Robot base station and robot system

Abstract

The invention discloses a base station of a robot and a robot system, and the base station of the robot comprises a base station main body which is suitable for bearing the robot; the first end of the charging arm is rotatably connected with the base station main body and is provided with a first locking part; and the locking piece is movably arranged on the base station main body and is selectively locked and matched with the first locking part so as to limit the rotation angle of the charging arm relative to the base station main body. Therefore, the first end of the charging arm is rotatably connected with the base station main body and is provided with the first locking part, and the locking piece is movably arranged on the base station main body and is selectively locked and matched with the first locking part, so that the rotation angle of the charging arm relative to the base station main body is limited; in this way, multi-angle flexible adjustment and reliable locking of the charging arm can be achieved, flexible switching of the two working postures of the upright state and the containing state of the charging arm can be achieved, and the stability of the charging arm in different working postures can be guaranteed.

Description

Technical Field

[0001] This invention relates to the field of swimming pool cleaning equipment technology, and in particular to a robot base station and robot system. Background Technology

[0002] With the development of technology and the improvement of people's living standards, robots are gradually being applied to people's daily lives. Among them, pool robots can perform comprehensive cleaning of pools, improving the hygiene of pools while reducing manual maintenance costs.

[0003] In related technologies, the robot's charging arm only supports locking at a single fixed angle, making it difficult to retract into a compact posture when not in use. This not only makes the exposed arm prone to collisions with surrounding components or the environment and damage, but also increases the space occupied by the whole machine, which is not conducive to the storage and transportation of the equipment. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of this invention is to provide a robot base station that allows for multi-angle adjustment and locking of the charging arm, facilitating the storage and transportation of the base station.

[0005] The present invention further proposes a robot system.

[0006] According to the present invention, a robot base station includes: a base station body adapted to carry a robot; a charging arm, a first end of which is rotatably connected to the base station body and provided with a first locking part, and a second end of which is provided with a charging component; and a locking member movably disposed on the base station body and selectively locking with the first locking part to limit the rotation angle of the charging arm relative to the base station body.

[0007] Therefore, by rotatably connecting the first end of the charging arm to the base station body and providing a first locking part, and by movably setting the locking member on the base station body and selectively locking it with the first locking part, the rotation angle of the charging arm relative to the base station body can be limited. This allows for flexible adjustment and reliable locking of the charging arm angle, enabling flexible switching between the two working postures of the charging arm—upright and stowed—and ensuring the stability of the charging arm under different working postures.

[0008] In some examples of the present invention, the locking member is provided with a second locking portion and selectively circumferentially locks with the first locking portion. The locking member is axially movable, and the second locking portion and the first locking portion are selectively misaligned to break the circumferential locking engagement.

[0009] In some examples of the present invention, the locking member is provided with a sliding groove, and the base station body is provided with a stop member. The stop member extends radially into the sliding groove of the locking member to restrict the circumferential rotation of the locking member, and the locking member is slidable relative to the stop member in the axial direction.

[0010] In some examples of the present invention, a first resilient reset member is also included, which is connected between the stop member and the locking member, and the first resilient reset member is used to provide a restoring force for the locking member to move toward the first locking portion.

[0011] In some examples of the present invention, the charging arm is provided with a locking groove, the first locking part is a first locking block and is disposed on the inner wall of the locking groove, the second locking part is a second locking block and is disposed on the outer wall of the locking member, the locking member extends at least partially into the locking groove, and the first locking block and the second locking block selectively lock into each other.

[0012] In some examples of the present invention, there are multiple first locking blocks, which are circumferentially spaced on the inner wall of the locking groove. The second locking blocks selectively abut against different first locking blocks to lock the charging arm at a preset angle.

[0013] In some examples of the present invention, the robot's base station further includes a second elastic reset member connected between the base station body and the charging arm.

[0014] In some examples of the present invention, the charging arm includes a housing, one end of which is provided with a tubular body extending outward from the housing, and the portion of the housing corresponding to the tubular body is provided with a cavity. The charging arm is rotatably connected to the base station body through the tubular body, and the locking member can pass through the tubular body and enter the cavity.

[0015] In some examples of the present invention, the locking groove and the first locking part are provided on the inner sidewall of the cavity.

[0016] In some examples of the present invention, the base station body is provided with a receiving cavity, the tubular body is rotatably disposed in the receiving cavity, and a limiting member is provided on the tubular body or the housing, the limiting member being used to limit the rotation angle of the charging arm.

[0017] In some examples of the present invention, the locking member includes a shaft, one end of which is provided with a second locking part and the other end of which is provided with a cap, the diameter of which is larger than the diameter of the shaft, and the groove is provided on the shaft.

[0018] In some examples of the invention, the locking element is movably disposed within the receiving cavity, and the cap is at least partially exposed outside the receiving cavity.

[0019] A robot system according to an embodiment of the present invention includes: a base station for the robot as described above; and a robot that selectively enters and exits the base station for the robot.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a base station according to an embodiment of the present invention; Figure 2 This is a partial schematic diagram of a base station according to an embodiment of the present invention; Figure 3 This is a partial schematic diagram of a base station according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a charging arm according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a charging arm according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a locking member according to an embodiment of the present invention; Figure 7 This is a partial schematic diagram of a base station according to an embodiment of the present invention; Figure 8 This is a partial schematic diagram of a base station according to an embodiment of the present invention.

[0022] Figure label: 100. Base station; 10. Base station body; 101. Stop; 102. Locking groove; 103. Receiving cavity; 20. Charging arm; 201. First locking part; 202. Charging component; 203. Limiting component; 204. Sub-support arm; 205. Housing; 206. Tubular body; 207. Cavity; 30. Locking element; 301. Second locking part; 302. Slide groove; 303. Cap; 304. Shaft body; 401. Second elastic reset component; 402. Third elastic reset component; 403. Fourth elastic reset component; 50. Base; 60. Support plate. Detailed Implementation

[0023] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0024] The following is for reference. Figures 1-8 A base station 100 for a robot according to an embodiment of the present invention is described. The base station 100 for a robot can be applied to a robot system.

[0025] Combination Figures 1-8 As shown, the robot base station 100 according to the present invention mainly includes: a base station body 10, a charging arm 20, and a locking member 30. The base station body 10 is adapted to carry the robot; the first end of the charging arm 20 is rotatably connected to the base station body 10 and is provided with a first locking part 201, and the second end of the charging arm 20 is provided with a charging member 202; the locking member 30 is movably disposed on the base station body 10 and selectively locks with the first locking part 201 to limit the rotation angle of the charging arm 20 relative to the base station body 10.

[0026] Specifically, a docking area for carrying the robot is formed on the upper side of the base station body 10. When the robot completes the cleaning task, runs out of power, or goes into standby mode, it will automatically return to the base station 100 and accurately dock in the docking area, thereby realizing the docking of the robot with the base station body 10.

[0027] Furthermore, the first end of the charging arm 20 is rotatably connected to the base station body 10, allowing the charging arm 20 to rotate relative to the base station body 10 within a preset angle range. This enables the charging arm 20 to switch between two working postures: a concealed state and an upright state. When the charging arm 20 is attached to or embedded in the groove on the upper surface of the base station body 10, the charging arm 20 is in a concealed state. This concealed state not only effectively reduces the overall height of the base station 100, facilitating its storage and transportation, but also prevents the charging arm 20 from being exposed and causing collisions. When the charging arm 20 rotates upward to a preset position, forming a certain angle with the upper surface of the base station body 10, the charging arm 20 is in an upright state. This upright state allows the charging component 202 at the second end of the charging arm 20 to extend above the robot docking area, facilitating docking between the robot and the charging component 202, thereby enabling the robot to be charged.

[0028] Furthermore, the locking member 30 on the base station body 10 can move relative to the first locking part 201 at the first end of the charging arm 20. By moving the locking member 30, at least a part of the locking member 30 can form a locking engagement with the first locking part 201, fixing the charging arm 20 at a specific angle position, so that the charging arm 20 can be stably kept in an upright or concealed state, preventing it from rotating accidentally due to gravity or vibration. When it is necessary to adjust the posture of the charging arm 20, the locking member 30 can be moved relative to the first locking part 201 by manual pressing or motor drive, so that the locking member 30 disengages from the first locking part 201 and releases the circumferential lock. At this time, the charging arm 20 can rotate freely. After the charging arm 20 is adjusted to the correct position, the locking member 30 can be moved to re-form a locking engagement with the first locking part 201, thereby locking the charging arm 20 again.

[0029] Furthermore, when the robot needs to enter the base station body 10 for charging, the charging arm 20 must be in an upright position, so that the charging component 202 at the second end of the charging arm 20 extends to the corresponding position above the robot's docking area, while clearing the docking area on the upper side of the base station body 10. When the cleaning robot drives into and stably docks in this area, the charging component 202 at the second end of the charging arm 20 will connect with the corresponding charging terminal on the robot, thereby realizing power transmission and charging the robot. The charging component 202 can be in the form of a metal charging terminal, a magnetic charging interface, or a wireless charging coil.

[0030] Therefore, by rotatably connecting the first end of the charging arm 20 to the base station body 10 and providing a first locking part 201, and by movably providing the locking member 30 to the base station body 10 and selectively locking it with the first locking part 201, the rotation angle of the charging arm 20 relative to the base station body 10 can be limited. This allows for flexible adjustment and reliable locking of the angle of the charging arm 20, enabling flexible switching between the upright and concealed working postures of the charging arm 20, and ensuring the stability of the charging arm 20 under different working postures.

[0031] Combination Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the locking member 30 is provided with a second locking part 301 and selectively locks circumferentially with the first locking part 201. The locking member 30 is movable in the axial direction. The second locking part 301 and the first locking part 201 are selectively misaligned with each other to break the circumferential locking engagement.

[0032] Specifically, the first end of the charging arm 20 is provided with a first locking part 201, and the locking member 30 is provided with a second locking part 301. When the first locking part 201 and the second locking part 301 are circumferentially locked together, the charging arm 20 is in a locked posture and cannot rotate relative to the base station body 10. When the first locking part 201 and the second locking part 301 are misaligned, the charging arm 20 is in an unlocked posture and can rotate relative to the base station body 10.

[0033] Furthermore, under the action of external force or driving mechanism, the locking member 30 can move linearly back and forth along its own axis. By moving the locking member 30 towards the first locking part 201, the first locking part 201 and the second locking part 301 can be engaged or fitted together in the circumferential direction, thereby realizing the circumferential locking cooperation between the first locking part 201 and the second locking part 301, restricting the relative rotation between the charging arm 20 and the base station body 10, thereby ensuring the structural stability of the charging arm 20 in the corresponding working posture.

[0034] By moving the locking member 30 away from the first locking part 201, the second locking part 301 and the first locking part 201 can be axially misaligned, causing them to disengage from the circumferential engagement state, i.e., the circumferential locking fit is broken. At this time, the rotational constraint between the charging arm 20 and the base station body 10 is released, and the charging arm 20 can rotate freely relative to the base station body 10 around its axis. When the charging arm 20 is rotated into position, the locking member 30 is moved closer to the first locking part 201, so that the first locking part 201 and the second locking part 301 re-enter the circumferential locking state, locking the charging arm 20 in the corresponding position.

[0035] In this way, not only can the charging arm 20 be flexibly switched between two working postures, namely upright and concealed, but the stability of the charging arm 20 under different working postures can also be ensured.

[0036] Combination Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the locking member 30 is provided with a sliding groove 302, and the base station body 10 is provided with a stop member 101. The stop member 101 extends radially in the locking member 30 and extends into the sliding groove 302 to restrict the circumferential rotation of the locking member 30. The locking member 30 is slidable relative to the stop member 101 in the axial direction.

[0037] Specifically, the slide groove 302 extends along the axial direction of the locking member 30, so the length direction of the slide groove 302 is consistent with the axial direction of the locking member 30, and the width direction is consistent with the radial direction of the locking member 30.

[0038] Furthermore, the stop 101 extends radially along the locking member 30 and passes through the slide groove 302. When the locking member 30 tends to rotate circumferentially, the two side walls in the width direction of the slide groove 302 will abut against the stop 101 to limit the movement, thereby preventing the locking member 30 from rotating. Since the locking member 30 is linked with the charging arm 20, limiting the rotation of the locking member 30 can prevent the charging arm 20 from rotating relative to the base station body 10, thus ensuring the locking reliability of the charging arm 20.

[0039] The width of the slide groove 302 should be slightly larger than the cross-sectional width of the stop 101 in that direction, so as to restrict the circumferential rotation of the locking member 30 while allowing the stop 101 and the slide groove 302 to slide relative to each other.

[0040] Furthermore, when the locking member 30 moves axially, the stop member 101 remains stationary, allowing the slide groove 302 to slide relative to the stop member 101. This enables the stop member 101 and the slide groove 302 to slide together, thereby providing guidance for the axial linear movement of the locking member 30 and preventing it from deviating, rotating, or dislodging during movement.

[0041] The length of the slide groove 302 should not be less than the axial travel required by the locking member 30. If the length of the slide groove 302 is equal to the axial travel required by the locking member 30, when the second locking part 301 is in the position of locking engagement and misalignment engagement with the first locking part 201 respectively, the stop member 101 will abut against the two ends of the slide groove 302 in the length direction and limit the maximum axial movement distance of the locking member 30.

[0042] It should be noted that the axial travel required by the locking member 30 refers to the distance that the first locking part 201 and the second locking part 301 need to move to complete the locking engagement and the misalignment engagement, respectively.

[0043] Combination Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the robot's base station 100 also includes a first elastic reset member, which is connected between the stop member 101 and the locking member 30. The first elastic reset member is used to provide a restoring force for the locking member 30 to move toward the first locking part 201.

[0044] Specifically, when the locking member 30 is subjected to an external force and moves axially away from the first locking part 201, the first elastic reset member will undergo elastic deformation and store elastic potential energy. When the external force is removed, the first elastic reset member releases the energy stored due to the elastic deformation and drives the locking member 30 to move in the opposite direction, that is, to move closer to the first locking part 201, until the locking member 30 returns to the initial position. At this time, the second locking part 301 on the locking member 30 and the first locking part 201 on the charging arm 20 are realigned and form a circumferential locking engagement, thereby relocking the charging arm 20 in the preset initial posture.

[0045] Thus, by setting a first elastic reset member between the stop member 101 and the locking member 30, not only can the automatic reset function of the locking member 30 be realized, but also the locking engagement of the first locking part 201 and the second locking part 301 can be completed without additional driving, that is, the locking action of the charging arm 20 can be completed. This simplifies the structural design of the entire locking mechanism, reduces the driving cost of the locking member 30, and also improves the convenience and reliability of the posture switching operation of the charging arm 20.

[0046] Combination Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the charging arm 20 is provided with a locking groove 102. The first locking part 201 is a first locking block and is provided on the inner wall of the locking groove 102. The second locking part 301 is a second locking block and is provided on the outer wall of the locking member 30. The locking member 30 extends at least partially into the locking groove 102. The first locking block and the second locking block selectively lock together.

[0047] Specifically, the second locking block is disposed on the outer wall of the locking member 30, and its position and size match the locking groove 102. When the second locking block on the outer wall of the locking member 30 extends into the locking groove 102, the second locking block and the first locking block bite or engage with each other in the circumferential direction, thereby realizing the circumferential locking engagement of the first locking part 201 and the second locking part 301 to restrict the charging arm 20 from rotating relative to the base station body 10 and fix the charging arm 20 in a preset posture. This not only enables the first locking block and the second locking block to form a stable mechanical engagement in the circumferential direction, ensuring the stability and reliability of the charging arm 20 in the preset posture, but also only requires axial movement of the locking member 30 to achieve the desired result. This simplifies the structural design of the locking mechanism and reduces the difficulty and processing difficulty of achieving the locking engagement of the first locking part 201 and the second locking part 301. In addition, the mechanical engagement between the locking blocks is a surface contact with a relatively large contact area, resulting in high shear strength and making it less prone to deformation or breakage.

[0048] In some embodiments of the present invention, the first locking block is integrally formed with the charging arm 20, and / or the second locking block is integrally formed with the locking member 30, so as to ensure the stability and reliability of the structure of the first locking block and the second locking block.

[0049] Combination Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, there are multiple first locking blocks, which are circumferentially spaced on the inner wall of the locking groove 102. The second locking blocks selectively abut against different first locking blocks to lock the charging arm 20 at a preset angle.

[0050] Specifically, multiple first locking blocks are circumferentially spaced on the inner wall of the locking groove 102, and a groove is formed between two adjacent first locking blocks. The second locking blocks can respectively abut against different grooves to form a mechanical limit, thereby preventing the first locking blocks from rotating relative to the locking member 30, and realizing the locking of the charging arm 20 in a preset position. That is to say, the multiple first locking blocks are circumferentially spaced on the inner wall of the locking groove 102, which can form multiple locking positions that the second locking blocks can choose. When the second locking blocks are locked in different locking positions, they correspond to different working postures of the charging arm 20. By cooperating with the axial movement of the locking member 30, the first locking part 201 rotates relative to the locking member 30, and the second locking blocks can be locked in different locking positions, thereby locking the charging arm 20 at different angles and adjusting it to different working postures.

[0051] Thus, by cooperating with the axial movement of the locking member 30, the charging arm 20 can rotate relative to the base station body 10, allowing the second locking block to selectively abut and lock with different first locking blocks, thereby locking the charging arm 20 at different angles and adjusting it to different working postures accordingly.

[0052] Combination Figure 1 , Figure 4 and Figure 8 As shown, the robot's base station 100 also includes a second elastic reset member 401, which is connected between the base station body 10 and the charging arm 20.

[0053] Specifically, the limiting member 203 of the charging arm 20 is provided with a mounting hole, and the base station body 10 is provided with a mounting post. One end of the second elastic reset member 401 is connected to the mounting hole on the limiting member 203, and the other end is connected to the mounting post on the base station body 10. When the charging arm 20 rotates relative to the base station body 10 under the action of an external force, the second elastic reset member 401 will generate elastic deformation and store elastic potential energy. When the external force is removed, the second elastic reset member 401 releases energy and drives the charging arm 20 to automatically rotate back to the preset initial posture, thereby realizing the automatic reset function of the charging arm 20. This can improve the flexibility and ease of operation of the charging arm 20 and reduce the driving cost of the charging arm 20. At the same time, the second elastic reset member 401 can also provide a buffering effect during the rotation of the charging arm 20, improving the stability of the charging arm 20 during the rotation process.

[0054] Combination Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the charging arm 20 includes a housing 205. One end of the housing 205 has a tubular body 206 extending outward from the housing 205. The portion of the housing 205 corresponding to the tubular body 206 has a cavity 207. The charging arm 20 is rotatably connected to the base station body 10 through the tubular body 206. The locking member 30 can pass through the tubular body 206 and enter the cavity 207. Specifically, the tubular body 206 is located at one end of the housing 205 and extends outward from the housing 205, so that the tubular body 206 protrudes outward relative to the body of the housing 205, which can increase the structural strength and rigidity of the corresponding end of the housing 205. The two axial ends of the tubular body 206 are rotatably connected to the base station body 10, which allows the charging arm 20 to rotate relative to the base station body 10 around the axis of the tubular body 206. The cavity 207 formed in the portion of the housing 205 corresponding to the tubular body 206 provides space for the axial movement of the locking member 30.

[0055] It should be noted that the axis of the tubular body 206 coincides with the axis of the locking element 30.

[0056] Combination Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, a locking groove 102 and a first locking part 201 are provided on the inner side wall of the cavity 207.

[0057] Specifically, the inner wall of the cavity 207 is provided with a locking groove 102 and a first locking part 201, and the locking member 30 is provided with a second locking part 301. At least a part of the locking member 30 can enter the cavity 207 and move axially. When the charging arm 20 rotates to a preset position, the second locking part 301 on the locking member 30 can be inserted into the locking groove 102 on the inner wall of the cavity 207 by the axial movement of the locking member 30, so as to realize the locking cooperation between the first locking part 201 and the second locking part 301, thereby restricting the relative rotation between the charging arm 20 and the base station body 10, and realizing the locking and fixing of the charging arm 20. When it is necessary to adjust the angle of the charging arm 20, the second locking part 301 can be disengaged from the locking groove 102 by the axial movement of the locking member 30, so that the first locking part 201 and the second locking part 301 are misaligned with each other, so that the charging arm 20 can rotate relative to the base station body 10.

[0058] Thus, by axially moving the locking member 30 within the cavity 207, the locking engagement and misalignment engagement of the first locking part 201 and the second locking part 301 can be achieved, thereby locking the charging arm 20 at different angles.

[0059] Combination Figure 1 , Figure 2 , Figure 7 and Figure 8 As shown, the base station body 10 has a receiving cavity 103, and the tubular body 206 is rotatably disposed in the receiving cavity 103. A limiting member 203 is provided on the tubular body 206 or the housing 205, and the limiting member 203 is used to limit the rotation angle of the charging arm 20.

[0060] Specifically, the cavity 103 can provide space for the tubular body 206. After the tubular body 206 is placed in the cavity 103, it can be rotatably connected with the base station body 10, so that the charging arm 20 can rotate relative to the base station body 10 within the cavity 103 with the axis of the tubular body 206 as the center.

[0061] Furthermore, the limiting member 203 protrudes relative to the tubular body 206 or the housing 205. When the charging arm 20 drives the tubular body 206 to rotate within the receiving cavity 103, the limiting member 203 will rotate synchronously with the tubular body 206. When the charging arm 20 rotates to a certain angle, the limiting member 203 will abut against the base station body 10, blocking the further rotation of the charging arm 20, thereby limiting the rotatable angle of the charging arm 20 within a safe and effective range.

[0062] Combination Figure 2 , Figure 3 , Figure 6 and Figure 8As shown, the locking member 30 includes a shaft 304, one end of which is provided with a second locking part 301 and the other end is provided with a cap 303. The diameter of the cap 303 is larger than the diameter of the shaft 304, and a sliding groove 302 is provided on the shaft 304.

[0063] Specifically, one end of the shaft 304 is provided with a second locking part 301, which is used to form a locking engagement with the first locking part 201, and the other end of the shaft 304 is provided with a cap 303. The outer diameter of the cap 303 is larger than the outer diameter of the shaft 304, which can form an axial limiting structure.

[0064] When the locking member 30 moves toward the first locking part 201, one end of the shaft 304 with the second locking part 301 can extend into the cavity 207 of the tubular body 206, so that the second locking part 301 and the first locking part 201 can lock together. The cap 303 at the other end of the shaft 304 will also gradually approach the tubular body 206. When the locking member 30 moves a certain distance along the axial direction, the cap 303 will abut against the tubular body 206 or the base station body 10, preventing the locking member 30 from moving further in the axial direction. This limits the movable distance of the locking member 30 in the axial direction to a safe and effective range, preventing the locking member 30 from colliding with or getting stuck with other components due to excessive displacement.

[0065] Furthermore, the slide groove 302 is provided on the shaft 304 so that when the locking member 30 moves axially, it can drive the slide groove 302 to move together, thereby realizing the sliding engagement between the slide groove 302 and the stop member 101.

[0066] Thus, the axial movement distance of the locking member 30 can be limited by the abutting engagement between the cap 303 and the tubular body 206 or the base station body 10, and / or by the abutting engagement between the two side walls of the slide groove 302 in the length direction and the stop member 101.

[0067] Combination Figure 2 , Figure 3 and Figure 8 As shown, the locking member 30 is movably disposed within the receiving cavity 103, and the cap 303 is at least partially exposed outside the receiving cavity 103.

[0068] Specifically, by exposing at least part of the cap 303 outside the receiving cavity 103, it is convenient to apply force to the cap 303 so as to move the entire locking member 30 by pushing or pulling the cap 303, thereby disengaging or entering the locking groove 102, thereby unlocking or locking the charging arm 20.

[0069] Thus, by movably setting the locking member 30 within the receiving cavity 103, not only can the accumulation of foreign objects such as dust prevent the locking member 30 from being affected and reduce the risk of jamming, but it can also improve the overall aesthetics of the base station 100. By exposing at least part of the cover 303 outside the receiving cavity 103, the movement of the locking member 30 can be controlled by the cover 303, thereby improving the ease of operation and controllability of movement of the locking member 30.

[0070] Combination Figures 1-5 As shown, the charging arm 20 includes a plurality of sub-support arms 204, which are rotatably connected to each other, and a third elastic reset member 402 is connected between each other.

[0071] Specifically, two adjacent sub-support arms 204 are rotatably connected, allowing the adjacent sub-support arms 204 to rotate relative to each other around the rotation axis within a predetermined angle range. This enables the charging arm 20 to achieve multi-segment linkage adjustment, thereby improving the flexibility and spatial adaptability of the charging arm 20. The charging arm 20 can flexibly adjust its spatial posture according to actual usage needs to meet different charging and storage requirements.

[0072] Furthermore, after two adjacent sub-support arms 204 rotate relative to each other due to external force, the third elastic reset member 402 will undergo elastic deformation and store elastic potential energy. When the external force is removed, the third elastic reset member 402 releases energy, driving the two adjacent sub-support arms 204 to rotate back to the initial position, so that the charging arm 20 can automatically return to the preset initial posture. This can improve the flexibility and ease of use of the charging arm 20, facilitate the storage and dust protection of the charging arm 20, and reduce the driving cost of the charging arm 20. At the same time, the third elastic reset member 402 can also provide a buffering effect when the two adjacent sub-support arms 204 rotate relative to each other, improving the stability of the adjacent sub-support arms 204 when they rotate relative to each other.

[0073] Combination Figure 1 , Figure 2 and Figure 3 As shown, the charging component 202 is rotatably disposed at the second end of the charging arm 20, and a fourth elastic reset component 403 is connected between the charging component 202 and the charging arm 20.

[0074] Specifically, the charging component 202 is rotatably disposed at the second end of the charging arm 20, so that the charging component 202 can rotate relative to the charging arm 20 around a set rotation axis. This allows the charging component 202 to adjust its posture in space to adapt to charging docking requirements in different directions or angles, improves the compatibility and ease of use of the charging component 202, and enhances the flexibility and reliability of the base station 100 when charging the robot.

[0075] Furthermore, a fourth elastic reset member 403 is connected between the charging component 202 and the charging arm 20. This allows the fourth elastic reset member 403 to apply an elastic restoring force to the charging component 202. When no external force is applied, the charging component 202 remains in a preset initial position. When the charging component 202 rotates due to demand under the action of an external force, the fourth elastic reset member 403 will undergo elastic deformation and store elastic potential energy. When the external force is removed, the fourth elastic reset member 403 releases energy, driving the charging component 202 to automatically rotate back to its initial posture, thus realizing the automatic reset function of the charging component 202. This improves the flexibility and ease of use of the charging component 202 and reduces the driving cost of the charging component 202. At the same time, the fourth elastic reset member 403 can also provide a buffering effect during the rotation of the charging component 202, improving the stability of the charging component 202 during rotation.

[0076] Combination Figure 1 As shown, the base station body 10 can mainly include a base 50 and a support plate 60. The support plate 60 extends in the vertical direction and its upper end is rotatably connected to the base 50 to selectively drive the robot to rotate. When using the robot system to clean the pool, the base 50 can be placed on the pool bank, and the upper end of the support plate 60 can be rotatably connected to the base 50. When the robot is cleaning in the pool, the support plate 60 extends in the vertical direction and abuts against the side wall of the pool. When the robot needs to be charged, the robot can approach the support plate 60 and abut against it. At this time, the support plate 60 can rotate upward, that is, rotate in the horizontal direction, which can drive the robot to rotate in the horizontal direction. When the support plate 60 rotates to extend in the horizontal direction or is close to extending in the horizontal direction, the robot can move towards the base 50. A first charging terminal is provided on the base 50. When the robot enters the base 50, the second charging terminal on the robot can correspond to the first charging terminal on the base 50 to charge.

[0077] Furthermore, the support plate 60 has a receiving space containing an airbag. When the robot is cleaning in the pool and the support plate 60 is in contact with the pool side wall, the airbag in the support plate 60 is in a contracted state. When the robot needs to charge, and the robot is in contact with the support plate 60 and the support plate 60 needs to rotate, the airbag in the support plate 60 expands. Since the support plate 60 is open on the side of the receiving space facing the pool side wall, the expanded airbag will extend from the open side of the receiving space. The volume of the expanded airbag gradually increases, generating a gradually increasing buoyancy to drive the support plate 60 to rotate away from the pool side wall. In this way, the buoyancy generated in the pool by the expansion of the airbag drives the support plate 60 to rotate, which can improve the stability and smoothness of driving the support plate 60. Compared with the existing method of driving the rotation of the shaft between the support plate 60 and the base 50 by a motor, this application can reduce the pressure on the shaft between the support plate 60 and the base 50, and can improve the service life of the robot's base station 100.

[0078] It should be noted that when the end of the inflated airbag closest to the pool sidewall first comes into contact with the pool sidewall, in addition to the buoyancy effect, the end of the inflated airbag furthest from the pool sidewall will also abut against and drive the bearing plate 60 to rotate. As the airbag continues to inflate and the bearing plate 60 rotates, the inflated airbag will no longer come into contact with the pool sidewall, or the contact force will be small. At this time, the force driving the bearing plate 60 to rotate is mainly provided by the buoyancy generated by the airbag.

[0079] Furthermore, when the robot is fully charged and needs to continue cleaning the pool, the robot first moves onto the support plate 60. At this time, the airbag can contract, and its volume gradually decreases, thereby reducing the buoyancy generated by the airbag. The support plate 60 will then reverse under the action of the robot and its own gravity, allowing the robot to enter the water. After the airbag is fully contracted, it will be completely within the containment space, and the support plate 60 will re-abut against the side wall of the pool.

[0080] The structure of this application is relatively simple. The rotation of the support plate 60 is achieved by the expansion and contraction of the airbag, which has a low cost and is not easily damaged. This can reduce the overall energy consumption of the robot base station 100 and extend the service life of the robot base station 100.

[0081] In some embodiments of the present invention, after the support plate 60 drives the robot to rotate to a preset angle and the robot travels to the base 50 to charge, the airbag can be directly contracted, so that the support plate 60 can be directly reset and abut against the side wall of the pool. In this case, when the robot is fully charged and needs to enter the pool again, the robot can directly travel and fall into the pool. Of course, the airbag can also be controlled to inflate and expand again to drive the support plate 60 to rotate to a preset angle, so that the fully charged robot travels to the support plate 60, and then the airbag is controlled to contract, so that the support plate 60 rotates and drives the robot into the pool.

[0082] In other embodiments of the present invention, after the support plate 60 drives the robot to rotate to a preset angle and the robot travels to the base 50 to charge, the airbag can always maintain an inflated state, so that the support plate 60 is always at the preset angle. When the robot is fully charged and needs to enter the pool again, the fully charged robot travels to the support plate 60, and then controls the airbag to contract, so that the support plate 60 rotates and drives the robot into the pool.

[0083] The robot system according to the present invention may mainly include: the robot base station 100 described above and the robot.

[0084] The robot selectively enters and exits the robot's base station 100. Specifically, the robot only leaves the base station 100 when it needs to perform a task, and returns to the base station 100 when the task is completed or the battery is low, so as to clean, store or recharge the robot, and avoid the robot from being ineffective in standby or running idly.

[0085] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0086] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0087] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A base station for a robot, characterized in that, include: The base station body (10) is adapted to carry a robot; A charging arm (20) is provided with a first locking part (201) at its first end and a charging component (202) at its second end. A locking member (30) is movably disposed on the base station body (10) and selectively locks with the first locking part (201) to limit the rotation angle of the charging arm (20) relative to the base station body (10).

2. The robot base station according to claim 1, characterized in that, The locking member (30) is provided with a second locking part (301) and selectively circumferentially locks with the first locking part (201). The locking member (30) is axially movable. The second locking part (301) and the first locking part (201) are selectively misaligned with each other to break the circumferential locking engagement.

3. The robot base station according to claim 2, characterized in that, The locking member (30) is provided with a sliding groove (302), and the base station body (10) is provided with a stop member (101). The stop member (101) extends radially into the sliding groove (302) of the locking member (30) to restrict the circumferential rotation of the locking member (30). The locking member (30) is slidable relative to the stop member (101) in the axial direction.

4. The robot base station according to claim 3, characterized in that, It also includes a first elastic reset member connected between the stop member (101) and the locking member (30), the first elastic reset member being used to provide a restoring force for the locking member (30) to move toward the first locking part (201).

5. The robot base station according to claim 2, characterized in that, The charging arm (20) is provided with a locking groove (102). The first locking part (201) is a first locking block and is disposed on the inner wall of the locking groove (102). The second locking part (301) is a second locking block and is disposed on the outer wall of the locking member (30). The locking member (30) extends at least partially into the locking groove (102). The first locking block and the second locking block selectively lock together.

6. The robot base station according to claim 5, characterized in that, There are multiple first locking blocks, and the multiple first locking blocks are circumferentially spaced on the inner wall of the locking groove (102). The second locking block selectively abuts against different first locking blocks to lock the charging arm (20) at a preset angle.

7. The robot base station according to claim 2, characterized in that, It also includes a second elastic reset member (401), which is connected between the base station body (10) and the charging arm (20).

8. The robot base station according to claim 5, characterized in that, The charging arm (20) includes a housing (205), one end of which is provided with a tubular body (206) extending outward from the housing (205). The portion of the housing (205) corresponding to the tubular body (206) is provided with a cavity (207). The charging arm (20) is rotatably connected to the base station body (10) through the tubular body (206). The locking member (30) can pass through the tubular body (206) and enter the cavity (207).

9. The robot base station according to claim 8, characterized in that, The cavity (207) is provided with the locking groove (102) and the first locking part (201) on the inner side wall.

10. The base station for the robot according to claim 8, characterized in that, The base station body (10) is provided with a receiving cavity (103), and the tubular body (206) is rotatably disposed in the receiving cavity (103). A limiting member (203) is provided on the tubular body (206) or the housing (205), and the limiting member (203) is used to limit the rotation angle of the charging arm (20).

11. The base station for the robot according to claim 5, characterized in that, The locking member (30) includes a shaft (304), one end of which is provided with the second locking part (301) and the other end is provided with a cap (303). The diameter of the cap (303) is larger than the diameter of the shaft (304), and the slide groove (302) is provided on the shaft (304).

12. The base station for the robot according to claim 10, characterized in that, The locking element (30) is movably disposed within the receiving cavity (103), and the cap (303) is at least partially exposed outside the receiving cavity (103).

13. A robot system, characterized in that, include: The base station of the robot according to any one of claims 1-12; A robot that selectively enters and exits its base station.

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