A base station and a robot system

Abstract

The utility model relates to mobile robot technical field provides a kind of base station and robot system, base station includes body, water injection pipe and drive arrangement, body has water injection port, water injection pipe is set in body telescopically, water injection pipe has the water injection state of protruding water injection port, and the storage state of retracting in body. Drive arrangement, including cylindrical cam, sliding pin and translation structure, the circumferential surface of cylindrical cam forms helical groove extending along telescopic direction, one end of sliding pin is connected water injection pipe, the other end of sliding pin is inserted helical groove, translation structure and water injection pipe along telescopic direction sliding fit;Cylindrical cam rotates, to drive water injection pipe between water injection state and storage state switching.Such design, the thickness of base station, i.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and in particular to a base station and robot system. Background Technology

[0002] In related technologies, mobile robots, taking robotic vacuum cleaners as an example, can be used to clean floors. Base stations provide water to the mobile robots, extending their working time and reducing the frequency of water refills by users. However, excessive thickness of the base station—that is, the size of its protrusion from the wall—occupies too much space and negatively impacts user experience. Therefore, reducing the thickness of the base station has become an important research direction in this field. Utility Model Content

[0003] In view of this, the present invention provides a base station and a robot system that can reduce the thickness of the base station.

[0004] To solve the above problems, the technical solution of this utility model is implemented as follows:

[0005] This utility model provides a base station, comprising:

[0006] The main body has a water inlet;

[0007] A water injection pipe is telescopically mounted on the main body, and the water injection pipe has a water injection state extending out of the water injection port and a storage state retracted into the main body.

[0008] The driving device includes a cylindrical cam, a sliding pin, and a translational structure. The circumferential surface of the cylindrical cam forms a spiral groove that extends spirally along the extension direction. One end of the sliding pin is connected to the water injection pipe, and the other end of the sliding pin is inserted into the spiral groove. The translational structure slides with the water injection pipe along the extension direction. The cylindrical cam rotates to drive the water injection pipe to switch between the water injection state and the storage state.

[0009] In some embodiments, the drive device includes a motor, the motor shaft of which is connected to the cylindrical cam drive.

[0010] In some embodiments, the drive device includes a plurality of sequentially meshing gears, with the motor shaft connected to one of the gears and the cylindrical cam connected to another of the gears.

[0011] In some embodiments, the base station includes:

[0012] A limiting rod is installed on the water injection pipe;

[0013] A micro switch is installed inside the main body. When the water injection pipe extends out of the water injection port and moves to the limit position, the limit rod triggers the micro switch, and the motor stops working.

[0014] In some embodiments, the translational structure includes:

[0015] Guide posts are installed in the water injection pipe;

[0016] A guide groove, wherein at least a portion of the guide post is slidably disposed within the guide groove in the telescopic direction.

[0017] In some embodiments, the base station includes a soft rubber door that shields the water inlet, and the soft rubber door has a groove.

[0018] When the water injection pipe is in the water injection state, the water injection pipe can recoverably expand the crack to extend out of the water injection port; when the water injection pipe is in the retracted state, the crack restores its deformation.

[0019] In some embodiments, the base station includes a water inlet channel disposed within the main body, the water inlet channel being connected to the water injection pipe and a water source.

[0020] In some embodiments, the base station includes a pressure reducing valve disposed in the water inlet passage and located within the body.

[0021] In some embodiments, the base station includes a housing with a receiving cavity located within the body, and at least a portion of the water injection pipe and at least a portion of the drive device are disposed within the receiving cavity.

[0022] Another aspect of this utility model provides a robot system, comprising:

[0023] Mobile robot with a clean water tank;

[0024] In any of the above-described base stations, when the water injection pipe is in the water injection state, the water injection pipe is connected to the clean water tank; when the water injection pipe is in the storage state, the water injection pipe is separated from the clean water tank.

[0025] The base station provided in this application embodiment can be in a water-filling state when water needs to be added, solving the problem of watering mobile robots. When water is not needed, the water-filling pipe can be in a retracted state, completely retracting into the main body. This reduces the thickness of the base station (i.e., the dimension along the extension / retraction direction of the water-filling pipe), minimizing the space occupied by the base station and allowing for greater alignment between the mobile robot and the base station. Furthermore, hiding the water-filling pipe within the main body reduces the risk of the mobile robot breaking the pipe and also reduces the risk of the pipe becoming contaminated with dust, dirty water, insects, etc. when exposed to the environment. The cylindrical cam rotates, and the sliding pin is displaced by the groove wall of the spiral groove. The groove wall pushes the sliding pin, while the water-filling pipe slides in conjunction with the translational structure along the extension / retraction direction. The translational structure eliminates the rotational degree of freedom of the sliding pin, preventing it from shifting or twisting. Thus, the spiral groove and translational structure jointly constrain the water-filling pipe to reciprocate linear motion along the extension / retraction direction, thereby achieving the extension / retraction of the water-filling pipe. Attached Figure Description

[0026] Figure 1 A schematic diagram of a base station provided in an embodiment of this utility model, wherein the water injection pipe is in a retracted state;

[0027] Figure 2 for Figure 1 The diagram shows the structure in another state, where the water injection pipe is in the water injection state;

[0028] Figure 3 for Figure 2 A structural diagram of the structure shown from another perspective;

[0029] Figure 4 A schematic diagram of a portion of the structure of a base station provided in an embodiment of this utility model;

[0030] Figure 5 for Figure 4 An exploded view of the structure shown.

[0031] Figure 6 This is a partial cross-sectional view of a base station structure provided in an embodiment of the present utility model, wherein the water injection pipe is in a retracted state;

[0032] Figure 7 This is a partial cross-sectional view of a base station structure provided in an embodiment of the present invention, wherein the water injection pipe is in a water injection state.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Base station; 11. Main body; 11a. Water inlet; 111. Front shell; 112. Cover; 12. Water inlet pipe; 121. Connector; 13. Drive device; 131. Motor; 1321. Cylindrical cam; 1321a. Helical groove; 1322. Sliding pin; 1323. Translational structure; 13231. Guide post; 13232. Guide groove; 1324. Gear; 14. Limiting rod; 15. Micro switch; 16. Soft rubber door; 17. Water inlet channel; 18. Pressure reducing valve; 19. Housing; 191. First housing; 192. Second housing; 20. Control board; 30. Power board. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0036] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this utility model will not be described separately.

[0037] In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate that the objects have the sameness or relationship. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to the orientation under normal use conditions, while "left" and "right" refer to the left and right directions shown in the corresponding diagrams, which may or may not be the left and right directions under normal use conditions.

[0038] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. "A plurality of" means two or more.

[0039] In related technologies, the water injection pipe of the base station is kept extending out of the water injection port of the base station. The water injection pipe protrudes a large size from the water injection port, which increases the thickness of the base station. Moreover, during the process of docking the water injection pipe with the mobile robot, the mobile robot is also prone to hitting the water injection pipe, which makes the water injection pipe easy to be broken by the mobile robot.

[0040] Please see Figures 1 to 7 This application provides a base station 1, which includes a body 11, a water injection pipe 12, and a driving device 13. The body 11 has a water injection port 11a, and the water injection pipe 12 is telescopically disposed on the body 11. The water injection pipe 12 has a water injection state extending out of the water injection port 11a and a retracted state within the body 11. The driving device 13 includes a cylindrical cam 1321, a sliding pin 1322, and a translational structure 1323. The circumferential surface of the cylindrical cam 1321 forms a spiral groove 1321a extending spirally along the telescopic direction. One end of the sliding pin 1322 is connected to the water injection pipe 12, and the other end of the sliding pin 1322 is inserted into the spiral groove 1321a. The translational structure 1323 slides with the water injection pipe 12 along the telescopic direction. The cylindrical cam 1321 rotates to drive the water injection pipe 12 to switch between the water injection state and the retracted state.

[0041] The water injection pipe 12 can be a hollow rod-shaped structure, and the hollow space of the water injection pipe 12 can be a flow channel for the liquid. The outlet of the water injection pipe 12 can be formed at the front end of the water injection pipe 12 along the extension direction.

[0042] The extension / retraction direction refers to the direction in which the water injection pipe 12 extends and retracts. The forward direction is the direction in which the water injection pipe 12 extends, and it is also the direction in which the mobile robot is located when it is connected to the water injection pipe 12. The rear direction is the opposite of the forward direction.

[0043] Base station 1 can be used in a robot system. The robot system provided in this application includes a mobile robot and base station 1 in any embodiment of this application. The mobile robot has a clean water tank, and the water injection pipe 12 is in a water injection state and connected to the clean water tank; the water injection pipe 12 is in a retracted state and separated from the clean water tank.

[0044] Base station 1 is used to work with the mobile robot and can be used to provide the mobile robot with clean water.

[0045] Mobile robots are autonomously moving devices. They can also provide cleaning functions, cleaning objects including but not limited to floors or tabletops. For example, mobile robots include, but are not limited to, robotic vacuum cleaners or portable toilet cleaners.

[0046] The clean water tank can be used to hold cleaning liquids, including but not limited to clean water. Cleaning agents and / or fragrances can also be added to the liquid.

[0047] When the water inlet pipe 12 is in the water-filling state, the water inlet pipe 12 extends out of the water inlet 11a, with at least a portion of the water inlet pipe 12 located outside the main body 11, so that the water inlet pipe 12 can communicate with the clean water tank, thereby injecting clean water into the clean water tank. After water filling is completed or when water filling is not required, the water inlet pipe 12 is in the retracted state, and the entire water inlet pipe 12 can be retracted into the main body 11, separating the water inlet pipe 12 from the clean water tank.

[0048] The cylindrical cam 1321 can extend in the telescoping direction, and the circumferential surface of the cylindrical cam 1321 is a surface that surrounds the straight line extending in the telescoping direction.

[0049] The spiral groove 1321a is roughly spiral in shape with its axis along the direction of expansion and contraction.

[0050] The other end of the sliding pin 1322 is inserted into the spiral groove 1321a, and the groove wall of the spiral groove 1321a abuts against the sliding pin 1322 to push the sliding pin 1322 to move.

[0051] The sliding engagement between the water injection pipe 12 and the translational structure 1323 along the extension direction means that the translational structure 1323 constrains the water injection pipe 12 to slide along the extension direction.

[0052] The base station 1 provided in this application embodiment can be in a water-filling state when water needs to be added, solving the problem of watering the mobile robot. When water is not needed, the water-filling pipe 12 can be in a retracted state, and the entire water-filling pipe 12 can be retracted into the body 11. In this way, on the one hand, the thickness of the base station 1, that is, the dimension along the extension and retraction direction of the water-filling pipe 12, can be reduced, reducing the space occupied by the base station 1, so that the mobile robot can have a greater distance to align with the base station 1. On the other hand, the water-filling pipe 12 being hidden inside the body 11 can reduce the risk of the mobile robot breaking the water-filling pipe 12, and can also reduce the risk of the water-filling pipe 12 being exposed to the environment and contaminated with dust, dirty water, insects and other objects. When the cylindrical cam 1321 rotates, the sliding pin 1322 is driven by the groove wall of the spiral groove 1321a to generate displacement. That is, the groove wall of the spiral groove 1321a pushes the sliding pin 1322 to move. Meanwhile, the water injection pipe 12 and the translational structure 1323 slide in the extension direction. The translational structure 1323 eliminates the rotational degree of freedom of the sliding pin 1322, preventing the sliding pin 1322 from shifting or twisting. In this way, the spiral groove 1321a and the translational structure 1323 jointly constrain the water injection pipe 12 to make reciprocating linear motion in the extension direction, thereby realizing the extension and retraction of the water injection pipe 12.

[0053] In some embodiments, the mobile robot includes a first communication module, and the base station 1 includes a second communication module. The mobile robot and the base station 1 can communicate via the first and second communication modules. For example, wireless communication can be performed via the first and second communication modules, and the mobile robot can return to the base station 1 on its own.

[0054] Mobile robots can move by means of a walking mechanism such as rollers or tracks.

[0055] As an example, when the mobile robot leaves the base station 1, the water injection pipe 12 can be in a retracted state; when the mobile robot returns to the base station 1, the drive device 13 can drive the water injection pipe 12 to switch to the water injection state, and the water injection pipe 12 is connected to the clean water tank.

[0056] In some embodiments, base station 1 can also provide charging, dust collection, or other services for the mobile robot. Charging refers to base station 1 replenishing the power of the mobile robot. Dust collection refers to base station 1 collecting dust and debris from the mobile robot into its dust collection unit.

[0057] The drive unit 13 can provide power to enable the water injection pipe 12 to extend and retract.

[0058] In some embodiments, please refer to Figures 1 to 5 The drive unit 13 includes a motor 131, and the motor shaft of the motor 131 is connected to the cylindrical cam 1321 for transmission.

[0059] In this embodiment, the motor 131 is a device that converts electrical energy into mechanical energy. The motor shaft rotates and drives the cylindrical cam 1321 to rotate, thereby improving the degree of automation.

[0060] The type of motor 131 is not limited, and motor 131 includes, but is not limited to, a stepper motor.

[0061] In some embodiments, please refer to Figures 5 to 7 The drive unit 13 includes a plurality of gears 1324 meshing in sequence, the motor shaft is connected to one of the gears 1324, and the cylindrical cam 1321 is connected to another gear 1324.

[0062] The sequential meshing of multiple gears 1324 refers to the formation of a transmission chain through the step-by-step meshing of multiple gears 1324.

[0063] In this embodiment, a gear set consisting of multiple sequentially meshing gears 1324 transmits the rotational power and rotational motion of the motor shaft to the cylindrical cam 1321, driving the cylindrical cam 1321 to rotate. The multiple sequentially meshing gears 1324 can change the transmission distance, which allows for more flexible arrangement of the positions of the motor 131 and the cylindrical cam 1321, optimizes the spatial layout between various structures, and can also change the speed, torque, etc.

[0064] In some embodiments, please refer to Figures 5 to 7 The drive unit 13 includes two sequentially meshing gears 1324, which are arranged vertically. The motor shaft is connected to the lower gear 1324, and the cylindrical cam 1321 is connected to the upper gear 1324. In this way, the position of the motor 131 can be lower; for example, the motor 131 can be located below the cylindrical cam 1321, making the assembly of the drive unit 13 more compact.

[0065] Understandably, three, four, or more sequentially meshing gears 1324 can also be set as needed.

[0066] The assembly method of the motor shaft and gear 1324 is not limited. The motor shaft and gear 1324 can achieve an anti-rotation fit using a flat key or a spline. An anti-rotation fit means that the two structural components cannot rotate relative to each other. For example, the center of gear 1324 forms a first keyway, and the motor shaft is inserted into the first keyway. The first keyway can be a flat keyway or a spline.

[0067] The assembly method of the cylindrical cam 1321 and the gear 1324 is not limited. The cylindrical cam 1321 and the gear 1324 can achieve an anti-rotation fit through a flat key or a spline. For example, a second keyway is formed at the center of the gear 1324, and the shaft of the cylindrical cam 1321 is inserted into the second keyway. The second keyway can be a flat keyway or a spline.

[0068] In some embodiments, please refer to Figures 5 to 7 The base station 1 includes a limit rod 14 and a micro switch 15. The limit rod 14 is installed in the water injection pipe 12. The micro switch 15 is installed inside the body 11. When the water injection pipe 12 extends out of the water injection port 11a and moves to the limit position, the limit rod 14 triggers the micro switch 15, and the motor 131 stops working.

[0069] Specifically, during the extension and retraction of the water injection pipe 12, the limiting rod 14 moves. As the water injection pipe 12 moves the limiting rod 14 forward, the limiting rod 14 contacts the transmission plate of the micro switch 15 and applies a force. The force is transmitted to the actuating spring of the micro switch 15. When the water injection pipe 12 moves to the limiting position, the displacement of the actuating spring reaches the critical point, causing the moving contact and the fixed contact of the micro switch 15 to connect or disconnect the circuit instantaneously, realizing rapid switching. When the limiting rod 14 releases the force on the transmission plate, the actuating spring restores its elastic deformation, and the moving contact returns to its initial state, completing one switching cycle.

[0070] It is understandable that the limiting position can be the maximum position where the water injection pipe 12 extends out of the water injection port 11a.

[0071] In this embodiment, the circuit of the motor 131 is controlled by the limiting rod 14 and the micro switch 15. When the water injection pipe 12 extends out of the water injection port 11a and moves to the limiting position, the micro switch 15 can cut off the circuit of the motor 131, causing the motor 131 to stop working. In this way, the water injection pipe 12 can be kept in the limiting position. The micro switch 15 has the characteristics of high sensitivity and fast response speed, and also has the advantages of compact structure and relatively long service life.

[0072] In some embodiments, please refer to Figures 5 to 7 The translational structure 1323 includes a guide post 13231 and a guide groove 13232. The guide post 13231 is disposed on the water injection pipe 12, and at least a portion of the guide post 13231 is slidably disposed within the guide groove 13232 along the telescopic direction. The groove wall of the guide groove 13232 constrains the sliding trajectory of the guide post 13231, so that the guide post 13231 drives the water injection pipe 12 to slide along a preset trajectory.

[0073] Taking a plane perpendicular to the direction of extension and retraction as the cross-section, the cross-sectional shape of the guide post 13231 is not limited. For example, the cross-sectional shape of the guide post 13231 can be circular, square, or I-shaped, etc. The cross-sectional shape of the guide groove 13232 can be consistent with the cross-sectional shape of the guide post 13231, so that the guide post 13231 can be embedded in the guide groove 13232 and slide along the guide groove 13232.

[0074] In some embodiments, please refer to Figures 1 to 3 The base station 1 includes a soft rubber door 16 that covers the water inlet 11a, and the soft rubber door 16 has a groove. When the water inlet pipe 12 is in the water inlet state, the water inlet pipe 12 can be restored to open the groove to extend the water inlet 11a. When the water inlet pipe 12 is in the retracted state, the groove restores its deformation.

[0075] In this embodiment, the flexible door 16 is elastic, and the groove can open or close under elastic force. Thus, when the water injection pipe 12 is in its retracted state, the groove returns to its original shape and remains closed, better shielding the water inlet 11a and reducing the risk of dust, lint, etc., entering the body 11. When water injection is needed, the water injection pipe 12 expands the groove, allowing the water injection pipe 12 to extend out of the water inlet 11a.

[0076] The shape of the groove is not limited. For example, the shape of the groove includes, but is not limited to, a straight groove, a cross groove, or a star-shaped groove, etc.

[0077] The material of the soft rubber door 16 is not limited, but includes, but is not limited to, one or more of the following: rubber, silicone, and soft plastic.

[0078] In some embodiments, please refer to Figures 1 to 3The base station 1 includes a water inlet channel 17 installed in the main body 11, which connects to the water injection pipe 12 and the water source.

[0079] Water sources include, but are not limited to, tap water or water stored in containers.

[0080] In this embodiment, the water inlet passage 17 guides water from the water source to the water injection pipe 12, and then injects it into the clean water tank through the water injection pipe 12. The water inlet passage 17 is located inside the main body 11, and the main body 11 can protect the water inlet passage 17 from damage by external objects.

[0081] In some embodiments, please refer to Figures 1 to 3 The base station 1 includes a pressure reducing valve 18, which is located in the water inlet channel 17 and inside the main body 11.

[0082] In this embodiment, the pressure reducing valve 18 can be used to regulate the water flow pressure in the inlet water passage 17, reducing the high pressure value at the water source to a preset low pressure value and maintaining a constant outlet pressure. This avoids damage to the water injection pipe 12 caused by high pressure impact. Even if the inlet water pressure fluctuates, the outlet pressure of the pressure reducing valve 18 can still be kept stable through automatic adjustment, achieving stable pressure output. The pressure reducing valve 18 is installed inside the body 11, which can protect the pressure reducing valve 18 from damage by external objects.

[0083] In some embodiments, please refer to Figure 3 and Figure 5 A connector 121 is formed on the peripheral side of the water injection pipe 12, and the connector 121 is connected to the water inlet passage 17. In this way, the water in the water inlet passage 17 enters the water injection pipe 12 through the connector 121.

[0084] In some embodiments, please refer to Figure 1 , Figures 4 to 7 The base station 1 includes a housing 19 with a receiving cavity, the housing 19 being located within the body 11, and at least a portion of the water injection pipe 12 and at least a portion of the drive device 13 being disposed within the receiving cavity.

[0085] In some examples, a portion of the water injection pipe 12 is disposed within the receiving cavity, while in other examples, the entire water injection pipe 12 is disposed within the receiving cavity.

[0086] In some examples, a portion of the drive unit 13 is disposed within the receiving cavity, while in other examples, the entire drive unit 13 is disposed within the receiving cavity.

[0087] In this embodiment, the water injection pipe 12 and the drive device 13 can both be assembled into the housing 19, thereby assembling the above-mentioned structural components into modules and then assembling the modules into the body 11. Modular assembly improves production efficiency, and the housing 19 can also be used to provide protection for the water injection pipe 12 and the drive device 13.

[0088] In some embodiments, please refer to Figures 4 to 7 The main body 11 includes a front shell 111 and a cover 112. The front shell 111 has an assembly port, and the cover 112 has a water inlet 11a. The cover 112 can cover the assembly port. The front shell 111 and the cover 112 can be manufactured separately, and the cover 112 can be connected to the front shell 111 or the housing 19.

[0089] The front shell 111 can be a plastic structure, for example, the front shell 111 is an injection-molded one-piece structure.

[0090] The cover 112 can be a plastic structure, for example, the cover 112 is an injection-molded one-piece structure.

[0091] The connection method between the cover 112 and the front shell 111 is not limited. The cover 112 and the front shell 111 can be detachably connected or non-detachably connected.

[0092] The connection method between the cover 112 and the housing 19 is not limited; the cover 112 and the housing 19 can be detachably connected or non-detachably connected.

[0093] The housing 19 and the front housing 111 can be detachably connected or non-detachably connected.

[0094] Unless otherwise stated, non-removable connections in the embodiments of this application include, but are not limited to, welding or bonding. Removable connections include, but are not limited to, screw connections, bolt connections, or snap-fit ​​connections.

[0095] In some embodiments, please refer to Figures 4 to 7 The housing 19 can be formed with a guide groove 13232, so that the housing 19 can remain fixed and the guide post 13231 can slide in the extension and retraction direction within the guide groove 13232. As an example, the guide post 13231 can be connected above the water injection pipe 12, and the guide groove 13232 is formed on the upper part of the housing 19.

[0096] In some embodiments, please refer to Figures 4 to 7 The housing 19 includes a first housing 191 and a second housing 192. The rear sidewall of the first housing 191 has an assembly opening, and the second housing 192 covers the assembly opening of the first housing 191. The first housing 191 and the second housing 192 together define a receiving cavity.

[0097] During assembly, the water injection pipe 12, cylindrical cam 1321, sliding pin 1322, translational structure 1323, and motor 131 can all be assembled into the first shell 191 through the assembly port, and then the assembly port is covered by the second shell 192. In this way, the assembly of the module is completed.

[0098] In some embodiments, please refer to Figures 1 to 5Base station 1 includes a control board 20 and a power supply board 30. The control board 20 is used to receive, process, and execute control commands. For example, the control board 20 can control electronic components such as motor 131 and pressure reducing valve 18. The power supply board 30 can convert external input power (such as AC or DC) into the stable voltage and current required by base station 1 and distribute it to various electronic components to support the operation of base station 1.

[0099] As an example, after receiving a water-filling command, the control board 20 transmits a signal to the motor 131. The motor shaft rotates in a first direction, for example, counterclockwise, driving the gear 1324 connected to it to rotate. The gear 1324, connected to the cylindrical cam 1321, drives the cylindrical cam 1321 to rotate. When the cylindrical cam 1321 rotates, the spiral groove 1321a on the cylindrical cam 1321 presses against the sliding pin 1322, causing the water inlet pipe 12 to extend forward beyond the water inlet 11a until the limit rod 14 triggers the micro switch 15, stopping at the limit position. At this point, the water inlet pipe 12 extends to its maximum position beyond the water inlet 11a, and water can be added. When it is necessary to retract the water inlet pipe 12, the motor shaft rotates in a second direction, for example, clockwise, which retracts the water inlet pipe 12. The first and second directions are two opposite directions of rotation.

[0100] The control panel 20 can be installed inside the main body 11. For example, the control panel 20 can be fixed to the front shell 111. In this way, control buttons and / or touch control keys can be set on the front shell 111, and the user can issue control commands by triggering the control buttons and / or touch control keys.

[0101] The power board 30 can be housed inside the main body 11, for example, the power board 30 can be fixed to the front cover 111.

[0102] In some embodiments, please refer to Figures 1 to 3 The control panel 20 is located above the water inlet 11a. The control panel 20 is positioned relatively high to facilitate user operation.

[0103] In some embodiments, please refer to Figures 1 to 7 The power board 30 and the pressure reducing valve 18 are located on opposite sides of the drive unit 13 in the left-right direction. This arrangement of the control board 20, drive unit 13, and pressure reducing valve 18 with the power board 30 facilitates wiring. The distance between the power board 30 and the water inlet channel 17 is also relatively large, reducing the risk of water contact with the power board 30.

[0104] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A base station, characterized in that, include: The main body has a water inlet; A water injection pipe is telescopically mounted on the main body, and the water injection pipe has a water injection state extending out of the water injection port and a storage state retracted into the main body. The driving device includes a cylindrical cam, a sliding pin, and a translational structure. The circumferential surface of the cylindrical cam forms a spiral groove that extends spirally along the extension direction. One end of the sliding pin is connected to the water injection pipe, and the other end of the sliding pin is inserted into the spiral groove. The translational structure slides with the water injection pipe along the extension direction. The cylindrical cam rotates to drive the water injection pipe to switch between the water injection state and the storage state.

2. The base station according to claim 1, characterized in that, The driving device includes a motor, and the motor shaft of the motor is connected to the cylindrical cam drive.

3. The base station according to claim 2, characterized in that, The drive device includes a plurality of gears that mesh sequentially, the motor shaft is connected to one of the gears, and the cylindrical cam is connected to another of the gears.

4. The base station according to claim 2, characterized in that, The base station includes: A limiting rod is installed on the water injection pipe; A micro switch is installed inside the main body. When the water injection pipe extends out of the water injection port and moves to the limit position, the limit rod triggers the micro switch, and the motor stops working.

5. The base station according to claim 1, characterized in that, The translational structure includes: Guide posts are installed in the water injection pipe; A guide groove, wherein at least a portion of the guide post is slidably disposed within the guide groove in the telescopic direction.

6. The base station according to claim 1, characterized in that, The base station includes a soft rubber door that covers the water inlet, and the soft rubber door has a groove. When the water injection pipe is in the water injection state, the water injection pipe can reversibly expand the groove to extend the water injection port; When the water injection pipe is in the retracted state, the cracked groove recovers its deformation.

7. The base station according to any one of claims 1 to 6, characterized in that, The base station includes a water inlet channel installed within the main body, and the water inlet channel is connected to the water injection pipe and the water source.

8. The base station according to claim 7, characterized in that, The base station includes a pressure reducing valve, which is disposed in the water inlet channel and located within the main body.

9. The base station according to any one of claims 1 to 6, characterized in that, The base station includes a housing with a receiving cavity located within the main body, and at least a portion of the water injection pipe and at least a portion of the drive device are disposed within the receiving cavity.

10. A robot system, characterized in that, include: Mobile robot with a clean water tank; According to any one of claims 1 to 9, in the water injection state, the water injection pipe is connected to the clean water tank; in the storage state, the water injection pipe is separated from the clean water tank.

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