Cleaning system free of alignment of water supplementing opening

Abstract

The utility model belongs to the technical field of cleaning equipment, and particularly provides a cleaning system with a water replenishing port free of alignment, which comprises a base station and a cleaning robot, the base station is provided with a stopping cavity for stopping the cleaning robot, the cleaning robot is provided with a water replenishing port, and the stopping cavity is provided with a water replenishing column butted with the water replenishing port. The water supplementing column extends in the stopping movement direction of the cleaning robot, and guide structures are arranged on the two sides, perpendicular to the stopping movement direction of the cleaning robot, of the water supplementing column in the stopping cavity correspondingly. The cleaning robot is provided with a guide opening inserted into the guide structure. The maximum distance between the outer edges, away from each other, of the two guide structures is not larger than one fifth of the width of the cleaning robot in the stopping movement direction, perpendicular to the cleaning robot, of the base station. According to the utility model, the accurate alignment between the water replenishing column and the water replenishing port can be realized when the cleaning host recharges the base station, and the additional alignment of the water replenishing port is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of cleaning appliances, and specifically provides a cleaning system without alignment of a water filling port. Background Art

[0002] With the advancement of cleaning technology, some cleaning systems include a base station fixed relative to the surface being cleaned and a cleaning robot capable of moving along the surface and cleaning. The cleaning robot can autonomously return to the base station for recharging and rehydration. The base station is equipped with a docking cavity and a water replenishment column, which is connected to a clean water tank within the base station. The cleaning robot also has a water replenishment port, which is connected to the clean water tank within the cleaning robot, supplying water to the cleaning components below the cleaning robot.

[0003] Typically, the water replenishment column extends parallel to the cleaning robot's docking direction (generally the depth of the docking cavity). Guide structures are provided on either side of the water replenishment column, and guide ports are provided on the cleaning robot to connect with the guide structures. When the cleaning robot enters the docking cavity along the docking direction, the corresponding guide structures and guide ports connect to adjust the cleaning robot's positional offset and angular runout. The water replenishment column and water replenishment port are then aligned, eliminating the need for additional alignment.

[0004] In actual use, when the distance H between the outer edges of the two guide structures increases, it is convenient to reserve sufficient space for the guide structure along the width direction, increase the guide width of the guide structure, and improve the guide structure's ability to correct the offset and runout of the cleaning robot. However, when the value of the distance H is too large, the angular runout of the cleaning robot can easily cause the guide port and the guide structure to be too far apart, and the two cannot be aligned and guided. A larger guide structure needs to be installed, which affects the installation of other structures such as the water replenishment column in the docking cavity. Utility Model Content

[0005] The purpose of the utility model is to provide a cleaning system with a water filling port that does not require alignment, which can effectively guide the cleaning robot toward the base station during the process of refilling water, and avoid collision damage between the water filling port and the water filling column due to misalignment.

[0006] In order to achieve the above-mentioned purpose, one or more embodiments of the present invention provide a cleaning system with a water supply port that does not require alignment, including a base station and a cleaning robot, the base station has a docking cavity for the cleaning robot to dock, the cleaning robot has a water supply port, the docking cavity is provided with a water supply column docked with the water supply port, the water supply column extends along the docking movement direction of the cleaning robot, and the docking cavity is provided with guide structures on both sides of the water supply column along a direction perpendicular to the docking movement direction of the cleaning robot; the cleaning robot has a guide port that is plugged into the guide structure; along the docking movement direction of the base station perpendicular to the cleaning robot, the maximum distance between the outer edges of the two guide structures is no more than one-fifth of the width of the cleaning robot.

[0007] In at least one embodiment, the guide structure is a guide column, which includes at least a variable-size cross-sectional segment extending from the side wall of the docking cavity toward the center of the docking cavity, and the cross-sectional area of ​​the variable-size cross-sectional segment gradually decreases along the direction approaching the center of the docking cavity.

[0008] In at least one embodiment, the guide structure further includes a fixed-size cross-sectional segment, which is located at an end of the variable-size cross-sectional segment close to the parking cavity.

[0009] In at least one embodiment, the water replenishment column does not extend beyond the end of the variable cross-sectional segment.

[0010] In at least one embodiment, the guide structure protrudes from the water replenishing column in a direction approaching the center of the docking cavity.

[0011] In at least one embodiment, the water replenishment column is slidably connected to the base station, and the water replenishment column can slide and position relative to the base station in the depth direction; one end of the water replenishment column is inserted into the base station, and an elastic reset component is provided inside the base station, which can drive the water replenishment column to extend toward the docking cavity.

[0012] In at least one embodiment, an in-place detection switch is provided on the side wall of the docking chamber. The in-place detection switch is located above the water replenishment column. The in-place detection switch can be triggered after the guide structure realizes the alignment of the cleaning robot and the base station.

[0013] In at least one embodiment, the in-place detection switch includes a push rod and a detection body arranged inside the base station. The push rod is slidably connected to the base station and can slide relative to the base station in the depth direction. An elastic member is provided in the base station, and the elastic member provides a driving force for the push rod to extend toward the docking cavity.

[0014] In at least one embodiment, the base station includes a tray located below the docking cavity, and two guide rib assemblies are provided on the tray facing the water replenishment column, and the guide rib assembly includes two guide ribs arranged in pairs; in the same guide rib assembly, the spacing between the two guide ribs gradually decreases in the direction approaching the water replenishment column and the minimum spacing is X mm different from the width of the driving wheel in the cleaning robot, the guide structure is a guide column, and the guide column includes a guide surface arranged at an angle to the depth direction, and the ratio of the width of the guide surface projected along the depth direction of the base station to X is greater than 0.5.

[0015] In at least one embodiment, the guide rib includes a straight section parallel to the depth direction and an inclined section with an angle α with the depth direction, the straight section is located on the side of the inclined section close to the water replenishment column, and the range of α is 5° to 15°.

[0016] Beneficial effects of one or more of the above technical solutions:

[0017] (1) In this solution, the water supply column extends along the docking movement direction of the cleaning robot; this setting method makes the extension direction of the water supply column coincide with the docking movement direction of the cleaning robot when it returns to the base station to recharge. That is, the alignment of the water supply column and the water supply port does not require the cleaning robot to make additional movements to adjust its own posture, so as to avoid additional alignment between the water supply port and the water supply column; and avoid radial squeezing and collision of the water supply column when the cleaning robot returns to recharge. The docking cavity is provided with guide structures on both sides of the water supply column perpendicular to the docking movement direction of the cleaning robot; the cleaning robot has a guide port that is plugged into the guide structure. In this setting method, the two guide structures provided on both sides of the water supply column can respectively adjust the position deviation of the cleaning robot to the left and right directions, thereby improving the guide structure's ability to correct the cleaning robot when it returns to recharge, and facilitating the improvement of the alignment accuracy of the water supply column and the water supply port.

[0018] In this solution, the maximum distance between the outer edges of the two guide structures is no more than one-fifth of the width of the cleaning robot. This arrangement enables the guide structure to have a larger guide width when the maximum distance H between the outer edges of the two guide structures is large enough, thereby increasing the guide structure's ability to correct larger dimensional offsets and larger angular deflections of the cleaning robot. Furthermore, the maximum distance H is not too large, which can avoid the situation where the guide structure and the guide port are too far apart and cannot be docked due to the deflection of the cleaning robot. If the distance is too far, the guide structure will not be effective in correcting the docking of the water supply column. In addition, by not setting a guide structure that is too large, it will avoid affecting the installation of other structures such as the water supply column.

[0019] (2) In this embodiment, the guide structure is a guide post, which includes a variable cross-sectional section extending from the side wall of the docking cavity toward the center of the docking cavity, and the cross-sectional area of ​​the variable cross-sectional section gradually decreases as it approaches the center of the docking cavity. In this arrangement, when the guide post is inserted into the guide opening, the distance between the outer wall of the guide post and the inner wall of the guide opening gradually decreases, thereby effectively achieving guidance of the cleaning robot by the guide structure and the guide opening.

[0020] (3) In this solution, the guide structure also includes a fixed-size cross-section, which is located at one end of the variable-size cross-section near the docking cavity. In this arrangement, the fixed-size cross-section is conveniently used to increase the length of the entire guide structure, thereby increasing the length difference between the guide structure and the water supply column along the depth direction of the docking cavity, making it convenient to complete the position and posture adjustment of the cleaning robot before the water supply column contacts the water supply port, thereby avoiding collision between the water supply column and the water supply port.

[0021] (4) In this solution, the water supply column does not exceed the end of the variable-size cross-section segment; before the variable-size cross-section segment of the guide column is matched with the water supply port, the water supply column and the water supply port will not come into contact, thereby avoiding collision between the water supply port and the water supply column.

[0022] (5) In this solution, the guide structure protrudes from the water supply column in the direction close to the center of the docking cavity. This setting method allows the cleaning robot that is recharging along the depth direction of the docking cavity to first dock with the guide structure, avoiding the collision between the water supply column and the water supply port before the guide structure docking is completed.

[0023] (6) In this solution, the water replenishment column is slidably connected to the base station, and the water replenishment column can slide and position relative to the base station in the depth direction. This arrangement can achieve active avoidance of the water replenishment column before the cleaning robot adjusts its position and posture, thereby reducing the length of the guide structure protruding from the docking cavity and realizing its miniaturized design.

[0024] (7) In this solution, an in-place detection switch is provided on the side wall of the docking chamber, and the in-place detection switch is located above the water supply column. First, this arrangement can utilize the in-place detection switch to detect the position of the cleaning robot after alignment with the base station, so that the cleaning robot can stop moving forward in time and the base station can obtain a signal to replenish water to the cleaning robot in time. In addition, the in-place detection switch is provided above the water supply column. In the event of water leakage between the water supply port and the water supply column, the water flowing downward will not affect the accuracy of the in-place detection switch.

[0025] Finally, the guide structures on both sides of the water replenishment column and the in-place detection switch above the water replenishment column can be docked with the cleaning robot respectively, thereby realizing the three-point positioning of the cleaning robot and improving the stability of the docking between the cleaning robot and the water replenishment column.

[0026] (8) In this solution, the in-position detection switch includes a top rod and a detection body disposed inside the base station. The top cover can slide relative to the base station in the depth direction, and the elastic member in the base station can drive the top rod to extend toward the docking cavity. This arrangement facilitates the use of the elastic member to trigger and reset the in-position detection switch.

[0027] (9) In this solution, the difference between the minimum spacing between the two guide ribs and the width of the driving wheel of the cleaning robot is X mm. The guide column includes a guide surface arranged at an angle to the depth direction, and the ratio of the width of the guide surface projected along the depth direction of the base station to X is greater than 0.5. This setting method can adjust the maximum position deviation of the cleaning robot before it reaches the water replenishment column position by limiting the minimum spacing of the guide ribs, avoiding the situation where the cleaning robot's position deviation is too large and the guide structure cannot be aligned with the guide port.

[0028] (10) In this solution, the guide rib includes a straight section parallel to the depth direction and an inclined section with an angle α with the depth direction, and the range of α is 5° to 15°. This setting method can avoid the situation where the cleaning robot passes over the guide bar and breaks away from the guide when the maximum guide angle is too large. It can also avoid the problem that when the angle α is too small, the guide rib length is too large to maintain the effective guide width of the guide rib, and the base station shape is too large. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Some embodiments of the present application are described below with reference to the accompanying drawings, in which:

[0030] Figure 1 is an axonometric diagram of a base station in an embodiment of the present utility model;

[0031] Figure 2 yes Figure 1 A schematic diagram of the structure of part A;

[0032] Figure 3 This is a schematic diagram of the main view of a base station in an embodiment of the present utility model;

[0033] Figure 4 This is a longitudinal sectional view of the cleaning robot in the embodiment of the utility model when it is docked in the docking chamber;

[0034] Figure 5 yes Figure 4 A schematic diagram of the structure of part B in the middle;

[0035] Figure 6 This is an axonometric diagram of a cleaning robot supported by a tray in an embodiment of the present utility model;

[0036] Figure 7 This is a top view of the partial structure of the tray in the embodiment of the present utility model;

[0037] Figure 8This is a transverse cross-sectional view of the cleaning robot in the embodiment of the utility model when it is docked in the docking chamber;

[0038] Figure 9 yes Figure 8 A schematic diagram of the structure of the middle C part;

[0039] Figure 10 This is a longitudinal cross-sectional view of the cleaning robot in the embodiment of the utility model when it is not docked in the docking chamber;

[0040] Figure 11 yes Figure 10 A schematic diagram of the structure of the D part;

[0041] Figure 12 This is a transverse cross-sectional view of the cleaning robot in the embodiment of the utility model when it is not docked in the docking chamber;

[0042] Figure 13 yes Figure 12 Schematic diagram of the enlarged structure of part E.

[0043] Figure numerals: 1. Base station; 2. Docking cavity; 3. Tray; 31. Guide rib; 4. Guide column; 5. In-place detection switch; 51. Elastic member; 52. Detection body; 53. Push rod; 6. Water supply column; 61. Water supply channel; 62. Wing plate; 63. Elastic reset member; 64. Guide rod; 7. Cleaning robot; 71. Water supply port; 72. Guide port. DETAILED DESCRIPTION

[0044] Those skilled in the art should understand that the embodiments described below are merely preferred embodiments of the present application, which are merely used to explain the technical principles of the present application and are not used to limit the scope of protection of the present application.

[0045] It should be noted that in the description of this application, terms such as "center," "upper," "lower," "top," "bottom," "vertical," "horizontal," "inner," and "outer" that indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that a device or component must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, it should not be understood as a limitation on this application. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0046] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, or internal communication 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.

[0047] The cleaning robot in the present application may be a floor scrubber, a carpet cleaner, a desktop cleaner, a sweeping and mopping robot, or other devices used for cleaning.

[0048] like Figure 1-Figure 3 As shown, this embodiment provides a cleaning system with a water supply port that does not require alignment, including a base station 1 and a cleaning robot 7. The base station 1 has a docking cavity 2 for the cleaning robot 7 to dock, the cleaning robot 7 has a water supply port, and the docking cavity 2 is provided with a water supply column 6 that is docked with the water supply port 71. The water supply column 6 extends along the docking movement direction of the cleaning robot 7, and the docking cavity 2 is provided with guide structures on both sides of the water supply column 6 along the direction perpendicular to the docking movement direction of the cleaning robot 7; the cleaning robot 7 has a guide port 72 that is plugged into the guide structure; along the docking movement direction of the base station 1 perpendicular to the cleaning robot 7, the maximum distance between the outer edges of the two guide structures is not greater than one-fifth of the width of the cleaning robot 7.

[0049] The base station 1 is typically fixedly placed in the area to be cleaned, and an external power source can supply power to the base station 1 via a power cord. The base station 1 comprises a tray 3 and a base station body positioned above the tray 3. A docking cavity 2 is defined between the base station body and the tray 3 in the vertical direction. The base station body and the tray 3 are connected by a vertically extending connector, which is integrally formed with the base station body.

[0050] Docking chamber 2 extends through the front of base station 1 to form an entrance for cleaning robot 7. The front of tray 3 protrudes outward from cleaning robot 7. The opening of this entrance extends in the depth direction of base station 1. Base station 1 also has a horizontal width that is perpendicular to the depth direction; generally, this depth direction is also horizontal. When the cleaning robot 7 is low on power or the water tank is low, it needs to move to docking chamber 2 for charging and rehydration. When the cleaning robot 7 approaches docking chamber 2, it moves in the depth direction as the recharging direction.

[0051] Specifically, the depth direction shown in the figure is the docking movement direction of the cleaning robot. The base station also has a width direction perpendicular to the depth direction and arranged horizontally, and the guide structure is provided on both sides of the water replenishment column 6 along the width direction. Preferably, the water replenishment column 6 is located at the center of the docking chamber 2 along the width direction.

[0052] Specifically, the lower part of the cleaning robot 7 is equipped with running wheels and a cleaning assembly. The running wheels can drive the cleaning assembly to move on the surface to be cleaned under the drive of an internal power source, and the surface to be cleaned is generally the ground or the upper surface of a corresponding platform. The internal power source is generally a device such as a stepper motor or a reduction motor, and the internal power source transmits power to the running wheels through a gear transmission mechanism or a belt drive assembly. Preferably, a guide wheel is also provided at the lower part of the cleaning assembly to achieve guidance work when the cleaning robot 7 moves. The cleaning assembly at the lower part of the cleaning assembly is generally a cleaning mop or a cleaning roller, and the cleaning robot 7 is provided with a clean water tank for supplying water to the cleaning assembly.

[0053] Specifically, the base station 1 has a water supply tank (not shown in the figure), and the water supply column 6 has a water supply channel 61 inside, and the water supply channel 61 is connected to the water supply tank.

[0054] In this embodiment, the cleaning robot 7 is disc-shaped as a whole. The side close to the forward direction of the cleaning robot 7 during cleaning is defined as the front side, and the other side is defined as the rear side. The rear side of the outer circumference of the cleaning robot 7 has a charging port for charging and a water replenishment port 71 for water replenishment. When in use, the cleaning robot 7 first moves to a position close to the tray 3 in the base station 1 in a normal manner. At this time, the charging port and the water replenishment port 71 are on the side of the cleaning robot 7 away from the docking chamber 2; then the cleaning robot 7 rotates 180 degrees on the spot, so that the charging port and the water replenishment port 71 are on the side close to the docking chamber 2. Finally, the cleaning robot 7 moves upward along the depth direction through the tray 3 into the docking chamber 2. At this time, the water replenishment port 71 is docked with the water replenishment column 6 in the above-mentioned docking chamber 2, and the charging port (not shown in the figure) is docked with the charging plug (not shown in the figure) of the docking chamber 2.

[0055] Specifically, if the base station 1 and the docking chamber 2 are arranged horizontally in depth, the water replenishment column 6 is also arranged horizontally. The water replenishment column 6 is located at the center of the base station 1 along its width. This arrangement facilitates direct connection between the water replenishment column 6 and the water replenishment port 71 as the cleaning robot 7 moves along its depth toward the docking chamber 2. Accordingly, as the cleaning robot 7 moves along its depth, the water replenishment port 71 is located at the center of the cleaning robot 7 along its width, facilitating connection of the water replenishment column 6.

[0056] Generally, the cleaning robot 7 moves along the depth direction toward the docking chamber 2 to achieve recharging and water replenishment. During the movement of the cleaning robot 7, it is easy for its position and posture to shift. The first type of position and posture shift is: the axial direction of the water replenishment port 71 is parallel to the axial direction of the water replenishment column 6 and there is a gap between them. The second type of position and posture shift is: the water replenishment port 71 is close to the water replenishment column 6, but the axial direction of the water replenishment port 71 is set at an angle to the axial direction of the water replenishment column 6, resulting in the two being unable to be plugged in.

[0057] In this embodiment, in order to achieve precise docking between the water replenishment column 6 and the water replenishment port 71 when the cleaning robot 7 moves toward the docking chamber 2 along the depth direction, the above-mentioned guide structure is arranged on both sides of the water replenishment column 6 along the width direction, and the above-mentioned guide ports 72 are arranged on both sides of the water replenishment port 71. The guide ports 72 are adapted to the shape and size of the guide structure, and the guidance of the cleaning robot 7 during movement is achieved by plugging the two together, so that the water replenishment column 6 and the water replenishment port 71 are precisely docked.

[0058] It can be seen that during the movement of the cleaning robot 7 to the docking chamber, it has two kinds of deflections: position deviation and angular deviation. The plane passing through the center of the water replenishment column 6 and parallel to the docking movement direction is taken as the first reference plane, and the plane passing through the center of the cleaning robot 7 and parallel to the docking movement direction is taken as the second reference plane; the position deviation refers to the distance between the two. The plane passing through the center of the cleaning robot 7 and perpendicular to the axial direction of the walking wheel of the cleaning robot 7 is taken as the third reference plane, and the angular deviation refers to the angle between the first reference plane and the third reference plane. The guide structure and the guide port have a guide width, which refers to the maximum width of the outer contour edge of the guide structure from the center of the guide structure.

[0059] In this embodiment, the position deviation and angle deviation of the cleaning robot 7 can be gradually adjusted by plugging the two guide structures into the corresponding guide openings.

[0060] In actual use, when the distance H between the outer edges of the two guide structures increases, it is convenient to reserve sufficient space for the guide structure along the width direction, thereby increasing the guide width of the guide structure. At this time, the guide structure has better correction capabilities for larger offsets and angular deviations of the cleaning robot 7. However, when the value of the distance H is too large, the angular deviation of the cleaning robot 7 can easily cause the guide port and the guide structure to be too far apart, and the two cannot be aligned and guided. , It is necessary to install a larger guide structure, which affects the installation of other structures such as the water replenishment column 6 in the docking cavity.

[0061] Therefore, in this embodiment, the maximum distance H between the outer edges of the two guide structures is no greater than one-fifth of the width of the cleaning robot 7. Preferably, the maximum distance H between the outer edges of the two guide structures is no less than 15% of the width of the cleaning robot 7.

[0062] See also Figure 8 、 Figure 9 、 Figure 12 and Figure 13 In this embodiment, the guide structure is a guide post 4, which includes at least a variable cross-sectional section extending from the side wall of the docking cavity 2 toward the center of the docking cavity 2. The cross-sectional area of ​​the variable cross-sectional section gradually decreases as it approaches the center of the docking cavity 2. In this case, the cross-sectional area of ​​the guide post 4 along the vertical depth direction is circular.

[0063] In some other embodiments, the guide post 4 can be replaced by a guide plate, and the guide surface also has a variable cross-sectional section. The cross-section of the guide plate along the vertical depth direction is square. Specifically, the variable cross-sectional section in the guide plate is formed by two upper and lower planes and two left and right curved surfaces.

[0064] Correspondingly, the opening size of the guide port 72 gradually decreases in the direction approaching the center of the cleaning robot 7. When in use, the smaller end of the variable-size cross-sectional segment first contacts the larger end of the guide port 72 to increase the probability of the guide structure and the guide port 72 being plugged into each other in the initial stage of alignment. When the cleaning robot 7 moves further toward the docking chamber 2 in the depth direction, the smaller end of the variable-size cross-sectional segment gradually moves to the smaller end of the guide port 72. At this time, the guide structure applies a left-right thrust to the guide port 72 and the entire cleaning robot 7 to adjust the position and posture of the cleaning robot 7 so that the water replenishment column 6 and the water replenishment port 71 are accurately aligned.

[0065] In the present embodiment, the guide structure further includes a fixed-size cross-sectional segment, which is located at one end of the variable-size cross-sectional segment close to the docking cavity 2. It is known that when the variable-size cross-sectional segment is too long, it is easy for the cross-sectional area of ​​the variable-size cross-sectional segment to be too large at the end close to the base station 1, thereby causing the guide structure to occupy too much space, affecting the installation of other structures. When the guide structure includes a fixed-size cross-sectional segment, the lightweight design of the variable-size cross-sectional segment can be achieved while ensuring the length of the entire guide structure. In the present embodiment, the cross-sectional shape of the fixed-size cross-sectional segment is the same as that of the variable-size cross-sectional segment, which can be square or circular.

[0066] In some other embodiments, the fixed-size cross-sectional segment may be provided on the side of the variable-size cross-sectional segment away from the docking cavity 2 . In this case, a portion for inserting the fixed-size cross-sectional segment needs to be provided in the water replenishment port 71 .

[0067] In this embodiment, the guide structure protrudes from the water supply column 6 along the direction close to the center of the docking cavity 2. Specifically, Figure 9 and Figure 13 The up and down directions shown in the figure are the depth directions of the base station 1. It can be seen that the lower end of the water supply column 6 is higher than the lower end of the guide structure. Therefore, before the water supply column 6 contacts the water supply port 71, the guide structure and the guide port 72 have completed the preliminary connection and started guiding.

[0068] Specifically, when the guide structure has a variable-size cross-sectional section, the variable-size cross-sectional section realizes the guiding function, and the water replenishment column 6 does not exceed the end of the variable-size cross-sectional section.

[0069] To prevent collisions between the water supply port 71 and the water supply column 6 due to inaccurate alignment, the water supply column 6 in this embodiment can slide to avoid the cleaning robot 7. Specifically, the water supply column 6 is slidably connected to the base station 1 and can slide relative to the base station 1 in the depth direction to maintain its position. One end of the water supply column 6 is inserted into the base station 1, which is equipped with an elastic return member 63 that can drive the water supply column 6 to extend toward the docking cavity 2.

[0070] Specifically, the portion of the water replenishment column 6 located inside the base station 1 has wing plates 62, which are located on both sides of the water replenishment column 6 along the width direction. A guide groove or guide hole is provided on the wing plate 62, and a guide rod 64 is fixed inside the base station 1, which is inserted into the guide groove and the guide hole. The extension direction of the guide groove and the guide hole is parallel to the depth direction of the base station 1. The elastic reset member 63 here can be a spring or an elastic pad. One end of the elastic reset member 63 is stopped against the limiting structure inside the base station 1, and the other end is stopped against the side of the wing plate 62 away from the docking cavity 2.

[0071] In this embodiment, an in-place detection switch 5 is provided on the side wall of the docking chamber 2. The in-place detection switch 5 is located above the water replenishment column 6. The in-place detection switch 5 can be triggered after the guide structure realizes the alignment of the cleaning robot 7 and the base station 1.

[0072] See also Figure 4 、 Figure 5 、 Figure 10 and Figure 11 In this embodiment, the in-position detection switch 5 includes a push rod 53 and a detection body 52 arranged inside the base station 1. The push rod 53 is slidably connected to the base station 1 and can slide relative to the base station 1 in the depth direction. An elastic member 51 is provided in the base station 1, and the elastic member 51 provides a driving force for the push rod 53 to extend toward the docking cavity 2.

[0073] Specifically, the extension direction of the push rod 53 is parallel to the depth direction of the base station 1, and a through hole is provided on the side wall of the base station 1 to accommodate the push rod 53. The elastic member 51 here can be a spring or other elastic structure. During use, the cleaning robot 7 first contacts the part of the push rod 53 in the docking chamber 2. The continued movement of the cleaning robot 7 along the depth direction of the base station 1 causes the push rod 53 to retract into the interior of the base station 1. The end of the push rod 53 located inside the base station 1 abuts against the detection body 52, and the detection body 52 is triggered. When the cleaning robot 7 disengages from the docking chamber 2 along the depth direction of the base station 1, the cleaning robot 7 disengages from the push rod 53, and the elastic member 51 pushes the push rod 53 to extend outward from the base station 1. The push rod 53 disengages from the detection body 52, and the detection body 52 stops the trigger state.

[0074] refer to Figure 6-Figure 7In this embodiment, the tray 3 is provided with two guide rib assemblies facing the water replenishment column 6. The guide rib assembly includes two guide ribs 31 arranged in pairs, and the symmetry plane of the two guide ribs 31 is parallel to the depth direction of the base station 1. In the same guide rib assembly, the spacing between the two guide ribs 31 gradually decreases as it approaches the water replenishment column 6, and the difference between the minimum spacing between the two guide ribs 31 and the width of the drive wheel in the cleaning robot 7 is X mm. The guiding structure is a guide column 4, which includes a guide surface arranged at an angle to the depth direction. The ratio of the width of the guide surface projected along the depth direction of the base station 1 to X is greater than 0.5. This arrangement uses the guide rib assembly to guide the cleaning robot 7, and can begin guiding the cleaning robot 7 before it enters the docking cavity 2. The guide rib assembly can ensure that the positional deviation between the cleaning robot 7 and the base station 1 is no greater than the maximum deviation range of the docking between the guide structure and the guide opening 72, thereby ensuring that the guide structure can be fully plugged into the guide opening 72. Specifically, the value range of X is 2mm-10mm.

[0075] Specifically, in this embodiment, the upper surface of the base station 1 is a sloped surface, which gradually rises in a direction approaching the base station 1 so that the cleaning robot 7 can enter the docking cavity 2 above the ground.

[0076] Specifically, anti-slip ridges are provided between the guide ribs 31 . The height of the anti-slip ridges is 2 mm to 5 mm, and the anti-slip ridges extend along the width direction of the base station 1 .

[0077] In this embodiment, the guide rib includes a straight section parallel to the depth direction and an inclined section with an angle α with the depth direction. The straight section is located on the side of the inclined section close to the water replenishment column 6. The angle α ranges from 5° to 15°. Specifically, the value of α can be, for example, 5°, 10°, or 15°.

[0078] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments described above. However, it is easy for those skilled in the art to understand that the scope of protection of the present application is not limited to the above preferred embodiments. Without departing from the technical principles of the present application, those skilled in the art may split and combine the technical solutions in the above preferred embodiments, and may also make equivalent changes or replacements to the relevant technical features. Any changes, equivalent replacements, improvements, etc. made within the technical concept and / or technical principles of the present application will fall within the scope of protection of the present application.

Claims

1. A cleaning system with a water filling port free of alignment, comprising a base station and a cleaning robot, wherein the base station has a docking cavity for the cleaning robot to dock, the cleaning robot has a water filling port, the docking cavity is provided with a water filling column docking with the water filling port, the water filling column extends along the docking movement direction of the cleaning robot, and is characterized in that: The docking chamber is provided with guide structures on both sides of the water replenishment column along the docking movement direction perpendicular to the cleaning robot; the cleaning robot has a guide port plugged into the guide structure; along the base station perpendicular to the docking movement direction of the cleaning robot, the maximum distance between the outer edges of the two guide structures is not greater than one fifth of the width of the cleaning robot.

2. The water filling port alignment-free cleaning system according to claim 1, characterized in that: The guide structure is a guide column, which at least includes a variable-size cross-sectional segment extending from the side wall of the docking cavity toward the center of the docking cavity, and the size of the variable-size cross-sectional segment gradually decreases along the direction approaching the center of the docking cavity.

3. The water filling port alignment-free cleaning system according to claim 2, characterized in that: The guide structure further comprises a fixed-size cross-sectional section, and the fixed-size cross-sectional section is located at one end of the variable-size cross-sectional section close to the parking cavity.

4. The water filling port alignment-free cleaning system according to claim 2 or 3, characterized in that: The water replenishment column does not exceed the end of the variable-size cross-sectional segment.

5. The water filling port alignment-free cleaning system according to claim 1, characterized in that: Along the direction approaching the center of the docking cavity, the guide structure protrudes from the water replenishing column.

6. The water filling port alignment-free cleaning system according to claim 1, characterized in that: The water replenishment column is slidably connected to the base station, and the water replenishment column can slide and position relative to the base station along the depth direction; One end of the water replenishing column is plugged into the base station. An elastic reset component is provided inside the base station. The elastic reset component can drive the water replenishing column to extend toward the docking cavity.

7. The water filling port alignment-free cleaning system according to claim 1, characterized in that: An in-place detection switch is provided on the side wall of the docking chamber, and the in-place detection switch is located above the water replenishment column. The in-place detection switch can be triggered after the guide structure realizes the alignment of the cleaning robot and the base station.

8. The water filling port alignment-free cleaning system according to claim 7, characterized in that: The in-place detection switch includes a push rod and a detection body arranged inside the base station. The push rod is slidably connected to the base station and can slide relative to the base station in the depth direction. An elastic member is provided in the base station, and the elastic member drives the push rod to extend toward the docking cavity.

9. The water filling port alignment-free cleaning system according to claim 1, characterized in that: The base station includes a tray located below the docking cavity, and two guide rib assemblies facing the water replenishment column are provided on the tray, and the guide rib assembly includes two guide ribs arranged in pairs; in the same guide rib assembly, the spacing between the two guide ribs gradually decreases in the direction approaching the water replenishment column, and the difference between the minimum spacing and the width of the driving wheel in the cleaning robot is Xmm, the guide structure is a guide column, and the guide column includes a guide surface arranged at an angle to the depth direction, and the ratio of the size of the guide surface projected along the depth direction of the base station to X is greater than 0.

5.

10. The water filling port alignment-free cleaning system according to claim 9, characterized in that: The guide rib comprises a straight section parallel to the depth direction and an inclined section with an angle α with the depth direction. The straight section is located on the side of the inclined section close to the water replenishment column, and the range of α is 5° to 15°.

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