Water-based station and pool cleaning system

Abstract

The application relates to the field of robots, in particular to a water-leaving base station and a pool cleaning system, which comprises a base station main body and a towing mechanism, the towing mechanism is movably connected with the base station main body, the towing mechanism has an unfolded position in which at least a part of the towing mechanism is inserted below the liquid surface, and a retracted position on the base station main body, and the towing mechanism is used for driving a pool cleaning robot to leave or enter the pool; when the towing mechanism is in the unfolded position, the gravity center point of the towing mechanism is not collinear with the hanging point of the towing mechanism, and the hanging point is located on the side of the gravity center point close to the base station main body, so that the towing mechanism generates a gravity moment adhering to the pool side wall; in this way, the towing mechanism can be self-adaptively adhered to the pool side wall, the process of the pool cleaning robot climbing along the pool side wall into the towing mechanism is as smooth as possible, and the pool cleaning robot can be smoothly picked up and conveniently lowered into the water and returned to the pile and the like.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a water-off base station and water tank cleaning system. Background Technology

[0002] Pool cleaning robots, as convenient automated devices, are widely used in the cleaning and maintenance of pools. After cleaning, the robot is submerged in water, requiring manual removal by the user. This retrieval process is somewhat dangerous, and prolonged immersion reduces the robot's lifespan. Current methods require manual deployment and removal of the robot, which is inconvenient. Therefore, how to enable convenient deployment and repositioning of pool cleaning robots has become a key technical problem that needs to be solved. Utility Model Content

[0003] Based on the above problems, this application provides a water-off base station and water pool cleaning system that enables water pool cleaning robots to easily perform operations such as entering and exiting the water and returning to their posts.

[0004] Firstly, this application provides a water-off base station, which includes: Base station main body; A towing mechanism is movably connected to the base station body. The towing mechanism has an extended position that extends at least partially below the liquid surface and a retracted position located on the base station body. The towing mechanism is used to drive the pool cleaning robot away from or into the pool. Specifically, when the towing mechanism is in the deployed position, the center of gravity of the towing mechanism is not collinear with the suspension point of the towing mechanism, and the suspension point is located on the side of the center of gravity closer to the base station body, so that the towing mechanism generates a gravitational torque that adheres to the side wall of the pool.

[0005] This application designs a water-removing base station comprising a base station body and a towing mechanism. The towing mechanism is movably connected to the base station body. The towing mechanism has an extended position that extends at least partially below the liquid surface and a retracted position located on the base station body. The towing mechanism is used to drive a water tank cleaning robot to leave or enter the water tank. When the towing mechanism is in the extended position, the center of gravity of the towing mechanism is not collinear with the suspension point of the towing mechanism, and the suspension point is located on the side of the center of gravity closer to the base station body, so that the towing mechanism generates a gravitational torque that conforms to the side wall of the water tank. In this way, the towing mechanism can adaptively conform to the side wall of the water tank, minimizing the step difference during the process of the water tank cleaning robot crawling along the side wall of the water tank into the towing mechanism, and enabling smooth transportation of the water tank cleaning robot for convenient entry into the water and return to the dock.

[0006] In one optional implementation, the water-based base station further includes: A drive mechanism is disposed on the base station body. The drive mechanism includes a drive component and a rotating arm that is pulsatorically connected to the drive component. One end of the rotating arm is rotatably connected to the base station body, and the other end of the rotating arm is rotatably connected to the towing mechanism. The rotational connection point between the rotating arm and the towing mechanism forms the suspension point.

[0007] In one optional embodiment, the rotating arm includes two rotating arms, which are respectively located on both sides of the base station body. One end of each of the two rotating arms is rotatably connected to the base station body, and the other end of each of the two rotating arms is rotatably connected to the towing mechanism.

[0008] In one optional embodiment, when the towing mechanism is in the deployed position, the end of the rotating arm connected to the towing mechanism is located inside the base station body.

[0009] In one optional embodiment, the towing mechanism includes a towing body and a towing connection part. The towing body is used to support the pool cleaning robot, and the towing connection part is rotatably connected to the rotating arm. The extending direction of the towing connection part intersects with the extending direction of the towing body.

[0010] In one optional embodiment, the included angle between the towing connection and the towing body is an obtuse angle.

[0011] In one optional embodiment, the towing body is provided with a locking component, which is used to fix the pool cleaning robot relative to the towing body when the pool cleaning robot moves onto the towing body.

[0012] In one optional embodiment, the towing body is configured with a receiving cavity for accommodating a pool cleaning robot, one end of the receiving cavity is provided with an opening for the pool cleaning robot to enter the receiving cavity 10a, and a movable baffle for opening or closing the opening is movably provided at the opening.

[0013] In one optional embodiment, the towing mechanism is provided with a soft rubber support member, which is used to abut against the side wall of the pool when the towing mechanism contacts the side wall of the pool.

[0014] Secondly, this application provides a pool cleaning system, including a pool cleaning robot and the water-removal base station described in the first aspect. The pool cleaning robot is disposed in the receiving cavity of the towing mechanism, and the water-removal base station is used to tow the pool cleaning robot ashore or send the pool cleaning robot into the pool. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below.

[0016] Figure 1 This is a perspective view of the towing mechanism of a water tank cleaning system provided in this application embodiment in the retracted position; Figure 2 This is a perspective view of the towing mechanism of a water tank cleaning system provided in an embodiment of this application in the unfolded position; Figure 3 This is a perspective view of a towing mechanism in the deployed position, provided in an embodiment of this application. Figure 4 This is a perspective view of a towing mechanism in the retracted position, provided in an embodiment of this application. Figure 5 This is a side view schematic diagram of a towing mechanism in the retracted position provided in an embodiment of this application. Figure 1 ; Figure 6 This is a side view of a towing mechanism in its deployed position, located on the side wall of a vertical water tank, according to an embodiment of this application. Figure 1 ; Figure 7 This is a side view of a towing mechanism in the deployed position, located on the side wall of an inclined pool at a positive angle, according to an embodiment of this application. Figure 8 This is a side view of a towing mechanism in the deployed position located on the side wall of a negative-angle inclined pool, according to an embodiment of this application. Figure 9 This is a side view of the towing mechanism in the retracted position according to an embodiment of this application. Figure 2 ; Figure 10 This is a side view of the towing mechanism provided in this application embodiment in its deployed position, located on the side wall of a vertical water tank. Figure 2 ; Figure 11 This is a side view schematic diagram of an off-water base station including an elastic element provided in an embodiment of this application; Figure 12 This is a side view schematic diagram of the towing mechanism provided in the embodiments of this application; Figure 13 This is a perspective view of the towing mechanism including the locking component provided in the embodiments of this application; Figure 14 This is a perspective view of the towing mechanism provided in the embodiments of this application, including the movable baffle.

[0017] Explanation of icon numbers: Pool cleaning system 2000; water-free base station 1000; pool cleaning robot 200; base station body 300; towing mechanism 100; unfolded position W1; retracted position W2; pool side wall M1; center of gravity A1; suspension point A2; shore surface M2; drive mechanism 400; rotating arm 420; first rotating shaft 430; second rotating shaft 440; first main body end 300a; second main body end 300b; first towing end 100a; second towing end 100b; first position N1; second position N2; elastic element 500; towing body 10; towing connection part 20; locking component 600; receiving cavity 10a; opening 10b; movable baffle 30; soft rubber support 40. Detailed Implementation

[0018] The technical solution of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the embodiments described in this application are only a part of the embodiments, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without creative effort are within the protection scope of this application.

[0019] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment to other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0020] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, an assembly or device comprising one or more components is not limited to the one or more components listed, but may optionally also include one or more components not listed but inherent to the exemplified product, or one or more components that it should have based on the described function.

[0021] Please see Figures 1-4 This application proposes a water-off-base station 1000 for sending a water pool cleaning robot 200 into a water pool or retrieving the water pool cleaning robot 200 from the water pool.

[0022] Please see Figures 1-4 The water-free base station 1000 includes a base station body 300 and a towing mechanism 100.

[0023] The base station body 300 is fixedly installed on the bank of the pool. The towing mechanism 100 is movably connected to the base station body 300. The towing mechanism 100 is used to tow the pool cleaning robot 200 from the pool onto the bank, so that the pool cleaning robot 200 leaves the water surface; or, the towing mechanism 100 is also used to send the pool cleaning robot 200, which is in the bank state, into the pool so that the pool cleaning robot 200 can enter the water.

[0024] Optional, please refer to Figure 2 , Figure 3 and Figure 6 The towing mechanism 100 is an extendable and retractable structure. The towing mechanism 100 has an extended position W1 that extends at least partially below the liquid surface, and a retracted position W2 located on the base station body 300. The towing mechanism 100 is used to move the pool cleaning robot away from or into the pool.

[0025] Please see Figure 1 , Figure 4 and Figure 5 When the towing mechanism 100 is in the retracted position W2, it is located on the base station body 300. When the towing mechanism 100 is in the retracted position W2, it is located above the base station body 300, that is, the towing mechanism 100 is in the unloaded state. When the pool cleaning robot 200 is located in the receiving cavity of the towing body, the pool cleaning robot 200 is also in the unloaded state.

[0026] When the towing mechanism 100 is in the deployed position W1, at least a portion of it extends below the water surface of the pool. When the towing mechanism 100 is in the deployed position W1, at least a portion of it is below the water surface. For example, the towing mechanism 100 is attached to the side wall M1 of the pool to facilitate carrying the pool cleaning robot 200 into the water. In other words, the deployed position W1 is the position where the towing mechanism 100 is attached to the side wall M1 of the pool or other position where at least a portion is underwater, allowing the pool cleaning robot 200 to move from the side wall M1 to the towing mechanism 100, or to be loaded into or unloaded from the towing mechanism 100.

[0027] When the pool cleaning robot 200 is placed inside the towing mechanism 100, the towing mechanism 100 moves from the retracted position W2 to the extended position W1 to send the pool cleaning robot 200 into the pool so that the pool cleaning robot 200 can be lowered into the water from the towing mechanism 100.

[0028] After the pool cleaning robot 200 finishes its cleaning task and climbs along the pool side wall M1 into the towing mechanism 100, the towing mechanism 100 moves from the extended position W1 to the retracted position W2 to tow the pool cleaning robot 200 to the shore.

[0029] Please see Figure 6 When the towing mechanism 100 is in the deployed position W1, the center of gravity A1 of the towing mechanism 100 is not collinear with the suspension point A2 of the towing mechanism 100.

[0030] Please refer to Figure 6 The center of gravity A1 of the towing mechanism 100 is located inside the towing mechanism 100.

[0031] Please refer to Figure 6 The suspension point A2 of the towing mechanism 100 is the connection point of the towing mechanism 100. For example, the towing mechanism 100 is directly connected to the base station body 300. Here, the suspension point A2 of the towing mechanism 100 is the position on the towing mechanism 100 directly connected to the base station body 300. As another example, the towing mechanism 100 is indirectly connected to the base station body 300 through a rotating arm. Here, the suspension point A2 of the towing mechanism 100 is the position on the towing mechanism 100 connected to the rotating arm.

[0032] Taking the example of the towing mechanism 100 being directly rotatably connected to the base station body 300 or the towing mechanism 100 being indirectly connected to the base station body 300 through a rotating arm, and taking the side view of the water-removing base station 1000 as an example, the suspension point A2 of the towing mechanism 100 is the rotation axis of the towing mechanism 100 in the side view of the water-removing base station 1000.

[0033] In this embodiment, when the towing mechanism 100 is in the deployed position W1, the center of gravity A1 of the towing mechanism 100 and the suspension point A2 of the towing mechanism 100 are not collinear in the height direction. The height direction refers to the up-down direction in the side view of the water station 1000.

[0034] Further, please refer to Figure 6 When the towing mechanism 100 is in the unfolded position W1, the suspension point A2 is located on the side of the center of gravity A1 close to the base station body 300, so that the towing mechanism 100 generates a gravitational torque to adhere to the side wall M1 of the pool, and the towing mechanism 100 generates a pressure to adhere to the side wall M1 of the pool, thereby making the back of the towing mechanism 100 adhere to the side wall M1 of the pool.

[0035] Please refer to Figure 6 A lever arm is formed between the vertical line where the center of gravity A1 is located and the vertical line where the suspension point A2 is located.

[0036] Assuming that the center of gravity A1 of the towing mechanism 100 and the suspension point A2 of the towing mechanism 100 are collinear in the height direction, then when the side wall M1 of the pool is a positive-angle inclined wall, the back of the towing mechanism 100 can adhere to the side wall M1 of the pool. However, when the side wall M1 of the pool is a vertical wall, since the towing mechanism 100 does not generate a gravitational torque toward the side wall M1 of the pool, the towing mechanism 100 exerts no or very little pressure on the side wall M1 of the pool. When the pool sidewall M1 is a negative angle inclined wall, since the towing mechanism 100 does not generate a gravitational torque toward the pool sidewall M1, the towing mechanism 100 has no contact pressure with the pool sidewall M1. The towing mechanism 100 is in a vertical state in the unfolded position W1, and a gap is formed between the back of the towing mechanism 100 and the pool sidewall M1. When the pool cleaning robot 200 finishes the cleaning task and climbs up the pool sidewall M1, a high step difference is formed between the towing mechanism 100 and the pool sidewall M1, which makes it impossible for the pool cleaning robot 200 to successfully enter the towing mechanism 100. The pool cleaning robot 200 may even enter the gap between the back of the towing mechanism 100 and the pool sidewall M1, lifting the towing mechanism 100.

[0037] Assuming that the suspension point A2 is located on the side of the center of gravity A1 that is far away from the base station body 300, the towing mechanism 100 will be subjected to a gravitational torque far away from the side wall M1 of the pool, making it even more impossible for the towing mechanism 100 to generate a contact pressure that fits against the side wall M1 of the pool.

[0038] In this embodiment of the application, when the towing mechanism 100 is in the unfolded position W1, the suspension point A2 is located on the side of the center of gravity A1 close to the base station body 300, and the towing mechanism 100 generates a gravitational torque that adheres to the side wall M1 of the pool, so that the towing mechanism 100 generates a pressure that adheres to the side wall M1 of the pool.

[0039] Please see Figure 7 When the pool sidewall M1 is a positive-angle inclined wall, the angle between the pool sidewall M1 and the shore surface M2 is an obtuse angle. The towing mechanism 100 is attached to the pool sidewall M1 under the torque of gravity.

[0040] Please see Figure 6 When the pool sidewall M1 is a vertical wall, the angle between the pool sidewall M1 and the shore surface M2 is a right angle. The towing mechanism 100 is attached to the pool sidewall M1 under the torque of gravity.

[0041] Please see Figure 8 When the pool sidewall M1 is a negative angle inclined wall, the angle between the pool sidewall M1 and the shore surface M2 is an acute angle. The towing mechanism 100 is attached to the pool sidewall M1 under the torque of gravity.

[0042] When the side wall M1 of the pool is a vertical wall and a support is protruding from the side wall M1 near the shore, the upper half of the back of the towing mechanism 100 abuts against the support. In this case, under the action of gravity torque, the tail end of the towing mechanism 100 is still attached to the side wall M1 of the pool.

[0043] As explained above, when the towing mechanism 100 in this embodiment is in the extended position W1, regardless of whether the pool side wall M1 is a positive angle inclined wall, a vertical wall, or a negative angle inclined wall, the towing mechanism 100 can adhere to the pool side wall M1 under the torque of gravity. That is, the towing mechanism 100 can adaptively adhere to the pool side wall M1 at different inclination angles, so as to minimize the step difference during the process of the pool cleaning robot crawling along the pool side wall M1 into the towing mechanism 100, and can smoothly transport the pool cleaning robot to and from the water for convenient launching and re-entry operations; even when there is a support protruding from the pool side wall M1 near the shore, the tail end of the towing mechanism 100 can still be kept in contact with the pool side wall M1, so as to minimize the step difference during the process of the pool cleaning robot crawling along the pool side wall M1 into the towing mechanism 100, and can smoothly transport the pool cleaning robot to and from the water for convenient launching and re-entry operations.

[0044] This application designs a water-removing base station 1000, including a base station body 300 and a towing mechanism 100. The towing mechanism 100 is movably connected to the base station body 300. The towing mechanism 100 has an extended position W1 that is at least partially submerged below the liquid surface, and a retracted position W2 located on the base station body 300. The towing mechanism 100 is used to drive a water tank cleaning robot to leave or enter the water tank. When the towing mechanism 100 is in the extended position W1, the center of gravity A1 of the towing mechanism 100 is perpendicular to the liquid surface. The suspension point A2 of the towing mechanism 100 is not collinear, and the suspension point A2 is located on the side of the center of gravity A1 close to the base station body 300, so that the towing mechanism 100 generates a gravitational torque that fits against the side wall M1 of the pool. In this way, the towing mechanism 100 can adaptively fit against the side wall M1 of the pool at different inclination angles, minimizing the step difference during the process of the pool cleaning robot crawling along the side wall M1 of the pool into the towing mechanism 100, and enabling the smooth transfer of the pool cleaning robot to facilitate operations such as water entry and return to the pile.

[0045] In addition, the center of gravity A1 of the towing mechanism 100 provided in this application is always close to the shore during the lifting process, the movement trajectory of the towing mechanism 100 occupies less water surface, and the resistance when the base station body 300 lifts the towing mechanism 100 is small.

[0046] Optionally, with reference to the side wall M1 of the pool, the suspension point A2 of the towing mechanism 100 is located on the side of the side wall M1 of the pool away from the towing mechanism 100.

[0047] Optionally, with the shore surface M2 as a reference, the orthographic projection of the suspension point A2 of the towing mechanism 100 in the height direction is located on the shore surface M2.

[0048] Optionally, with the base station body 300 as a reference, the orthographic projection of the suspension point A2 of the towing mechanism 100 in the height direction is located in the area where the base station body 300 is located.

[0049] Optional, please refer to Figure 9 The water-based base station 1000 also includes a drive mechanism 400. The drive mechanism 400 is disposed on the base station body 300. The drive mechanism 400 is connected to the towing mechanism 100 to drive the towing mechanism 100 from the retracted position W2 to the extended position W1, and to drive the towing mechanism 100 from the extended position W1 to the retracted position W2.

[0050] Optional, please refer to Figure 9 The drive mechanism 400 includes a drive assembly (not shown) and a rotating arm 420 that is pultrusively connected to the drive assembly. The first end of the rotating arm 420 is rotatably connected to the base station body 300, and the second end of the rotating arm 420 is rotatably connected to the towing mechanism 100.

[0051] The rotational connection point between the rotating arm 420 and the towing mechanism 100 forms the suspension point A2.

[0052] Further, please refer to Figure 9 The drive mechanism 400 also includes a first rotating shaft 430 and a second rotating shaft 440.

[0053] The first rotating shaft 430 is rotatably connected between the first end of the rotating arm 420 and the towing mechanism 100. From the side view of the water-removing base station 1000, the rotation center of the first rotating shaft 430 is the suspension point A2.

[0054] The second rotating shaft 440 is rotatably connected between the second end of the rotating arm 420 and the base station body 300.

[0055] The first rotating shaft 430 extends along the width direction of the towing mechanism 100. The second rotating shaft 440 extends along the width direction of the towing mechanism 100.

[0056] Optionally, there are two rotating arms 420. The two rotating arms 420 are located on both sides of the base station body 300 (along the width direction).

[0057] One end (second end) of each of the two rotating arms 420 is rotatably connected to the base station body 300, and the other end (first end) of each of the two rotating arms 420 is rotatably connected to the towing mechanism 100.

[0058] Furthermore, the two rotating arms 420 are connected to one end of the towing mechanism 100 and interconnected as a single structure to enhance the strength of the rotating arms 420, so that the rotating arms 420 have sufficient strength to bring the towing mechanism 100 out of the water.

[0059] Please see Figure 9 This application does not specifically limit the connection position between the second end of the rotating arm 420 and the base station body 300. For ease of explanation, the base station body 300 is defined to include a first body end 300a and a second body end 300b along its length, with the first body end 300a away from the side wall M1 of the pool and the second body end 300b close to the side wall M1 of the pool. The towing mechanism 100 includes a first towing end 100a and a second towing end 100b along its length. When the towing mechanism 100 is stacked on the base station body 300, the first towing end 100a corresponds to the first body end 300a, and the second towing end 100b corresponds to the second towing end 100b. The first end of the rotating arm 420 is connected to the first towing end 100a.

[0060] For example, the second end of the rotating arm 420 is connected to the base station body 300 near the first body end 300a. The first end of the rotating arm 420 rotates about the second end of the rotating arm 420.

[0061] Please see Figure 9 When the first end of the rotating arm 420 rotates to the first position N1, the first end of the rotating arm 420 is outside the first main body end 300a of the base station body 300. At this time, the orthographic projection of the first end of the rotating arm 420 in the height direction is located on the side of the first main body end 300a of the base station body 300 away from the second main body end 300b. The towing mechanism 100 is located in the retracted position W2 and is stacked on the base station body 300.

[0062] Please see Figure 10 When the first end of the rotating arm 420 rotates to the second position N2, the first end of the rotating arm 420 is located on the base station body 300. At this time, the orthographic projection of the first end of the rotating arm 420 in the height direction is located between the first main body end 300a and the second main body end 300b of the base station body 300, and closer to the side of the second main body end 300b. The towing mechanism 100 is located in the unfolded position W1, the first towing end 100a of the towing mechanism 100 is located on the base station body 300, and the second towing end 100b of the towing mechanism 100 is attached to the side wall M1 of the pool.

[0063] Further, please refer to Figure 11The water-free base station 1000 also includes an elastic element 500. One end of the elastic element 500 is connected to the base station body 300, and the other end of the elastic element 500 is connected to the towing mechanism 100. When the towing mechanism 100 is in the unfolded position W1, the elastic element 500 undergoes elastic deformation, and the towing mechanism 100 fits more closely to the side wall M1 of the pool under the action of the elastic element 500.

[0064] The elastic element 500 includes, but is not limited to, an elastic metal element, an elastic rubber element, or a gas spring. The elastic metal element includes, but is not limited to, a spring, a spring clip, an elastic clip, or an elastic pull rope. The spring includes, but is not limited to, a tension spring.

[0065] Optionally, when the towing mechanism 100 is in the deployed position W1, the end of the rotating arm 420 connected to the towing mechanism 100 is located inside the base station body 300. In other words, when the towing mechanism 100 is in the deployed position W1, the end of the rotating arm 420 connected to the towing mechanism 100 is located on the side of the base station body 300 where the second towing end 100b faces the first towing end 100a.

[0066] Furthermore, since the suspension point A2 is built into the base station body 300, the rotating arm 420 is shorter and the resistance arm is smaller, making it easier for the base station body 300 to lift the towing mechanism 100.

[0067] Optional, please refer to Figure 9 and Figure 10 The towing mechanism 100 includes a towing body 10 and a towing connection part 20. The towing body 10 is used to support the pool cleaning robot 200. The end of the towing connection part 20 away from the towing body 10 (the aforementioned first towing end 100a) is rotatably connected to the first end of the rotating arm 420.

[0068] Viewed from the side of the water-off base station 1000, the extending direction of the towing connection 20 intersects with the extending direction of the towing body 10. In other words, the towing connection 20 bends and extends from one end of the towing body 10 toward the back of the towing body 10 and away from the towing body 10.

[0069] The length of the towing connection 20 in the extending direction is less than the length of the towing body 10 in the extending direction.

[0070] Optional, please refer to Figure 12 The angle θ between the towing connection 20 and the towing body 10 is an obtuse angle. Furthermore, the angle θ between the back surface of the towing connection 20 and the back surface of the towing body 10 is also an obtuse angle. The back surface of the towing connection 20 is the side facing the pool sidewall M1 when in the unfolded position W1.

[0071] When the towing mechanism 100 is in the retracted position W2, the rotating arm 420 is in the first position N1. The first end of the rotating arm 420 is located outside the first main body end 300a of the base station body 300. Furthermore, the rotating arm 420 forms an obtuse angle with the shore surface M2, and the angle between the rotating arm 420 and the towing connection part 20 is an acute angle. The towing connection part 20 can be located outside the first main body end 300a of the base station body 300. The back of the towing body 10 is located on the top of the base station body 300. The towing body 10 is inclined on the base station body 300 so that the water in the towing body 10 flows out at an angle.

[0072] When the towing mechanism 100 is in the unfolded position W1, the rotating arm 420 is in the second position N2. The first end of the rotating arm 420 is located on the top of the base station body 300. Specifically, the first end of the rotating arm 420 is located between the first body end 300a and the second body end 300b and is close to the second body end 300b. Further, the rotating arm 420 forms an acute angle with the shore surface M2, and the angle between the rotating arm 420 and the towing connection part 20 is an obtuse angle. The towing connection part 20 can be attached to or relative to the inclined surface of the second body end 300b. The back of the towing body 10 is attached to the side wall M1 of the pool.

[0073] Optional, please refer to Figure 13 The towing body 10 is configured with a receiving cavity 10a for accommodating the pool cleaning robot 200. One end of the receiving cavity 10a is provided with an opening 10b for the pool cleaning robot 200 to enter the receiving cavity 10a.

[0074] Please see Figure 13 The towing body 10 is provided with a locking component 600. The locking component 600 is used to fix the pool cleaning robot 200 relative to the towing body 10 when the pool cleaning robot 200 moves onto the towing body 10.

[0075] Optionally, the locking component 600 may include, but is not limited to, a latching member disposed on the inner wall of the receiving cavity 10a. When the pool cleaning robot 200 is not in the receiving cavity 10a, the latching member is in a clearance state to avoid obstructing the entry of the pool cleaning robot 200 into the receiving cavity 10a. After the pool cleaning robot 200 enters the receiving cavity 10a, the latching member is in a pop-out state, and the latching member may block or abut against the rear end of the pool cleaning robot 200 to fix the pool cleaning robot 200 in the receiving cavity 10a, preventing the pool cleaning robot 200 from falling out of the receiving cavity 10a during the movement of the towing mechanism 100.

[0076] Alternatively, the avoidance and pop-out states of the fasteners can be controlled electronically or via the transmission mechanism of the pool cleaning robot 200.

[0077] Optional, please refer to Figure 14 The towing body 10 is configured with a receiving cavity 10a for accommodating the pool cleaning robot 200. One end of the receiving cavity 10a is provided with an opening 10b for the pool cleaning robot 200 to enter the receiving cavity 10a. A movable baffle 30 for opening or closing the opening 10b is movably provided at the opening 10b.

[0078] Before the pool cleaning robot 200 enters the receiving cavity 10a, the movable baffle 30 opens the opening 10b; after the pool cleaning robot 200 enters the receiving cavity 10a, the movable baffle 30 closes the opening 10b. When the pool cleaning robot 200 is about to enter the water from the receiving cavity 10a, the movable baffle 30 can open the opening 10b to allow the pool cleaning robot 200 to enter the water; or the movable baffle 30 can close the opening 10b, allowing the pool cleaning robot 200 to pass over the movable baffle 30 and enter the water.

[0079] Alternatively, the switching between the opening 10b and the closing 10b of the movable baffle 30 can be controlled electronically or by the transmission mechanism of the pool cleaning robot 200.

[0080] Optional, please refer to Figures 6-8 The towing mechanism 100 is provided with a soft rubber support 40. At least a portion of the soft rubber support 40 protrudes from the back of the towing mechanism 100. The soft rubber support 40 is used to abut against the side wall M1 of the pool when the towing mechanism 100 contacts the side wall M1 of the pool.

[0081] Secondly, please refer to Figure 1 and Figure 2 This application provides a pool cleaning system 2000. The pool cleaning system 2000 includes a pool cleaning robot 200 and a water-removal base station 1000 as described in any of the aforementioned optional embodiments. The pool cleaning robot 200 is disposed within the receiving cavity 10a of the towing mechanism 100. The water-removal base station 1000 is used to tow the pool cleaning robot 200 ashore or to deliver the pool cleaning robot 200 into the pool.

[0082] Because the pool cleaning robot 200 needs to transition from the wall to the towing mechanism 100 during the alignment process, the towing mechanism 100 needs to conform to the wall to minimize the step difference. The towing mechanism 100 of this application can adaptively conform to the pool sidewall M1, including both positively and negatively inclined pool sidewalls M1. The towing mechanism 100 can conform to pool sidewalls M1 with different inclination surfaces. The pool cleaning system 2000 can adapt to more pool scenarios without requiring users to repeatedly adjust its position.

[0083] The towing mechanism 100 provided in this application maintains a relatively close center of gravity A1 to the shore during the lifting process, resulting in a smaller water surface area occupied by the towing mechanism 100's movement trajectory and less resistance when the base station body 300 lifts the towing mechanism 100. Furthermore, since the suspension point A2 is internal to the base station body 300, the rotating arm 420 is shorter, resulting in a smaller resistance arm, making it easier for the base station body 300 to lift the towing mechanism 100.

[0084] When the towing mechanism 100 is in the deployed position W1, the rotating arm 420 is fixed in position (the first rotating shaft 430 and the second rotating shaft 440 are fixed in position). The suspension point A2 of the towing mechanism 100 (the connection point with the rotating arm 420) is hinged to the first rotating shaft 430. The other end of the towing mechanism 100 is provided with a soft rubber support 40 that abuts against the side wall M1 of the pool. Since the position of the suspension point A2 is closer to the shore than the gravity position of the towing mechanism 100, the gravitational torque generated by the towing mechanism 100 will cause the towing mechanism 100 to press against the side wall M1 of the pool until the soft rubber support 40 abuts against the side wall M1 of the pool.

[0085] When the side wall M1 of the pool is tilted at a positive or negative angle, the towing mechanism 100 adaptively conforms to the side wall M1 of the pool due to the gravitational torque. Figure 4 When the waterline or pool sidewall M1 encounters an obstacle, after any point of the towing mechanism 100 contacts the obstacle, that contact point replaces the soft rubber support 40 to provide support, preventing the base station body 300 from pinching the obstacle or from being damaged. If the suspension point A2 is not built-in, the position of the suspension point A2 is farther from the shore relative to the gravity position of the towing mechanism 100, but due to the lengthening of the rotating arm 420 and the lengthening of the resistance arm, lifting the base station body 300 will be more difficult.

[0086] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, and such improvements and refinements are also considered to be within the protection scope of this application.

Claims

1. A water-based base station, characterized in that, include: Base station main body; A towing mechanism is movably connected to the base station body. The towing mechanism has an extended position that extends at least partially below the liquid surface and a retracted position located on the base station body. The towing mechanism is used to drive the pool cleaning robot away from or into the pool. Specifically, when the towing mechanism is in the deployed position, the center of gravity of the towing mechanism is not collinear with the suspension point of the towing mechanism, and the suspension point is located on the side of the center of gravity closer to the base station body, so that the towing mechanism generates a gravitational torque that adheres to the side wall of the pool.

2. The water-free base station according to claim 1, characterized in that, Also includes: A drive mechanism is disposed on the base station body. The drive mechanism includes a drive component and a rotating arm that is pulsatorically connected to the drive component. One end of the rotating arm is rotatably connected to the base station body, and the other end of the rotating arm is rotatably connected to the towing mechanism. The rotational connection point between the rotating arm and the towing mechanism forms the suspension point.

3. The water-free base station according to claim 2, characterized in that, The rotating arm includes two arms, which are located on both sides of the base station body. One end of each of the two rotating arms is rotatably connected to the base station body, and the other end of each of the two rotating arms is rotatably connected to the towing mechanism.

4. The water-free base station according to claim 2, characterized in that, When the towing mechanism is in the deployed position, the end of the rotating arm connected to the towing mechanism is located inside the base station body.

5. The water-free base station according to claim 2, characterized in that, The towing mechanism includes a towing body and a towing connection part. The towing body is used to support the pool cleaning robot. The towing connection part is rotatably connected to the rotating arm. The extension direction of the towing connection part intersects with the extension direction of the towing body.

6. The water-free base station according to claim 5, characterized in that, The angle between the towing connection and the towing body is an obtuse angle.

7. The water-free base station according to claim 5, characterized in that, The towing body is provided with a locking component, which is used to fix the pool cleaning robot relative to the towing body when the pool cleaning robot moves onto the towing body.

8. The water-free base station according to claim 5, characterized in that, The towing body has a housing cavity for accommodating the pool cleaning robot. One end of the housing cavity is provided with an opening for the pool cleaning robot to enter the housing cavity. A movable baffle is movably provided at the opening for opening or closing the opening.

9. The water-free base station according to claim 1, characterized in that, The towing mechanism is provided with a soft rubber support, which is used to abut against the side wall of the pool when the towing mechanism comes into contact with the side wall of the pool.

10. A water tank cleaning system, characterized in that, The system includes a pool cleaning robot and a water-removal base station as described in any one of claims 1 to 9. The pool cleaning robot is disposed in the receiving cavity of the towing mechanism, and the water-removal base station is used to tow the pool cleaning robot ashore or to send the pool cleaning robot into the pool.

Images