Charging base stations and autonomous mobile robots

Abstract

A charging base station and a self-moving robot, wherein the charging base station includes a charging seat and a cleaning component, wherein the charging seat can charge the mobile robot; the cleaning component is arranged on a return path of the mobile robot, or the cleaning component is arranged on the charging seat; when the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component to clean debris on the cutting mechanism.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a charging base station and a self-moving robot. Background Art

[0002] During the use of the robot, the bottom of the robot is easily accumulated with debris generated during cutting, which causes the cutting mechanism to reduce its speed and reduce the mowing effect. Existing robots lack automatic cleaning components and require manual cleaning, which is inefficient. Summary of the Invention

[0003] The present application provides a charging base station and a self-propelled robot, which can clean grass clippings through a cleaning component, avoid the accumulation of debris at the bottom of the vehicle body, reduce the frequency of manual maintenance, extend the service life of the mobile robot, and improve the working efficiency of the mobile robot.

[0004] According to a first aspect of the present application, the present application provides a charging base station for use with a self-propelled robot, the charging base station comprising:

[0005] a charging base, capable of charging the mobile robot;

[0006] a cleaning component, the cleaning component being arranged on a return path of the mobile robot, or the cleaning component being arranged on the charging base;

[0007] When the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component to clean the debris on the cutting mechanism.

[0008] In the charging base station of one embodiment of the present application, the cleaning component includes at least one first scraper structure, which is arranged on the charging base and extends from the rear end of the charging base to the front end of the charging base, so that when the mobile robot returns to the charging base, the first scraper structure can clean the debris on the cutting mechanism.

[0009] In the charging base station of one embodiment of the present application, the height of the first scraper structure is not lower than the minimum height of the cutting mechanism from the moving surface; and / or, the number of the first scraper structures is multiple, and the multiple first scraper structures are arranged in parallel.

[0010] In the charging base station of one embodiment of the present application, at least a portion of the first scraper structure close to the cutting mechanism is made of elastic material; or, the end of the first scraper structure close to the cutting mechanism is in the shape of a brush.

[0011] In the charging base station of one embodiment of the present application, a guide portion is provided on the first scraper structure, and the height of the guide portion gradually increases along the return direction of the mobile robot, so that the first scraper structure can scrape the debris on the cutting mechanism.

[0012] In the charging base station of one embodiment of the present application, the guide portion is an arc-shaped surface connected between the front end surface and the upper end surface of the first scraper structure.

[0013] In the charging base station of one embodiment of the present application, the cleaning component includes at least one second scraper structure, which is arranged at the front end of the charging base so that when the mobile robot returns to the charging base, the second scraper structure can clean the debris on the cutting mechanism.

[0014] In the charging base station of one embodiment of the present application, an extension direction of the first scraper structure and an extension direction of the second scraper structure are arranged at an angle.

[0015] In the charging base station of one embodiment of the present application, the second scraper structure includes ground spikes, and the second scraper structure is fixed to the moving surface of the mobile robot through the ground spikes.

[0016] In the charging base station of one embodiment of the present application, the width of the second scraper structure is not greater than the distance between the two wheels of the mobile robot in the width direction.

[0017] In the charging base station of one embodiment of the present application, the end of the second scraper structure close to the cutting mechanism is made of at least elastic material; or, the end of the second scraper structure close to the cutting mechanism is in the shape of a brush.

[0018] According to the second aspect of the present application, the present application provides a self-moving robot, including a mobile robot and a charging base station, the charging base station having a cleaning component and a charging seat, the cleaning component being arranged on the return path of the mobile robot to the charging base station, or the cleaning component being arranged on the charging seat, the mobile robot including a body, a walking component and a cutting mechanism for cutting the object to be cut, the cutting mechanism being arranged at the bottom of the body, the walking component being used to drive the body to move, and when the mobile robot returns to the charging base station, the cutting mechanism is adjusted to a position where the cleaning component contacts to clean the debris on the cutting mechanism.

[0019] In the robot of one embodiment of the present application, the cutting mechanism includes a knife guard and a cutting assembly, a chassis assembly is provided at the bottom of the vehicle body, the cutting assembly is mounted on the knife guard, and the knife guard is movably mounted on the chassis assembly and can move up and down relative to the chassis assembly;

[0020] When the self-mobile robot returns to the charging base station, the cutter guard disc is adjusted to the lowest position, so that the cleaning component can contact the cutter guard disc and push out debris accumulated on the cutter guard disc.

[0021] In the robot of one embodiment of the present application, the chassis assembly includes a base plate and side panels connected to the four edges of the base plate. The base plate is installed at the bottom of the vehicle body. The side panels and the base plate form a receiving space, and the tool guard is received in the receiving space.

[0022] In the robot of one embodiment of the present application, a seal is provided between the tool guard disc and the side panel, and the seal is used to fill the gap between the tool guard disc and the side panel.

[0023] In the robot of one embodiment of the present application, the knife guard has a planar cutting surface, the cutting surface is a side surface away from the substrate, and the cutting assembly is installed in the installation surface.

[0024] In the robot of one embodiment of the present application, the cutting surface is provided with an accommodating groove at the projection position of the cutting component, the diameter of the accommodating groove is adapted to the maximum diameter of the cutting component, and / or the depth of the accommodating groove is adapted to the height of the connecting seat of the cutting component.

[0025] In the robot of one embodiment of the present application, the cutting assembly is disposed in the accommodating groove and at least partially extends out of the accommodating groove.

[0026] The technical solution provided by the embodiments of the present application may include the following beneficial effects: The present application designs a charging base station and a self-moving robot, the charging base station includes a charging seat and a cleaning component, the cleaning component and the charging seat are arranged on the return path of the mobile robot, or the cleaning component is arranged on the charging seat; when the mobile robot returns to the charging base station, the cutting mechanism on the mobile robot is adjusted to a position in contact with the cleaning component, so that the cleaning component can contact the cutting mechanism to clean the debris on the cutting mechanism, which not only avoids the accumulation of debris on the cutting mechanism, but also reduces the frequency of manual maintenance, extends the service life of the mobile robot, and improves the work efficiency of the mobile robot.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 This is a schematic structural diagram of a self-propelled robot provided in one embodiment of the present application;

[0030] Figure 2 yes Figure 1 A schematic diagram of the self-propelled robot at one angle;

[0031] Figure 3 yes Figure 1 Exploded diagram of the self-propelled robot in FIG;

[0032] Figure 4 yes Figure 3 Schematic diagram of the mobile robot at one angle;

[0033] Figure 5 yes Figure 3 Schematic diagram of the mobile robot at another angle;

[0034] Figure 6 yes Figure 3 Exploded diagram of the mobile robot in [1];

[0035] Figure 7 yes Figure 3 A cross-sectional schematic diagram of the mobile robot in FIG;

[0036] Figure 8 yes Figure 6 A cross-sectional schematic diagram of the cutter disc in FIG.

[0037] Figure 9 yes Figure 1 A schematic diagram of the structure of the charging base station;

[0038] Figure 10 yes Figure 1 Exploded view of the cleaning components in the .

[0039] Description of reference numerals:

[0040] 10. Charging base station; 11. Charging seat; 12. Cleaning assembly; 12a. First scraper structure; 121. Guide portion; 12b. Second scraper structure; 122. Scraper portion; 13. Ground spikes;

[0041] 20. Mobile robot; 21. Vehicle body; 211. Chassis assembly; 2111. Base plate; 2112. Side panel; 22. Travel assembly; 23. Cutting mechanism; 231. Cutting plate; 2311. Accommodating groove; 2312. Cutting surface; 232. Cutting assembly; 233. Seal; 234. Drive assembly; 2341. First drive assembly; 2342. Second drive assembly. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0044] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0045] like Figures 1 to 3 As shown, the present application provides a self-propelled robot, including a mobile robot 20. The mobile robot 20 includes a body 21 and a cutting mechanism 23. The cutting mechanism 23 is disposed at the bottom of the body 21 and is used to cut objects to be cut. The objects to be cut include, but are not limited to, lawns, gardens, and grass on paths. In other words, the self-propelled robot can cut grass on lawns to ensure the lawn's aesthetics.

[0046] In an optional embodiment, the mobile robot 20 includes a walking component 22, which is arranged on the vehicle body 21 and is used to drive the vehicle body 21 to move, so that the vehicle body 21 can drive the cutting mechanism 23 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0047] In an optional embodiment, the robot also includes a charging base station 10, which has a cleaning component 12. The cleaning component 12 can automatically remove debris from the bottom of the mobile robot 20 to avoid the accumulation of debris, which may cause the cutting effect of the mobile robot 20 to deteriorate, or even cause the cutting mechanism 23 of the mobile robot 20 to become stuck. Through the setting of the cleaning component 12, manual cleaning is not required, and the bottom of the mobile robot 20 can be fully cleaned with a fast cleaning speed and high efficiency.

[0048] In an optional embodiment, the charging base station 10 includes a charging seat 11, which is capable of charging the mobile robot 20. The cleaning assembly 12 can be disposed on the return path of the mobile robot 20, or on the charging seat 11, so that when the mobile robot 20 returns to the charging base station 10 and the cutting mechanism 23 is adjusted to a position of contact with the cleaning assembly 12, the cleaning assembly 12 can clean debris from the cutting mechanism 23, thereby preventing debris accumulation from reducing the cutting speed of the cutting mechanism 23, thereby reducing the cutting effect of the cutting mechanism 23, and in severe cases, causing the cutting mechanism 23 to become stuck.

[0049] The present application arranges the cleaning component 12 on the moving surface of the return path of the mobile robot to the charging base station or on the charging seat 11, so that when the mobile robot 20 returns to the charging base station 10 and after the cutting mechanism 23 is adjusted to a position in contact with the cleaning component 12, the cleaning component 12 can clean the bottom of the mobile robot 20 and quickly remove the debris at the bottom of the vehicle body 21, so that the cutting mechanism 23 can be fully cleaned without manual cleaning, with fast cleaning speed and high efficiency; at the same time, it also avoids the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23 and even damage to the mobile robot 20.

[0050] It should be noted that the moving surface may include but is not limited to grass, that is, the cleaning component 12 can be directly fixed on the grass, and this application does not limit this.

[0051] For example, when the mobile robot 20 has completed cutting, while returning to the charging base station 10, the mobile robot 20 adjusts the cutting mechanism 23 to the lowest position, so that the cleaning component 12 can contact the cutting mechanism 23 when the mobile robot 20 returns to the charging base station 10, thereby pushing out the debris accumulated on the cutting mechanism 23 to achieve the effect of cleaning the cutting mechanism 23, and avoiding the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs the cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23, or even damage to the mobile robot 20.

[0052] It should be noted that at least part of the structure of the cleaning component 12 can be made of elastic material. When the mobile robot 20 returns to the charging base station 10, the mobile robot 20 adjusts the cutting mechanism 23 to a position slightly lower than the cleaning component 12, so that the cleaning component 12 can contact and bend with the mobile robot 20, so that the cleaning component 12 can scrape and wipe the debris or adhesion on the cutting mechanism 23 during the passage of the mobile robot 20, thereby pushing out the debris accumulated on the cutting mechanism 23 without damaging the cutting mechanism 23, so as to achieve the effect of cleaning the cutting mechanism 23, and avoid the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs the cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23, or even damage to the mobile robot 20.

[0053] In an optional embodiment, if Figure 2 、 Figure 3 and Figure 9 As shown, the cleaning component 12 includes at least one first scraper structure 12a, which is arranged on the charging base 11 and extends from the rear end of the charging base 11 to the front end of the charging base 11, so that when the mobile robot 20 returns to the charging base 11, the first scraper structure 12a can clean the debris on the cutting mechanism 23 and quickly remove the debris at the bottom of the vehicle body 21, so that the cutting mechanism 23 can be fully cleaned without manual cleaning, with fast cleaning speed and high efficiency; at the same time, it also avoids the accumulation of debris generated by cutting at the bottom of the mobile robot 20 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23 and even damage to the mobile robot 20.

[0054] In an optional embodiment, the height of the first scraper structure 12a is not lower than the minimum height of the cutting mechanism 23 from the moving surface, so that when the mobile robot 20 returns to the charging base station 10 and passes over the first scraper structure 12a, the first scraper structure 12a can contact at least part of the cutting mechanism 23, and can even lift the cutting mechanism 23; when the mobile robot 20 continues to move in the direction of the first scraper structure 12a, the first scraper structure 12a can scrape off the adhesions and grass clippings on the cutting mechanism 23 and push them out, thereby achieving the effect of cleaning the cutting mechanism 23.

[0055] In an optional embodiment, multiple first scraper structures 12a are provided, and the multiple first scraper structures 12a are arranged in parallel so as to clean grass clippings accumulated on the bottom of the vehicle body 21 multiple times, thereby ensuring the cleaning effect of the cleaning assembly 12. The multiple first scraper structures 12a extend along the width direction of the vehicle body 21 and are arranged parallel to the length direction of the vehicle body 21. When the mobile robot 20 returns to the charging base station 10, the multiple first scraper structures 12a can scrape the cutting mechanism 23 in sequence to push grass clippings off the cutting mechanism 23, thereby achieving the effect of cleaning the cutting mechanism 23.

[0056] In an optional embodiment, at least the portion of the first scraper structure 12a adjacent to the cutting mechanism is made of an elastic material, which can deform when the first scraper structure 12a contacts at least a portion of the cutting mechanism 23, thereby preventing damage to the cutting mechanism 23 and the vehicle body 21. In addition, the main body of the first scraper structure 12a or the connection between the first scraper structure 12a and the charging base 11 can be made of a rigid material to ensure that the first scraper structure 12a can be firmly fixed to the charging base 11.

[0057] In an optional embodiment, the end of the first scraper structure 12a close to the cutting mechanism 23 is in the shape of a brush, so that when the first scraper structure 12a scrapes off the adhesions and grass clippings on the cutting mechanism 23, it will not damage the surface of the cutting mechanism 23, and it can also avoid hindering the movement of the vehicle body 21. After the scraper scrapes off the adhesions and grass clippings, the surface of the cutting mechanism 23 is wiped, thereby effectively improving the cleaning effect.

[0058] In an optional embodiment, a guide portion 121 is provided on the first scraper structure 12a. The height of the first guide portion 121 gradually increases along the return direction of the mobile robot 20, so that after the first scraper structure 12a contacts the cutting mechanism 23, the first scraper structure 12a can scrape the debris on the cutting mechanism 23, thereby pushing the grass clippings on the cutting mechanism 23 out, thereby achieving the effect of cleaning the cutting mechanism 23. The guide portion 121 can guide the vehicle body 21 to pass over the first scraper structure 12a when the vehicle body 21 moves. When the vehicle body 21 contacts the guide portion 121, the guide portion 121 is naturally pressed by the vehicle body 21 toward the side opposite to the vehicle body 21's movement. After the first scraper structure 12a completely enters the bottom of the vehicle body 21, the first scraper structure 12a can recover its deformation and contact the cutting mechanism 23, then push the cutting mechanism 23 out, thereby scraping the debris on the cutting mechanism 23 and pushing the grass clippings on the cutting mechanism 23 out.

[0059] It should be noted that the guide portion 121 can be an inclined surface or an arc-shaped surface arranged at an angle relative to the horizontal plane. It is mainly a transition connection between the front end surface and the upper end surface of the first scraper structure 12a, so that the vehicle body 21 can contact the cutting mechanism 23 when passing over the first scraper structure 12a without causing damage to the cutting mechanism 23. The cutting mechanism 23 can also be lifted up, so that the grass clippings on the cutting mechanism 23 can be pushed out during the movement of the vehicle body 21.

[0060] In an optional embodiment, the guide portion 121 is an arcuate surface connected between the front end face and the upper end face of the first scraper structure 12a, so that after the cutting mechanism 23 contacts the guide portion 121 of the first scraper structure 12a, the first scraper structure 12a can contact the cutting mechanism 23 and lift the cutting mechanism 23 as the vehicle body 21 moves, thereby pushing out the grass clippings on the cutting mechanism 23.

[0061] In an optional embodiment, if Figure 1 、 Figure 4 and Figure 10 As shown, the cleaning assembly 12 includes at least one second scraper structure 12b, which is arranged at the front end of the charging base 11 so that when the mobile robot 20 returns to the charging base, the second scraper structure 12b can clean the debris on the cutting mechanism 23.

[0062] For example, when the mobile robot 20 returns to the charging base station 10, the mobile robot 20 first passes through the upper end of the second scraper structure 12b, and then returns to the charging base station 10, so that the second scraper structure 12b can clean the grass clippings accumulated at the bottom of the vehicle body 21 before the mobile robot 20 returns to the charging base station 10.

[0063] In an optional embodiment, if Figure 1 、 Figure 3 and Figure 4 As shown, the extension direction of the first scraper structure 12a is set at an angle to the extension direction of the second scraper structure 12b, so that the first scraper structure 12a and the second scraper structure 12b can clean the cutting mechanism 23 from different angles, thereby improving the cleaning effect on the bottom of the mobile robot 20.

[0064] For example, the extension direction of the first scraper structure 12a is perpendicular to the extension direction of the second scraper structure 12b. When the mobile robot 20 returns to the charging base station 10, the second scraper structure 12b can scrape off the adhesion and debris on the cutting mechanism 23 in a large area in the direction of movement of the vehicle body 21; when the mobile robot 20 enters the charging base 11, the first scraper structure 12a can scrape off the adhesion and debris on the cutting mechanism 23 in a small area, so that the adhesion and debris on the cutting mechanism 23 can be concentrated and pushed to the garbage collection area of ​​the charging base 11. In an optional embodiment, as Figure 1 、 Figure 4 and Figure 10 As shown, the second scraper structure 12b includes ground spikes 13. The second scraper structure 12b is fixed to the moving surface of the mobile robot 20 via the ground spikes 13 to ensure a secure connection of the second scraper structure 12b and facilitate assembly and disassembly of the first scraper structure 12a. The moving surface may be, but is not limited to, grass, such as the grass to which the second scraper structure 12b is fixed via the ground spikes 13.

[0065] In an optional embodiment, the end of the second scraper structure 12b close to the cutting mechanism 23 is made of at least elastic material, which can be deformed when the second scraper structure 12b is in at least partial contact with the cutting mechanism 23, thereby avoiding damage to the cutting mechanism 23 and the vehicle body 21.

[0066] In an optional embodiment, the end of the second scraper structure 12b near the cutting mechanism 23 is in the shape of a brush. This allows the second scraper structure 12b to scrape away debris and grass clippings from the cutting mechanism 23 without damaging the surface of the cutting mechanism 23, thereby avoiding obstruction to the movement of the vehicle body 21. After the scraper removes the debris and grass clippings, the surface of the cutting mechanism 23 is wiped, thereby effectively improving the cleaning effect. Exemplarily, the second scraper structure 12b has a scraper portion 122 near the cutting mechanism 23. The scraper portion 122 can be made of an elastic material or a brush. The lower end of the scraper portion 122 is connected to a fixed end made of a rigid material, so that the ground spike 13 can pass through the fixed end and secure it to the moving surface.

[0067] In an optional embodiment, the height of the second scraper structure 12b is not lower than the minimum height of the cutting mechanism 23 from the moving surface, so that when the mobile robot 20 returns to the charging base station 10 and passes over the second scraper structure 12b, the second scraper structure 12b can contact at least part of the cutting mechanism 23, or even lift the cutting mechanism 23; when the mobile robot 20 continues to move toward the second scraper structure 12b, the second scraper structure 12b can push out the grass clippings on the cutting mechanism 23, thereby achieving the effect of cleaning the cutting mechanism 23.

[0068] In an optional embodiment, multiple second scraper structures 12b are provided, arranged in parallel, so that accumulated grass clippings on the bottom of the vehicle body 21 can be cleaned multiple times to ensure the cleaning effect of the second scraper structures 12b. The multiple second scraper structures 12b extend along the width of the vehicle body 21, so that when the mobile robot 20 returns to the charging base station 10, the multiple second scraper structures 12b can sequentially scrape the cutting mechanism 23 to push grass clippings off the cutting mechanism 23, thereby effectively cleaning the cutting mechanism 23.

[0069] In an optional embodiment, the width D2 of the second scraper structure 12 b is not greater than the distance D1 between the two wheels of the walking assembly 22 in the width direction, so that the mobile robot 20 can pass over the cleaning assembly 12 .

[0070] Exemplarily, the width D2 of the second scraper structure 12b is adapted to the distance D1 between the two wheels of the traveling assembly 22 in the width direction, so that not only the grass clippings accumulated at the bottom of the vehicle body 21 can be cleaned, but also the two wheels of the mobile robot 20 can be cleaned.

[0071] In an optional embodiment, the cutting mechanism 23 includes a knife guard disc 231 and a cutting assembly 232. A chassis assembly 211 is provided at the bottom of the vehicle body 21. The cutting assembly 232 is installed on the knife guard disc 231. The knife guard disc 231 is movably installed on the chassis assembly 211 and can move up and down relative to the chassis assembly 211. When the mobile robot 20 returns to the charging base station 10, the knife guard disc 231 is adjusted to the lowest position, so that the cleaning assembly 12 can contact the knife guard disc 231 and push out the debris accumulated on the knife guard disc 231, so as to achieve the effect of cleaning the knife guard disc 231.

[0072] In an optional embodiment, the cutting mechanism 23 includes a drive assembly 234, which can drive the cutting assembly 232 to perform cutting and adjust the position of the cutting assembly 232. The blade guard 231 has a highest position and a lowest position and can reciprocate between the highest and lowest positions. When the blade guard 231 is in the highest position, the drive assembly 234 can drive the cutting assembly 232 to perform cutting. When the blade guard 231 is in the lowest position, the cleaning assembly 12 can contact the blade guard 231, thereby pushing out grass clippings accumulated under the chassis assembly 211, thereby cleaning the blade guard 231.

[0073] Exemplarily, when the mobile robot 20 completes the mowing action and returns to the charging base station 10, the drive component 234 can adjust the position of the blade guard 231 so that the blade guard 231 is in the lowest position, so that when the mobile robot 20 passes over the cleaning component 12, the cleaning component 12 can contact the blade guard 231, thereby pushing out the debris accumulated at the bottom of the vehicle body 21 to achieve the cleaning effect, and avoid the accumulation of debris generated by cutting at the bottom of the vehicle body 21 when the mobile robot 20 performs the cutting action, resulting in blockage of the grass discharge area at the bottom of the vehicle body 21, or even damage to the mobile robot 20.

[0074] In an optional embodiment, if Figures 4 to 7 As shown, the chassis assembly 211 includes a base plate 2111 and side panels 2112 connected to the four edges of the base plate 2111. The base plate 2111 is installed at the bottom of the vehicle body 21. The side panels 2112 and the base plate 2111 are combined to form a receiving space. The knife guard 231 is received in the receiving space so that the side panels 2112 can protect the knife guard 231 and the cutting assembly 232.

[0075] For example, the side panel 2112 can prevent other people from reaching their hands into the cutting assembly 232 through the gap between the robot and the ground when the cutting assembly 232 performs a cutting action, resulting in being cut by the cutting assembly 232; or, when the height of the obstacle on the ground (such as hard obstacles such as stones and iron cans) is greater than the height of the cutting assembly 232 from the ground, the side panel 2112 can push the obstacle away when the robot moves, or prevent the obstacle from entering the receiving space, thereby avoiding the cutting assembly 232 from colliding with the obstacle and causing damage or destruction to the cutting assembly 232.

[0076] In an optional embodiment, reinforcing ribs are provided on the base plate 2111 to enhance the structural strength of the base plate 2111 so that the base plate 2111 is not easily deformed, thereby better supporting the driving component 234, the blade guard 231 and the cutting component 232, etc.

[0077] In an optional embodiment, a seal 233 is provided between the blade guard 231 and the side panel 2112. The seal 233 is used to fill the gap between the blade guard 231 and the side panel 2112, preventing grass clippings from flying onto the blade guard 231 and thus preventing it from affecting the raising and lowering of the blade guard 231. The seal 233 includes, but is not limited to, a brush, a sealing strip, and the like.

[0078] In an optional embodiment, if Figures 5 to 8 As shown, the blade guard 231 has a planar cutting surface 2312, which is a side away from the base plate 2111. The cutting assembly 232 is installed in the mounting surface. Compared with the mounting surface with a groove design, the planar blade guard 231 of the present application can reduce the accumulation of grass clippings.

[0079] In an optional embodiment, the cutting surface 2312 is provided with a receiving groove 2311 at the projection position of the cutting assembly 232. The diameter of the receiving groove 2311 is adapted to the maximum diameter of the cutting assembly 232, so that the cutting assembly 232 can be received in the receiving groove 2311. The diameter of the receiving groove 2311 can be slightly larger than the maximum diameter of the cutting assembly 232, thereby effectively preventing grass residue from entering the receiving groove 2311 and preventing the output shaft of the drive assembly 234 from being blocked.

[0080] In an optional embodiment, the depth H of the accommodating groove 2311 is adapted to the height of the connecting seat 2321 of the cutting assembly 232, so that the connecting seat 2321 of the cutting assembly 232 can be accommodated in the accommodating groove 2311, so that part of the structure of the cutting assembly 232 can be exposed from the cutting surface 2312, ensuring that the cutting surface 2312 is an overall planar structure, thereby facilitating the cleaning of the cutting surface 2312 by the cleaning assembly 12.

[0081] Exemplarily, the cutting assembly 232 includes a connecting seat 2321 and a cutting blade 2322. The connecting seat 2321 is connected to the output shaft of the driving assembly 234. The cutting blade 2322 is disposed on the connecting seat 2321. The height of the connecting seat 2321 is slightly greater than the depth H of the accommodating groove 2311, so that a portion of the structure of the connecting seat 2321 can be covered by the accommodating groove 2311. The working portion of the cutting assembly 232 can be exposed from the cutting surface 2312, ensuring that the cutting blade 2322 on the connecting seat 2321 can be exposed from the cutting surface 2312. The diameter of the accommodating groove 2311 is compatible with the maximum diameter of the cutting assembly 232, thereby effectively preventing grass clippings and the like from entering the accommodating groove 2311 and preventing the output shaft from getting stuck.

[0082] In an optional embodiment, the cutting assembly 232 is disposed in the receiving groove 2311 and at least partially extends out of the receiving groove 2311, so that the working portion of the cutting assembly 232 can be exposed from the cutting surface 2312. Figure 1 、 Figure 6 and Figure 7 As shown, the drive component 234 includes at least a first drive component 2341 and a second drive component 2342. The first drive component 2341 is used to drive the cutting mechanism 23 to perform a cutting action; the second drive component 2342 is used to adjust the position of the cutting mechanism 23, so that when the mobile robot 20 returns to the charging base station 10, the cutting mechanism 23 can be adjusted to a position in contact with the cleaning component 12, so that the cleaning component 12 can clean the bottom of the vehicle body 21, thereby quickly removing debris from the bottom of the vehicle body 21 without manual cleaning, with fast cleaning speed and high efficiency. It can also avoid the accumulation of debris generated by cutting at the bottom of the vehicle body 21 when the mobile robot 20 performs a cutting action, resulting in blockage of the grass discharge area of ​​the cutting mechanism 23.

[0083] Exemplarily, the self-propelled robot has at least two switchable operating modes. In the first operating mode, the cutting mechanism 23 is in a cutting state. The second drive mechanism can adjust the height of the cutting mechanism according to the requirements of the cutting operation, and the first drive assembly 2341 drives the cutting mechanism 23 to perform the cutting operation. In the second operating mode, when the self-propelled robot detects debris on the bottom of the self-propelled robot or when the self-propelled robot returns to the charging base station, the second drive assembly 2342 adjusts the cutting mechanism 23 to the lowest position, so that the cutting mechanism 23 contacts the cleaning assembly 12, so that the cleaning assembly 12 can clean the debris on the cutting mechanism 23 during the return path of the mobile robot. In the process of the cutting mechanism 23 moving from the highest position to the lowest position, the cutting mechanism 23 can clean or scrape the inner wall of the chassis assembly 211, thereby peeling off the debris attached to the inner wall of the chassis assembly 211 from the inner wall surface of the chassis assembly 211, preventing the debris from adhering to the inner wall of the chassis assembly 211, thereby achieving the technical effect of cleaning the chassis assembly 211.

[0084] Specifically, a first drive assembly 2341 is mounted on the side of the blade guard 231 facing the chassis assembly 211 and is transmission-connected to the cutting assembly 232. A second drive assembly 2342 is transmission-connected to the first drive assembly 2341 and is configured to drive the first drive assembly 2341 up and down. This allows the first drive assembly 2341 to drive the blade guard 231 and the cutting assembly 232 to move up and down, allowing the blade guard 231 to adjust to a position of contact with the cleaning assembly 12, allowing the blade guard 231 to clean or scrape the inner wall of the storage space. Furthermore, when the mobile robot returns to the charging base station, the cleaning assembly 12 can clean debris from the blade guard 231, eliminating the need for manual cleaning and achieving high cleaning speed and efficiency. After a predetermined period of time, the self-propelled robot switches from the second operating mode to the first operating mode. The second drive assembly 2342 controls the blade guard 231 to move toward the chassis assembly 211, separating the blade guard 231 from the cleaning assembly 12, allowing the mobile robot to continue cutting after leaving the charging base station.

[0085] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0086] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0087] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0088] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A charging base station, used for a mobile robot, characterized in that: The charging base station includes: a charging base, capable of charging the mobile robot; a cleaning component, the cleaning component being arranged on a return path of the mobile robot, or the cleaning component being arranged on the charging base; When the mobile robot returns to the charging base station, the blade guard of the cutting mechanism on the mobile robot is adjusted to the lowest position, where the blade guard contacts the cleaning assembly, so as to clean debris on the cutting mechanism; The cleaning assembly includes at least one first scraper structure, which is arranged on the charging base and extends from the rear end of the charging base to the front end of the charging base, so that when the mobile robot returns to the charging base, the first scraper structure can clean the debris on the cutting mechanism; The first scraper structure is provided with a guide portion, and the height of the guide portion gradually increases along the returning direction of the mobile robot, so that the first scraper structure can scrape the debris on the cutting mechanism.

2. The charging base station according to claim 1, characterized in that The height of the first scraper structure is not lower than the minimum height of the cutting mechanism from the moving surface of the mobile robot; and / or, there are multiple first scraper structures, and the multiple first scraper structures are arranged in parallel.

3. The charging base station according to claim 1, characterized in that At least a portion of the first scraper structure close to the cutting mechanism is made of elastic material; or an end portion of the first scraper structure close to the cutting mechanism is in a brush shape.

4. The charging base station according to claim 1, characterized in that: The guide portion is an arcuate surface connected between the front end surface and the upper end surface of the first scraper structure.

5. The charging base station according to claim 1, characterized in that: The cleaning assembly includes at least one second scraper structure, which is arranged at the front end of the charging base so that when the mobile robot returns to the charging base, the second scraper structure can clean the debris on the cutting mechanism.

6. The charging base station according to claim 5, characterized in that: An extension direction of the first scraper structure and an extension direction of the second scraper structure are arranged at an angle.

7. The charging base station according to claim 5, characterized in that: The second scraper structure includes ground spikes, and the second scraper structure is fixed to the moving surface of the mobile robot through the ground spikes.

8. The charging base station according to claim 5, characterized in that: The width of the second scraper structure is no greater than the distance between the two wheels of the mobile robot in the width direction.

9. The charging base station according to claim 8, characterized in that: The end portion of the second scraper structure close to the cutting mechanism is made of at least an elastic material; or the end portion of the second scraper structure close to the cutting mechanism is in a brush shape.

10. A self-propelled robot, characterized in that: The mobile robot comprises a mobile robot and a charging base station, wherein the charging base station has a cleaning component and a charging seat, wherein the cleaning component is arranged on a return path of the mobile robot to the charging base station, or the cleaning component is arranged on the charging seat; the mobile robot comprises a body, a walking component and a cutting mechanism for cutting objects to be cut, wherein the cutting mechanism is arranged at the bottom of the body, and the walking component is used to drive the body to move forward. When the mobile robot returns to the charging base station, the cutting mechanism is adjusted to a position in contact with the cleaning component to clean debris on the cutting mechanism; The cutting mechanism includes a knife guard disc and a cutting assembly, wherein the knife guard disc is movably mounted on the chassis assembly at the bottom of the vehicle body and can move up and down relative to the chassis assembly; when the mobile robot returns to the charging base station, the knife guard disc is adjusted to the lowest position, so that the cleaning assembly can contact the knife guard disc and push out debris accumulated on the knife guard disc; a seal is provided between the knife guard disc and the side panel of the chassis assembly, and the seal is used to fill the gap between the knife guard disc and the side panel; The cleaning assembly includes at least one first scraper structure, which is arranged on the charging base and extends from the rear end of the charging base to the front end of the charging base, so that when the mobile robot returns to the charging base, the first scraper structure can clean the debris on the cutting mechanism; The first scraper structure is provided with a guide portion, and the height of the guide portion gradually increases along the returning direction of the mobile robot, so that the first scraper structure can scrape the debris on the cutting mechanism.

11. The robot according to claim 10, characterized in that A chassis assembly is provided at the bottom of the vehicle body, and the cutting assembly is installed on the knife guard disc.

12. The robot according to claim 11, characterized in that The chassis assembly includes a base plate and side panels connected to the four edges of the base plate. The base plate is installed at the bottom of the vehicle body. The side panels and the base plate form a receiving space. The knife guard is received in the receiving space.

13. The robot according to claim 12, characterized in that The knife guard plate has a planar cutting surface, which is a side surface of the base plate away from the chassis assembly. The cutting assembly is installed on the installation surface of the knife guard plate.

14. The robot according to claim 13, characterized in that The cutting surface is provided with an accommodating groove at the projected position of the cutting component, the diameter of the accommodating groove is adapted to the maximum diameter of the cutting component, and / or the depth of the accommodating groove is adapted to the height of the connecting seat of the cutting component.

15. The robot according to claim 14, characterized in that The cutting assembly is disposed in the accommodating groove and at least partially extends out of the accommodating groove.

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