipe to pass through, and a second avoidance hole 215 for the fresh water pipe to pass through. The sewage pipe connects the sewage connector to the sewage tank, and the fresh water pipe connects the fresh water connector to the fresh water tank.

[0076] The dynamic docking unit 22 includes two support platforms 2214, located on opposite sides of the avoidance groove 2216. The docking guide dual-function module 20 includes two elastic members 23. The dynamic docking unit 22 includes two spring guide posts 2215. The support base 21 is equipped with two spring retaining cylinders 2121, with one elastic member 23 corresponding to one spring guide post 2215 and one spring retaining cylinder 2121. The two spring guide posts 2215 are located on opposite sides of the avoidance groove 2216.

[0077] Furthermore, if Figure 9 and Figure 10As shown, the first stopper 2212 is a plate-like structure, and the initial positioning stopper 2213 is a plate-like structure. The first stopper 2212 and the initial positioning stopper 2213 are arranged parallel to each other and spaced apart. A reinforcing rib 2217 is provided between the first stopper 2212 and the initial positioning stopper 2213. The reinforcing rib 2217 is connected to both the first stopper 2212 and the initial positioning stopper 2213. The reinforcing rib 2217 is partially inserted into the blocking wall 213 of the box body.

[0078] Furthermore, in some other embodiments, a base station 10 is provided, comprising the aforementioned docking and guiding dual-function module 20. By employing the docking and guiding dual-function module 20 described in any of the aforementioned embodiments, the docking connector 2221 on the base station 10 can more accurately dock with the robot host, thereby preventing water leakage.

[0079] Specifically, if Figure 1 As shown, the base station 10 further includes a base station body 11, and the base station body 11 is provided with a receiving cavity for receiving the robot host. The robot host can enter and exit the receiving cavity.

[0080] In one embodiment, the support base 21 is assembled on the base station body 11. In other words, the docking

[0081] The guiding dual-function module 20 is a unit that can be manufactured and assembled separately. The docking guiding dual-function module 20 can be assembled separately and then installed on the base station body 11.

[0082] Alternatively, in another embodiment, the support base 21 is the base station body 11 .

[0083] In some other embodiments, a sweeping machine is provided, including a robot host and the above-mentioned base station 10, wherein the robot host can enter the base station 10 and dock with the docking connector 2221, while the guide member 2211 is inserted into the robot host.

[0084] Based on the fixed relative position between the docking connector 2221 and the guide member 2211 included in the base station 10,

[0085] Therefore, the two can float synchronously relative to the robot host, so that the docking connector 2221 and the robot host can be docked more accurately to avoid water leakage.

[0086] In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral",

[0087] "Length", "Width", "Thickness", "Top", "Bottom", "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise",

[0088] The directions or positional relationships indicated by “counterclockwise”, “axial”, “radial”, “circumferential”, etc. are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0089] 0 In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying

[0090] Indicates relative importance or implicitly indicates the number of technical features indicated.

[0091] The “second” feature may include at least one of the features explicitly or implicitly. In the description of the present invention,

[0092] "Multiple" means at least two, for example, two, three, etc., unless otherwise clearly defined.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0097] The above-described embodiments merely illustrate several implementations of the present invention, and while their 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 numerous variations 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 docking guide dual-function module, characterized in that: include: A dynamic docking unit, the dynamic docking unit comprising a guide member and a docking joint connected to each other, the relative positions of the guide member and the docking joint being fixed, and the guiding direction of the guide member being parallel to the docking direction of the docking joint; the dynamic docking unit further comprising a first stopper and a second stopper, the first stopper being connected to the guide member and having a relative position relative to the guide member in the guiding direction being fixed, and the second stopper being provided on the docking joint and having a relative position relative to the docking joint in the guiding direction being fixed; The support base is used to connect with the base station. The dynamic docking unit is arranged on the support base, and the dynamic docking unit can move within a preset range relative to the support base.

2. The docking guide dual-function module according to claim 1, characterized in that: The direction in which the dynamic docking unit is movable relative to the support seat is a dynamic movement direction, and the dynamic movement direction intersects with the guiding direction of the guide member.

3. The docking guide dual-function module according to claim 2, characterized in that: The docking guide dual-function module further includes an elastic member, which acts between the dynamic docking unit and the support seat, and the elastic force direction of the elastic member is the dynamic movement direction.

4. The docking guide dual-function module according to claim 3, characterized in that: The elastic member is a compression spring, and the dynamic docking unit further includes a spring guide column connected to the guide member, the relative position between the spring guide column and the guide member is fixed, and the spring guide column is inserted into the compression spring; A spring limiting cylinder is provided on the support seat, the compression spring and the spring guide column are both inserted into the spring limiting cylinder, and the two ends of the compression spring act on the guide member and the support seat respectively.

5. The docking guide dual-function module according to claim 4, characterized in that: The spring guide column is provided with a socket, the insertion direction of the socket is consistent with the axial direction of the spring guide column, the bottom wall of the spring limiting cylinder is provided with an insertion column, the insertion column is inserted in the socket, and the insertion column can slide in the socket along the insertion direction of the socket.

6. The docking guide dual-function module according to any one of claims 1 to 5, characterized in that: The support seat includes a blocking wall, and the first stopping portion and the second stopping portion are respectively located on two opposite sides of the blocking wall in the guiding direction.

7. The docking guide dual-function module according to claim 6, characterized in that: The support base is a box body, the blocking wall is a side wall of the box body, one side of the space enclosed by the box body is the inner side of the blocking wall, and the other side is the outer side of the blocking wall; The second stop portion is located on the inner side of the blocking wall, the first stop portion is located on the outer side of the blocking wall, the guide member and the butt joint both pass through the blocking wall along the guide direction, and the guide member and the butt joint both move relative to the blocking wall within the preset range, and the butt joint also passes through the first stop portion along the guide direction; The first stopper covers a position on the barrier wall through which the guide member and the butt joint pass.

8. The docking guide dual-function module according to claim 7, characterized in that: The dynamic docking unit also includes an initial positioning stop portion, which is connected to the guide member. The initial positioning stop portion is fixed relative to the guide member in the guide direction. The initial positioning stop portion is located on the side of the second stop portion away from the first stop portion. The initial positioning stop portion is also located in the box body. The initial positioning stop portion is provided with an avoidance groove for the docking joint to pass through along the guide direction. The docking joint is connected to the initial positioning stop portion, and the relative position between the docking joint and the initial positioning stop portion is fixed.

9. The docking guide dual-function module according to any one of claims 1 to 5, characterized in that: The guide member is a columnar structure, the axial direction of the guide member is the guide direction, and the guide member and the butt joint are arranged at intervals in a direction perpendicular to the guide direction.

10. The docking guide dual-function module according to claim 9, characterized in that: The dynamic docking unit includes a plurality of guide members and a plurality of docking joints. The axial direction of each guide member is the guide direction. The guide members are arranged at intervals, and the docking joints are arranged between two adjacent guide members.

11. A base station, characterized in that: It comprises the docking guide dual-function module according to any one of claims 1 to 10.

12. The base station according to claim 11, characterized in that The base station further comprises a base station body, wherein the base station body is provided with an accommodating cavity for accommodating the robot host; The support base is assembled on the base station body, or the support base is the base station body.

13. A sweeping machine, characterized in that: The invention comprises a robot host and the base station according to claim 11 or 12, wherein the robot host can enter the base station and dock with the docking joint, and at the same time the guide member is inserted into the robot host.

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