Robotic base station and robotic system

Abstract

The utility model discloses a kind of robot base station and robot system, it is related to intelligent household robot technical field, wherein, robot base station includes base station main body and at least one hatch cover. Base station main body has shell, shell is equipped with first outer wall, and the first outer wall is opened with the opening for mechanical arm to go out. Hatch cover has storage groove, movably connected in base station main body, with unfolding position and closed position. In unfolding position, the slot of storage groove is upward, for receiving clothes transferred by user or mobile device, realize clothes temporary storage function;In closed position, the inner wall of storage groove cooperates with first outer wall and is enclosed to form receiving cavity, the mechanical arm folded and gathered in the outside of first outer wall is contained therein, realize the storage and protection of mechanical arm. Independent dirty hamper and other additional components are dispensed with, reduce the number of external components, reduce space occupation, improve home environment neatness and system integration.

Description

Technical Field

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

[0002] In existing garment care robot systems, the laundry basket is typically an external accessory separate from the base station and the robot itself. This external structure requires additional living space, affecting the overall aesthetics of the room and easily creating clutter, thus reducing the user experience. Users must find the basket separately before use and then face storage issues after depositing clothes, resulting in a cumbersome process and poor system integration. Furthermore, the scattered accessories increase the user's management burden and hinder space optimization and functional integration in smart home scenarios. In existing technologies, laundry baskets are mostly placed in fixed or temporary locations, leading to low space utilization. Therefore, providing a garment care robot system with a more rational structural layout, easier user operation, and effective improvement in space utilization efficiency has become a pressing issue in this field. Utility Model Content

[0003] The main purpose of this invention is to propose a robot base station and a robot system, which aims to provide a clothing care robot system with a more reasonable structural layout, easier user operation, and effective improvement in space utilization efficiency.

[0004] To achieve the above objectives, the robot base station proposed in this utility model includes:

[0005] The base station body includes a shell, the shell having a first outer wall; and,

[0006] At least one cover has a storage slot, the cover being movably connected to the base station body to have an unfolded position and a closed position. In the closed position, the inner wall of the storage slot and the first outer wall form a receiving cavity to receive a robotic arm folded and retracted to the outside of the first outer wall. In the unfolded position, the opening of the storage slot faces upward for receiving clothing.

[0007] In one embodiment, the housing has a plurality of sidewalls, the plurality of sidewalls including the first outer wall;

[0008] The base station body also includes a base, and the outer shell is provided on the top of the base. The cover has a first end and a second end that are arranged opposite to each other. The first end of the cover is rotatably connected to the base. The cover can reach the unfolded position and the closed position during its rotation stroke. In the unfolded position, the cover extends horizontally. In the closed position, the cover extends vertically and abuts against the side of the first outer wall.

[0009] In one embodiment, the outer shell and the hatch are arranged side by side in a first horizontal direction;

[0010] The first end of the hatch is rotatably connected to the base about a rotation axis in a second horizontal direction. In the closed position, the hatch covers the first outer wall, and the inner wall of the hatch's receiving groove and the first outer wall enclose the receiving cavity.

[0011] In one embodiment, the outer shell and the hatch are arranged side by side in a first horizontal direction;

[0012] Two hatches are provided and spaced apart in the second horizontal direction. The first end of each hatch is rotatably connected to the base around the rotation axis in the first horizontal direction. In the closed position, the second ends of the two hatches are close to each other, and the inner walls of the receiving grooves of the two hatches together with the first outer wall form the receiving cavity.

[0013] In one embodiment, a retractable support portion is provided on the outer side of the hatch, the support portion being used to extend when the hatch is in the unfolded position and to support the second end of the hatch.

[0014] In one embodiment, the base is provided with a drive mechanism that is driven to drive the hatch, the drive mechanism being used to drive the hatch to rotate, and the drive mechanism including a DC push rod motor or a worm gear motor.

[0015] In one embodiment, a fixing structure is provided between the hatch and the outer shell so that when the hatch moves to the closed position, the hatch is fixedly connected to the outer shell.

[0016] In one embodiment, the fixing structure includes an electromagnetic lock or a snap-fit ​​structure.

[0017] In one embodiment, the robot base station further includes a position detection device for detecting the position of the hatch.

[0018] In one embodiment, the robot base station further includes a weighing device for detecting the weight of the clothing contained in the storage slot.

[0019] In one embodiment, the hatch is rotatably connected to the base station body via a connecting structure, and the weighing device is disposed on the connecting structure to obtain the weight of the clothing in the storage compartment by detecting changes in the force on the connecting structure; and / or,

[0020] The weighing device is installed on the bottom or side wall support structure of the storage slot and is used to detect the vertical pressure of the clothes in the storage slot on the hatch cover.

[0021] This utility model also proposes a robot system, which includes the aforementioned robot base station.

[0022] The technical solution provided by this utility model has at least the following advantages:

[0023] By constructing the hatch to both receive and temporarily store clothing, and to form a storage space for the robotic arm when closed in conjunction with the main body of the base station, an integrated structural design is achieved. This results in a complete and orderly overall shape for the robotic base station when closed, while simultaneously providing both clothing transfer and robotic arm storage functions, eliminating the need for a separate laundry basket and other additional components. Users do not need to prepare additional clothing storage containers, thus reducing the number of external components and minimizing space requirements. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of an embodiment of the robot base station provided by this utility model;

[0026] Figure 2 for Figure 1 A schematic diagram of the structure when the center hatch is in the closed position;

[0027] Figure 3 for Figure 1 An explosion diagram with the center hatch in the deployed position;

[0028] Figure 4 for Figure 3 A magnified view of a section at point A in the middle;

[0029] Figure 5 and Figure 6 This is a schematic diagram of another embodiment of the robot base station provided by this utility model.

[0030] Explanation of icon numbers:

[0031] 1. Base station body; 11. Outer shell; 111. First outer wall; 12. Base; 2. Cover; 2a. Storage slot; 3. Support; 4. Drive mechanism; 5. Fixing structure;

[0032] 200. Robotic arm.

[0033] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] This invention proposes a robot base station and a robot system, aiming to solve the problems of space-consuming external laundry baskets, affecting overall aesthetics, and low system integration in existing garment care systems. The robot base station is applicable to washer-dryer robot systems, enabling the robotic arm to store and temporarily transfer garments. Specifically, the robot base station can be applied to intelligent laundry equipment with automatic garment loading and unloading functions, garment care robots, automatic garment dispensing systems, smart home cleaning systems, and other scenarios. For ease of explanation, the following description uses the application of the robot base station in a washer-dryer robot system as an example to illustrate its specific structure; other application scenarios can be adapted and implemented with reference to this embodiment.

[0038] Please see Figures 1 to 3In one embodiment of this utility model, the robot base station includes a base station body 1 and at least one cover 2. The base station body 1 includes a shell 11, which has a first outer wall 111. The cover 2 has a storage groove 2a and is movably connected to the base station body 1 to have an unfolded position and a closed position. In the closed position, the inner wall of the storage groove 2a and the first outer wall 111 form a receiving cavity to accommodate a robotic arm 200 folded and retracted to the outside of the first outer wall 111. In the unfolded position, the opening of the storage groove 2a faces upwards for receiving clothing.

[0039] Specifically, the base station body 1 is provided with an outer shell 11, which includes a first outer wall 111. The first outer wall 111 can be a top wall, a side wall, or a bottom wall, and is not limited here.

[0040] It should be noted that an opening is formed on the first outer wall 111 for the robotic arm 200 to pass through. The interior of the outer shell 11 can accommodate functional components such as a charging module and a main controller to enable power supply and system control of the robot. The robotic arm 200 extends outward from the interior of the base station through the opening, having both an extended working state and a folded retracted state. In the non-working state, the robotic arm 200 is folded and fits against the outside of the first outer wall 111.

[0041] The robotic arm 200 can employ a multi-degree-of-freedom structure to achieve flexible movement capabilities. For example, the robotic arm 200 may include a base 12, multiple link segments, and joint assemblies. Each joint may be equipped with a rotation axis or a pitch joint, forming a multi-axis linkage structure. Specifically, the robotic arm 200 may have at least three degrees of freedom, including rotational motion about a vertical axis, pitch motion of the arm body, and grasping action of the end effector, thereby enabling it to perform operations such as grasping clothes from the storage tank 2a, adjusting its posture, and inserting it into the washing machine drum for loading. The folding method of the robotic arm 200 can be a multi-segment hinged folding, such as using a scissor-type, folding arm type, or snake-like arm type structure, so that when folded, each arm segment is stacked or folded against the first outer wall 111 in sequence, reducing the space occupied. This manual does not limit the specific configuration of the robotic arm 200. It can be a serial robotic arm 200, a parallel mechanism, or a hybrid structure. The drive method can be a motor with gears, synchronous belts, linkages, or lead screws. The specific structure can be adapted according to functional requirements and installation space, and is not limited here.

[0042] The hatch 2 is connected to the base station body 1 and can move relative to the first outer wall 111, having an unfolded position and a closed position. When the hatch 2 is in the unfolded position, the opening of the storage slot 2a on it faces upwards, which can be used to receive clothing directly placed by the user, or to receive dirty clothing transferred by other equipment such as mobile robots or robotic arms 200, so as to realize the function of temporary storage of clothing and play the role of temporary storage of clothing transfer. At this time, the storage slot 2a forms an open receiving space, which is convenient for clothing to be put in and is not easy to scatter.

[0043] When the hatch 2 is switched to the closed position, the storage slot 2a is positioned opposite to the first outer wall 111, and the two work together to enclose a closed or semi-closed receiving cavity, which is used to accommodate the robotic arm 200 in the folded and retracted state.

[0044] Because the robotic arm 200 fits against the outer side of the first outer wall 111 after retracting, the cover 2 encloses it internally, preventing the robotic arm 200 from being exposed. This results in a continuous outer surface and a flat overall contour of the base station, without any extra protrusions, making the robot base station have a regular shape, easy to place, and space-saving. At the same time, the cover 2 also protects the robotic arm 200, reducing dust adhesion or accidental collisions.

[0045] The connection between the hatch 2 and the base station body 1 can be a hinged, sliding, or flipping structure. The movement of the hatch 2 can be manually operated by the user or automatically opened and closed by the drive mechanism 4. The specific implementation form is not limited in the embodiments described in this specification.

[0046] When closed, the base station can take the shape of a cube, cuboid or other regular geometric shape. The size of the cover 2 and the depth of the storage slot 2a can be adjusted according to actual needs to accommodate the temporary storage needs of clothing of different sizes and the storage space of the robotic arm 200. The specific structure can be flexibly set according to actual needs and is not limited here.

[0047] By constructing the hatch 2 to both receive and temporarily store clothing, and to cooperate with the base station body 1 when closed to form a storage space for the robotic arm 200, an integrated structural design is achieved. This results in a complete and orderly overall shape for the robotic base station when closed, while simultaneously providing both clothing transfer and robotic arm 200 storage functions, eliminating the need for a separate laundry basket and other additional components. Users do not need to prepare additional clothing storage containers during use, thus reducing the number of external components and minimizing space occupation.

[0048] Furthermore, to achieve a reasonable layout of the robot base station structure within a limited space and to ensure the operational reach of the robotic arm 200, please refer to [link to relevant documentation]. Figures 2 to 6In this embodiment, the outer shell 11 has multiple sidewalls, including a first outer wall 111. The base station body 1 also includes a base 12, on the top of which the outer shell 11 is disposed. The cover 2 has a first end and a second end disposed opposite to each other. The first end of the cover 2 is rotatably connected to the base 12. The cover 2 can reach an unfolded position and a closed position during its rotation stroke. In the unfolded position, the cover 2 extends horizontally. In the closed position, the cover 2 extends vertically and abuts against the side of the first outer wall 111.

[0049] It should be noted that the robot base station has a vertical structure extending vertically to reduce its projected area in the horizontal direction. The base 12 is located at the bottom and is used to support and fix the outer shell 11 and other internal components. The outer shell 11 is mounted on top of the base 12 to form a complete external outline. The outer shell 11 of the base station body 1 has multiple side walls, of which at least one side wall constitutes a first outer wall 111, through which the robotic arm 200 extends outward.

[0050] The hatch 2 has a first end and a second end opposite to each other. In this embodiment, the first end is the lower end and the second end is the upper end. The first end of the hatch 2 is rotatably connected to the base 12 via a pivot or hinge structure, allowing the hatch 2 to rotate around the connection point. The hatch 2 can reach an unfolded position and a closed position during its rotational stroke. When in the unfolded position, the hatch 2 extends horizontally, with the opening of the storage slot 2a facing upwards, making it easy to receive clothing. When switched to the closed position, the hatch 2 rotates to extend vertically and abuts against the side of the first outer wall 111. At this time, the storage slot 2a and the first outer wall 111 cooperate to form a receiving cavity for accommodating the folded robotic arm 200.

[0051] The rotation angle of the hatch 2 can be set according to actual space requirements, for example, it can be adjusted between 90° and 180° to ensure stable positioning in different positions. The embodiments in this specification do not limit the specific rotation path and limiting method, and can be adaptively adjusted according to product design needs.

[0052] By rotatably connecting one end of the hatch 2 to the base 12 and switching it between horizontal unfolding and vertical closing, the hatch 2 provides a stable clothing receiving platform when unfolded and cooperates with the side wall to cover and store the robotic arm 200 when closed. This enables functional reuse without adding extra parts and reduces the number of external accessories.

[0053] Specifically, in order to adapt to the spatial layout requirements of different installation environments, the relative arrangement of the hatch 2 and the outer shell 11 on the robot base station can be flexibly set so that the base station can adapt to a variety of usage scenarios.

[0054] In the first embodiment, please refer to Figures 1 to 3The outer shell 11 and the hatch 2 are arranged side by side in the first horizontal direction. The first end of the hatch 2 is rotatably connected to the base 12 about the rotation axis in the second horizontal direction. In the closed position, the hatch 2 covers the first outer wall 111, and the inner wall of the receiving groove 2a of the hatch 2 and the first outer wall 111 enclose each other to form a receiving cavity.

[0055] In other words, in this embodiment, a single cover 2 is provided. The first end of the cover 2 is rotatably mounted on the base 12 via a rotating connection structure, and its rotation axis extends along a second horizontal direction. The first horizontal direction and the second horizontal direction are intersecting, and are usually perpendicular to each other. The first horizontal direction corresponds to the front-rear direction of the base station front, i.e., the direction closer to or farther from the user; the second horizontal direction corresponds to the left-right direction, i.e., the direction extending along the width of the base station. The cover 2 can rotate between an unfolded position and a closed position around the rotation axis extending in the left-right direction.

[0056] When the hatch 2 is in the unfolded position, it extends outward (forward) along the first horizontal direction, with the opening of the storage slot 2a facing upward, forming an open area for receiving clothing, making it convenient for users to put clothing in, or for other mobile devices to transfer clothing into the slot.

[0057] When the hatch 2 is switched to the closed position, it rotates upward and backward around the second horizontal axis of rotation, and finally fits against the side area of ​​the first outer wall 111, so that the inner wall of the storage slot 2a and the first outer wall 111 cooperate to form a receiving cavity to accommodate the robotic arm 200 which is folded and attached to the outside of the first outer wall 111, thereby covering and protecting the robotic arm 200.

[0058] Thus, the single canopy 2 structure is suitable for installation environments with ample space in the first horizontal direction (front-to-back direction), such as when the base station is placed against a wall with no obstructions in front, allowing the canopy 2 to unfold forward. Meanwhile, the left and right sides of the base station can be adjacent to supporting equipment such as washing machines and dryers, saving lateral space. Since the canopy 2 unfolds in the front-to-back direction, it occupies less space in the left and right directions, making it suitable for compact home layouts.

[0059] In the second embodiment, please refer to Figures 5 to 6 There are two covers 2, which are arranged at intervals in the second horizontal direction, that is, side by side along the left and right direction of the base station. The first end of each cover 2 is rotatably connected to the base 12 through a rotating connection structure, and its rotation axis extends along the first horizontal direction, that is, along the front and rear direction of the base station. Thus, the two covers 2 can rotate around the axis in the front and rear direction to realize the opening and closing action.

[0060] In the unfolded position, the two hatches 2 rotate downward and outward respectively, so that the whole unfolds outward along the second horizontal direction (left and right direction), with the opening of the storage slot 2a facing upward, forming two independent or connected clothing receiving areas.

[0061] In the closed position, the two hatches 2 rotate upward and inward, with their second ends approaching each other and finally fitting against the side area of ​​the first outer wall 111. The inner walls of the storage slots 2a of the two hatches 2 cooperate with the first outer wall 111 to form a complete receiving cavity for accommodating the robotic arm 200, which is folded and attached to the outside of the first outer wall 111.

[0062] It should be noted that the rotation of the two hatches 2 can be controlled synchronously or set to open and close independently. After closing, the two hatches 2 can be joined at the ends to form a closed structure, or an appropriate gap can be maintained.

[0063] Thus, the two hatches 2 are suitable for installation environments where space is limited in the first horizontal direction (front-to-back direction), such as when the robot base station is placed against a wall and there is not enough space in front for the hatches 2 to unfold forward; while the second horizontal direction (left-to-right direction) has an open area, allowing the hatches 2 to unfold to the sides. By unfolding the hatches 2 in the left-to-right direction, the occupation of the front operating space is avoided.

[0064] Further, please refer to Figure 2 and Figure 6 In this embodiment, a retractable support 3 is also provided on the outer side of the hatch 2. The support 3 is used to extend when the hatch 2 is in the unfolded position and to support the second end of the hatch 2.

[0065] Understandably, the support part 3 is telescopically designed to extend outward when the hatch 2 is in the unfolded position, providing external support to the second end of the hatch 2. When the hatch 2 rotates around its first end to a horizontal or tilted unfolded state, the support part 3 automatically or manually extends from the bottom or side of the hatch 2, with its end contacting the ground or a support surface near the ground, forming a stable three-point or two-point support structure. The support part 3 ensures that the hatch 2 can stably support the clothing being loaded when unfolded, and is not prone to shaking or sagging even when touched by external force or impacted by the clothing being loaded.

[0066] The support 3 retracts when the hatch 2 is switched to the closed position, and is stored inside the hatch 2 or near the outer wall, without protruding from the overall outline, so that the shape is flat after closing.

[0067] The embodiments in this specification do not limit the specific structural form, installation position and driving method of the support part 3. It can be adapted to the size, weight and unfolding angle of the hatch 2, and is not limited here.

[0068] Specifically, in order to achieve stable and reliable switching of the hatch 2 between the open and closed positions, and to ensure that it remains in a fixed position when carrying clothing, preventing accidental rotation due to external forces or gravity, please refer to [link to relevant documentation]. Figures 3 to 4 In this embodiment, a drive mechanism 4 is provided on the base 12 and is driven to drive the hatch 2. The drive mechanism 4 is used to drive the hatch 2 to rotate. The drive mechanism 4 includes a DC push rod motor or a worm gear motor.

[0069] The DC push rod motor can output a stable linear thrust, which drives the hatch 2 to rotate through the extension and retraction of the push rod. The worm gear motor has a high torque output capability and self-locking characteristics, which can keep the output shaft stationary when the power is off or the drive stops, preventing the hatch 2 from rotating in the opposite direction or closing accidentally due to its own weight or external load (such as clothing).

[0070] When the hatch 2 is in the unfolded position and carrying clothing, the worm gear structure in the drive mechanism 4 provides a mechanical self-locking function, ensuring that the hatch 2 remains at a set angle without displacement. A DC push rod motor can also be used in conjunction with a limit switch to achieve a similar positioning effect.

[0071] By setting a drive mechanism 4 connected to the hatch 2 in the base 12, the motor type can be a DC push rod motor or a worm gear motor with sufficient output torque and self-locking capability, so that the hatch 2 can carry clothes in the unfolded state, move smoothly in the closing process, and remain unchanged in position when the power is off or in a stationary state, thereby preventing accidental closure.

[0072] Furthermore, to ensure that hatch 2 remains stable in the closed position and to prevent accidental opening due to vibration, movement, or external disturbance, please refer to [link to relevant documentation]. Figure 1 and Figure 5 In this embodiment, a fixing structure 5 is provided between the hatch cover 2 and the outer shell 11 so that when the hatch cover 2 moves to the closed position, the hatch cover 2 and the outer shell 11 are fixedly connected.

[0073] Understandably, the fixing structure 5 is located in the mating area of ​​the cover 2 and the outer shell 11, for example, at the corresponding position of the second end of the cover 2 and the outer shell 11, or at the adjacent edge of the cover 2 and the first outer wall 111. When the cover 2 moves to the closed position, the fixing structure 5 is activated to connect and lock the cover 2 and the outer shell 11, so that the cover 2 and the base station body 1 form a stable integral structure.

[0074] By providing a fixing structure 5 between the hatch cover 2 and the outer shell 11, the hatch cover 2 can be reliably locked after reaching the closed position, thereby preventing the hatch cover 2 from loosening or opening during system operation.

[0075] Specifically, in this embodiment, the fixing structure 5 includes an electromagnetic lock or a snap-fit ​​structure.

[0076] Specifically, the electromagnetic lock is located in the mating area between the hatch 2 and the outer shell 11. For example, a latch or armature is provided at the second end of the hatch 2, and an electromagnet is provided on the first outer wall 111 or the base 12 of the outer shell 11. When the hatch 2 is rotated to the closed position, the control system triggers the electromagnetic lock to be energized, generating a magnetic attraction force that attracts the hatch 2 and keeps it in the set position.

[0077] The latching structure includes interlocking protrusions and grooves, such as a resilient hook on the edge of the hatch 2 and a corresponding slot on the outer shell 11. When the hatch 2 is closed, the hook slides into the slot along the guide surface to achieve latching; to unlock, external force is applied to disengage the hook from the slot to open.

[0078] It should be noted that electromagnetic locks and snap-fit ​​structures can be used individually or in combination to enhance stability. For example, electromagnetic locks can be installed at the main connection points for automatic control, while snap-fit ​​structures can be used on the sides to further improve vibration resistance.

[0079] In this embodiment, the robot base station also includes a position detection device (not shown), which is used to detect the position of the hatch 2 to determine whether it is in the unfolded or closed position.

[0080] The position detection device is located between the canopy 2 and the base station body 1. It can be installed near the rotation path of the base 12, the outer shell 11 or the canopy 2, and can detect the movement position of the canopy 2 in real time or at key action nodes.

[0081] The position detection device can employ various sensor types, such as Hall effect sensors combined with magnets, microswitches, photoelectric sensors, or proximity switches. In one implementation, a magnet is mounted on the rotating component of the hatch 2, and a Hall effect sensor is mounted at a corresponding position on the base 12. When the hatch 2 rotates to the closed position, the magnet approaches the sensor, generating a signal change, thereby confirming the closed state. In another implementation, the hatch 2 touches a microswitch when it reaches the unfolded or closed position, outputting a position signal by switching the switch on and off.

[0082] After detecting that the hatch 2 is fully closed and locked, the control system confirms that the robotic arm 200 is in a folded and retracted state and enters standby mode. At this time, the robot base station can perform charging, system self-test, or wait for the next start command. After detecting that the hatch 2 is in the unfolded position and stable, the control system knows that the clothes loading is ready, and thus controls the robotic arm 200 to enter the preparation state, such as starting the self-test program or adjusting to the standby posture, to prepare for subsequent actions such as grabbing clothes, sending them into the washing machine, and performing the washing and drying process.

[0083] Furthermore, to provide basic data support for the automatic matching of subsequent washing programs, in this embodiment, the robot base station also includes a weighing device (not shown in the figure), which is used to detect the weight of the underwear contained in the storage tank 2a.

[0084] The weighing device is located in the connection area or load-bearing path between the hatch 2 and the base station body 1. When clothes are placed into the unfolded storage tank 2a, the weighing device senses the load change caused by the weight of the clothes and outputs a corresponding weight signal. The weight information output by the weighing device can be transmitted to the main controller of the robot base station to estimate the total weight of the clothes to be washed. This weight data can be used as a basis for setting washing parameters, such as automatically recommending washing modes, matching detergent dosage, adjusting washing time or water level, and can also be used to determine whether the maximum capacity for a single wash has been exceeded. If the capacity is exceeded, the user will be reminded to add the clothes in batches via indicator lights, sound prompts, or APP messages.

[0085] Specifically, in one embodiment, the weighing device can be installed on the connection structure between the cover 2 and the base station body 1, such as a pivot, hinge, or rotating bracket. When clothing is placed into the storage slot 2a, the cover 2 experiences a force change at the connection structure due to the load. The weighing device obtains weight information by detecting the stress, deformation, or reaction force at that point. For example, strain gauges or pressure sensors can be installed inside the pivot or at the hinge connection point, and the weight of the clothing can be calculated using the lever principle. This method has a compact structure, a direct signal transmission path, and does not require additional components on the surface of the cover 2.

[0086] In another embodiment, the weighing device can also be mounted on the support structure at the bottom or side wall of the storage tank 2a to directly detect the vertical pressure of the clothing on the hatch 2. When the clothing falls into the tank, its weight is transmitted through the bottom or side wall to the sensor installed inside, thereby obtaining weight data. This method provides a more direct measurement path and helps improve detection accuracy.

[0087] It should be noted that the above two methods can be used individually or multiple sensing points can be set simultaneously. This manual does not limit the specific type, quantity, or installation location of the weighing device. Its arrangement and signal processing logic can be adjusted according to the structure of the hatch 2, the weight range, and accuracy requirements. The specific implementation form can be selected according to actual needs and is not limited here.

[0088] This utility model also proposes a robot system, which includes an execution unit such as a robotic arm 200 or a mobile robot, and a robot base station as described in the above embodiments. The specific structure and function of the robot base station have been detailed in conjunction with the foregoing embodiments. Since this robot system adopts the technical solutions of all the foregoing embodiments, it possesses the various technical effects brought about by the above structure, such as convenient placement and temporary storage of clothing, integrated storage of the robotic arm 200, a neat and uniform overall appearance of the base station, and optimized space occupancy. The embodiments in this specification will not repeat the technical effects one by one.

[0089] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robot base station, characterized in that, include: The base station body (1) includes a shell (11) having a first outer wall (111); as well as, At least one hatch (2) has a storage slot (2a). The hatch (2) is movably connected to the base station body (1) to have an unfolded position and a closed position. In the closed position, the inner wall of the storage slot (2a) and the first outer wall (111) enclose a receiving cavity to receive a robotic arm (200) folded and folded to the outside of the first outer wall (111). In the unfolded position, the opening of the storage slot (2a) faces upward and is used to receive clothing.

2. The robot base station as described in claim 1, characterized in that, The outer casing (11) has a plurality of sidewalls, the plurality of sidewalls including the first outer wall (111); The base station body (1) also includes a base (12), the base (12) is provided with the outer shell (11) on the top, the cover (2) has a first end and a second end arranged opposite to each other, the first end of the cover (2) is rotatably connected to the base (12), the cover (2) can reach the unfolded position and the closed position during its rotation stroke, in the unfolded position the cover (2) extends horizontally, in the closed position the cover (2) extends vertically and abuts against the side of the first outer wall (111).

3. The robot base station as described in claim 2, characterized in that, The outer shell (11) and the hatch (2) are arranged side by side in the first horizontal direction; The first end of the hatch (2) is rotatably connected to the base (12) about a rotation axis in the second horizontal direction. In the closed position, the hatch (2) covers the first outer wall (111), and the inner wall of the receiving groove (2a) of the hatch (2) and the first outer wall (111) enclose the receiving cavity.

4. The robot base station as described in claim 2, characterized in that, The outer shell (11) and the hatch (2) are arranged side by side in the first horizontal direction; Two hatches (2) are provided and are spaced apart in the second horizontal direction. The first end of the hatch (2) is rotatably connected to the base (12) around the rotation axis in the first horizontal direction. In the closed position, the second ends of the two hatches (2) are close to each other, and the inner wall of the receiving groove (2a) of the two hatches (2) and the first outer wall (111) together enclose the receiving cavity.

5. The robot base station as described in claim 2, characterized in that, The hatch (2) is also provided with a retractable support (3) on its outer side. The support (3) is used to extend when the hatch (2) is in the unfolded position and to support the second end of the hatch (2).

6. The robot base station as described in claim 2, characterized in that, The base (12) is provided with a drive mechanism (4) that is driven to drive the hatch (2). The drive mechanism (4) is used to drive the hatch (2) to rotate. The drive mechanism (4) includes a DC push rod motor or a worm gear motor.

7. The robot base station as described in claim 1, characterized in that, A fixing structure (5) is provided between the hatch (2) and the outer shell (11) so that when the hatch (2) moves to the closed position, the hatch (2) is fixedly connected to the outer shell (11).

8. The robot base station as described in claim 7, characterized in that, The fixing structure (5) includes an electromagnetic lock or a snap-fit ​​structure.

9. The robot base station as described in claim 1, characterized in that, The robot base station also includes a position detection device, which is used to detect the position of the hatch (2).

10. The robot base station as described in claim 1, characterized in that, The robot base station also includes a weighing device for detecting the weight of the underwear housed in the storage slot (2a).

11. The robot base station as described in claim 10, characterized in that, The hatch (2) is rotatably connected to the base station body (1) via a connecting structure. The weighing device is installed on the connecting structure to obtain the weight of the underwear in the storage slot (2a) by detecting the force change of the connecting structure. And / or, The weighing device is installed at the bottom or on the side wall support structure of the storage tank (2a) and is used to detect the vertical pressure of the clothes in the storage tank (2a) on the hatch cover (2).

12. A robot system, characterized in that, Including the robot base station as described in any one of claims 1 to 11.

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