CN216933049U - Base station and cleaning system - Google Patents

Abstract

The utility model discloses a base station and a cleaning system, wherein the base station comprises a base and a surrounding edge, the base is provided with an accommodating cavity, the base is provided with a first running surface and a second running surface, the accommodating cavity is positioned at the rear sides of the first running surface and the second running surface, and the surrounding edge is arranged on the periphery of the base and is connected with the first running surface and the second running surface. The utility model aims to ensure that the cleaning robot smoothly enters the base station, avoid obvious jolt when the cleaning robot enters the base station, simultaneously avoid the cleaning robot from colliding and scraping with the ground in the process of entering the base station, simultaneously improve the stability degree of the base station and avoid the phenomenon that the base station has unstable gravity center and is easy to topple.

Description

Base station and cleaning system

RELATED APPLICATIONS

This application is a divisional application of the chinese patent application entitled "base station and cleaning system", filed on 29/9/2021, application No. 202122389387.2, which is hereby incorporated by reference in its entirety.

Technical Field

The utility model relates to the technical field of cleaning, in particular to a base station and a cleaning system.

Background

The cleaning system comprises a cleaning robot and a base station which are matched for use, the base station can charge and clean the cleaning robot, in the related technology, because the height difference exists between the inlet of the base station and the ground, when the cleaning robot drives into the inlet of the base station, the collision and the scraping between one end of the cleaning robot, which is back to the base station, and the ground are easy to occur, so that the bottom of the cleaning robot is scratched, and the cleaning robot can not smoothly enter the base station.

Meanwhile, the existing base station is provided with an accommodating cavity for accommodating the cleaning robot and a cleaning system, when the cleaning robot stays in the accommodating cavity, the base station can charge the cleaning robot, and cleaning components of the cleaning robot can be cleaned. And cleaning system is including setting up two water tanks in accepting the chamber top, and this leads to the water tank to fill with water the back, and the quality on basic station upper portion increases by a wide margin, causes the focus of basic station to become high, receives external force slightly, and the basic station easily takes place to topple over.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a base station and a cleaning system, aiming at enabling a cleaning robot to smoothly enter the base station, avoiding obvious jolt of the cleaning robot when the cleaning robot enters the base station, avoiding collision and scraping of the cleaning robot with the ground in the process of driving the cleaning robot into the base station, improving the stability of the base station and avoiding the phenomenon that the base station is unstable in gravity center and easy to topple.

To achieve the above object, the present invention provides a base station, including:

the base is provided with an accommodating cavity, the base is provided with a first driving surface and a second driving surface, and the accommodating cavity is positioned on the rear sides of the first driving surface and the second driving surface; and

the surrounding edge is arranged on the periphery of the base and is connected with the first running surface and the second running surface.

In one embodiment, the surrounding edge is provided with a weight piece;

the counterweight is arranged inside the surrounding edge; or, the counterweight is arranged outside the surrounding edge.

In one embodiment, the weight member is disposed proximate an outer edge of the peripheral edge.

In one embodiment, the skirt includes a resilient portion that contacts the ground and generates resilient friction with the ground.

In one embodiment, the skirt is made of an elastic material.

In an embodiment, the first traveling surface comprises a first guiding segment and a second guiding segment which are connected, the second guiding segment and the first guiding segment are sequentially arranged along the direction of the first traveling surface towards the accommodating cavity, and the inclination of the first guiding segment is greater than that of the second guiding segment.

In one embodiment, the upper surface of the skirt is in smooth transition with the second guide section;

and/or the first guide section and the second guide section are planes, concave cambered surfaces or convex cambered surfaces.

In one embodiment, the second driving surface includes a first driving section and a second driving section connected to each other, the first driving section and the second driving section are sequentially arranged in a direction toward the housing cavity along the second driving surface, the second driving section is inclined upward with respect to the first driving section in a direction toward the housing cavity, and the first guide section is inclined upward with respect to the first driving section in a direction toward the housing cavity.

In an embodiment, the first running surface is downwardly concave relative to the second running surface;

and/or the width of the first running surface is tapered along the direction towards the accommodating cavity;

and/or the second driving surface is provided with anti-skid grains, each anti-skid grain comprises a plurality of sheet-shaped convex ribs, and a fine groove is formed between every two adjacent convex ribs.

The present invention also provides a cleaning system, comprising:

a cleaning robot having a universal wheel and a driving wheel at a bottom of the cleaning robot; and

the base station described above.

According to the base station, the surrounding edge is arranged on the periphery of the base, so that the contact area between the base station and the ground is increased through the surrounding edge, the stability degree of the base station is improved, and the phenomena that the center of gravity of the base station is unstable or the center of gravity of the base station is unstable and is easy to topple under manual operation and the like are avoided.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a bottom view of a cleaning robot;

FIG. 2 is a schematic perspective view of a base station;

FIG. 3 is a cross-sectional view of the base shown in FIG. 2;

FIG. 4 is a schematic view illustrating a state in which the universal wheels of the cleaning robot are in contact with the floor;

FIG. 5 is a schematic view illustrating a state in which the universal wheels of the cleaning robot are in contact with the second guide section;

FIG. 6 is a schematic view illustrating a state in which a universal wheel of the cleaning robot is in contact with a first guide section;

fig. 7 is a schematic perspective view of a base station according to another embodiment of the present invention;

FIG. 8 is a cross-sectional view of the base shown in FIG. 7;

fig. 9 is a schematic perspective view of a base station according to another embodiment of the utility model.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name(s)
				10	Base station	10a	Containing cavity
12	Base seat	14	Surrounding edge
				14a	The upper surface of the surrounding edge	20	Cleaning robot
22	Universal wheel	24	Driving wheel
				26	Cleaning assembly	300	First running surface
302	Second guide section	304	First guide section
				400	Second driving surface	402	First travel segment
404	Second driving section	500	Anti-skid lines
				600	Guide roller	11a	Guide boss
12a	Guide extension		510						Convex rib
				520	Thin groove	30	Ground surface

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The cleaning system comprises a cleaning robot and a base station which are matched with each other, wherein the base station can charge and clean the cleaning robot. Research shows that the driving wheels of the cleaning robot in the related art are mostly connected through a flexible or elastic suspension structure arranged inside the cleaning robot, namely the flexible or elastic suspension structure is a swing arm structure, one end of the swing arm is connected with the inner part of the cleaning robot in a swinging mode, the other end of the swing arm is connected with the driving wheels, and the arrangement structure can generate relative torque to the driving wheels due to the swing arm in the advancing process of the cleaning robot.

It will be appreciated that the cleaning robot has a head portion and a tail portion, the universal wheels of the cleaning robot being disposed adjacent the tail portion, and the drive wheels of the cleaning robot being disposed between the head portion and the tail portion. The driving wheels and the universal wheels run along the direction from the tail part to the head part to drive the cleaning robot forwards, and the driving wheels and the universal wheels run along the direction from the head part to the tail part to drive the cleaning robot backwards. When the cleaning robot runs forwards, the cleaning robot moves towards the direction of the side, connected with the swing arm, of the driving wheel, and the torque can increase the pressure between the driving wheel and the ground, namely the torque pressure and the gravity of the cleaning robot are superposed to generate pressure on the ground together; when the cleaning robot drives backwards, the torque can reduce the pressure of the driving wheel and the ground, namely, the pressure generated on the ground by partial gravity of the cleaning robot is offset.

In the related art, because the height difference exists between the entrance of the base station and the ground, when the cleaning robot runs on an uphill after going backwards and runs into the entrance of the base station, on one hand, the resistance is increased, on the other hand, when the cleaning robot runs on an uphill after going backwards, the gravity borne by the driving wheel is reduced due to the fact that the head of the cleaning robot is in contact with the ground, and the torque can reduce the pressure between the driving wheel and the ground, so that the friction force between the driving wheel and the slope is insufficient, the slipping phenomenon is easy to occur, namely, the collision and scraping between one end (head) of the cleaning robot back to the base station and the ground are easy to occur, the bottom of the cleaning robot is scratched, and the cleaning robot cannot smoothly enter the base station. Meanwhile, the cleaning robot has the phenomenon of obvious jolt and the like in the process of entering the base station. And the existing base station is provided with an accommodating cavity for accommodating the cleaning robot and a cleaning system, when the cleaning robot stays in the accommodating cavity, the base station can charge the cleaning robot and can clean a cleaning component of the cleaning robot. And cleaning system is including setting up two water tanks in accepting the chamber top, and this leads to the water tank to fill with water the back, and the quality on basic station upper portion increases by a wide margin, causes the focus of basic station to become high, receives external force slightly, and the basic station easily takes place to topple over.

Based on the above-mentioned concepts and problems, the present invention provides a base station 10. In the embodiment of the present invention, as shown in fig. 1 to 9, the base station 10 is used in cooperation with a cleaning robot 20. It is understood that the base station 10 and the cleaning robot 20 are used to construct a cleaning system, that is, in the present embodiment, the cleaning system includes the base station 10 and the cleaning robot 20.

The base station 10 is used for charging or washing the cleaning robot 20, that is, when the cleaning robot 20 enters the base station 10, the base station 10 performs a charging operation on the cleaning robot 20 or the base station 10 performs a cleaning or washing operation on a cleaning or mopping member of the cleaning robot 20. The cleaning robot 20 is used for cleaning a floor, for example, sweeping or mopping the floor. In some cases, the cleaning robot 20 may travel onto the base station 10, for example, the cleaning robot 20 may return to the base station 10 to charge, wash, and clean the cleaning assembly 26 of the cleaning robot 20.

In the present embodiment, the bottom surface of the cleaning robot 20 has components such as the universal wheels 22, the driving wheels 24, and the cleaning assembly 26, wherein the universal wheels 22 are located at the rear side of the driving wheels 24 in the forward direction of the cleaning robot 20. Alternatively, the cleaning assembly 26 may be a mop, a mop cloth.

In the embodiment of the present invention, as shown in fig. 2 to 9, the base station 10 includes a base 12 and a surrounding edge 14, wherein the base 12 has a housing cavity 10a, the base 12 is provided with a first driving surface 300 and a second driving surface 400, the housing cavity 10a is located at the rear side of the first driving surface 300 and the second driving surface 400, and the surrounding edge 14 is provided at the periphery of the base 12 and connects the first driving surface 300 and the second driving surface 400.

In the present embodiment, the base station 10 has a first running surface 300 and a second running surface 400, the first running surface 300 of the base station 10 is used for the universal wheels 22 of the cleaning robot 20 to run, and the second running surface 400 of the base station 10 is used for the driving wheels 24 of the cleaning robot 20 to run. The first and second running surfaces 300 and 400 of the base station 10 may guide the cleaning robot 20 and may allow the cleaning robot 20 to rise from the floor into the housing chamber 10a of the base station 10.

It can be understood that the first and second running surfaces 300 and 400 are inclined upward in the direction in which the cleaning robot 20 travels toward the base station 10. The inclination of the first driving surface 300 is the slope of the first driving surface 300, and the slope of the first driving surface 300 is the ratio of the vertical height of the slope of the first driving surface 300 to the distance in the horizontal direction, i.e., the tangent of the angle between the tangent of the contact point of the universal wheel 22 and the first driving surface 300 and the plane of the ground. The inclination of the second driving surface 400 is the slope of the second driving surface 400, and the slope of the second driving surface 400 is the ratio of the vertical height of the slope of the second driving surface 400 to the distance in the horizontal direction, i.e. the tangent of the angle between the tangent of the contact point of the driving wheel 24 and the second driving surface 400 and the plane of the ground.

In the present embodiment, the gradient of the first driving surface 300 may be a constant value, that is, the first driving surface 300 is an inclined surface inclined upward, and the gradient of the first driving surface 300 may also be variable, that is, the gradient varies in a curve, that is, the first driving surface 300 may be a concave curved surface, a convex curved surface, and a combination of at least two of the inclined surface and the concave curved surface and the convex curved surface.

Of course, the gradient of the second driving surface 400 may be a constant value, that is, the second driving surface 400 is an inclined surface inclined upward, and the gradient of the second driving surface 400 may also be variable, that is, the gradient changes in a curve, that is, the second driving surface 400 may be a concave curved surface, a convex curved surface, and a combination of at least two of an inclined surface and a concave curved surface and a convex curved surface.

Alternatively, the first travel surface 300 is formed by at least one of an inclined surface, a concave curved surface, a convex curved surface, or a combination of two. Optionally, the first guide segment 304 is inclined upward relative to the first travel segment 402 in a direction toward the receiving cavity 10 a. The selection is specifically based on actual use, and is not limited herein.

In the present embodiment, the base station 10 further includes a housing chamber 10a, and the housing chamber 10a is located behind the first travel surface 300 and the second travel surface 400. Alternatively, the first driving surface 300 and the second driving surface 400 are inclined with respect to the ground 30, and are not limited herein.

In the present embodiment, the cleaning robot 20 travels to the base station 10 in a backward and upward manner, and when the cleaning robot 20 travels toward the base station 10, the rear end of the cleaning robot 20 enters the base station 10 before the front end, and the universal wheels 22 enter the base station 10 before the drive wheels 24.

In the present embodiment, the first and second running surfaces 300 and 400 are connected to the front end of the base 12 and are located on the base 12. It can be understood that the surrounding edge 14 is disposed at the periphery of the base 12 and connects the first driving surface 300 and the second driving surface 400, and the surrounding edge 14 increases the contact area between the base station 10 and the ground, so as to improve the stability of the base station 10 and prevent the base station 10 from being unstable in gravity and easily toppling over under manual operation. Optionally, the peripheral edge 14 is disposed at the periphery of the front side of the base 12, and may also be disposed around the outer contour of the base 12.

In the base station 10 of the present invention, the housing cavity 10a, the first driving surface 300 and the second driving surface 400 are provided on the base 12, such that the housing cavity 10a is located at the rear side of the first driving surface 300 and the second driving surface 400, the first driving surface 300 is used for driving the universal wheel 11 of the cleaning robot 20, and the second driving surface 400 is used for driving the driving wheel 24 of the cleaning robot 20, such that when the universal wheel 22 of the cleaning robot 20 enters the first driving surface 300 during the driving process of the cleaning robot 20 towards the base station 10, the driving wheel 24 enters or is located on the second driving surface 400, such that the front end of the cleaning robot 20 is lifted by the driving wheel 24 contacting the second driving surface 400, the end of the cleaning robot 20 opposite to the base station 10 is prevented from directly contacting the ground 30, the end of the cleaning robot 20 opposite to the base station 10 is ensured to have a gap with the ground 30, and the cleaning robot 20 is prevented from colliding with and scraping the ground 30 when entering the base station 10, meanwhile, the cleaning robot 20 is ensured to smoothly enter the base station 10; meanwhile, the surrounding edge 14 is arranged on the periphery of the base 12, so that the contact area between the base station 10 and the ground 30 is increased through the surrounding edge 14, the stability degree of the base station 10 is improved, and the phenomena that the center of gravity of the base station 10 is unstable or the center of gravity is unstable and is easy to topple under manual operation and the like are avoided.

In one embodiment, the skirt 14 is provided with a weight. It will be appreciated that the addition of weight to the skirt 14 by the weight member shifts the centre of gravity of the base station 10 down, further improving the stability of the base station 10. Optionally, the weight member is disposed inside the peripheral edge 14, for example, a cavity or a groove structure for installing the weight member is disposed inside the peripheral edge 14, and the weight member may be installed in the cavity or the groove structure by injection molding, or embedded, or separately, which is not limited herein. Of course, in other embodiments, the weight member is disposed outside the peripheral edge 14, for example, the outer surface of the peripheral edge 14 is provided with a mounting groove or the like, and the weight member may be embedded in the mounting groove or separately mounted in the mounting groove or the like, which is not limited herein.

In one embodiment, the weight members are disposed proximate an outer edge of the skirt 14. It will be appreciated that this arrangement further moves the center of gravity of the base station 10 outward to enlarge the area of the center of gravity and further improve the stability of the base station 10.

In one embodiment, the skirt 14 includes a resilient portion that contacts the ground and creates resilient friction with the ground. It will be appreciated that the elastic portion is a surface of the surrounding edge 14 opposite to the ground, and the elastic portion contacts the ground and generates elastic friction with the ground, so as to improve the friction and stability between the base station 10 and the ground 30, thereby facilitating the stable driving of the cleaning robot 20 on the base station 10.

In one embodiment, the skirt 14 is made of an elastic material. Optionally, the peripheral edge 14 has elasticity and is made of an elastic material, which may be rubber, and is not limited herein.

In an embodiment, the first driving surface 300 includes a first guiding segment 304 and a second guiding segment 302 connected to each other, the second guiding segment 302 and the first guiding segment 304 are sequentially arranged along the first driving surface 300 towards the accommodating cavity 10a, and an inclination of the first guiding segment 304 is greater than an inclination of the second guiding segment 302.

As shown in fig. 2 to 9, the first driving surface 300 includes a first guide segment 304 and a second guide segment 302, and the second guide segment 302 is connected to the first guide segment 304 and is sequentially arranged along the first driving surface 300 toward the receiving cavity 10 a. It can be understood that the higher end of the second guiding segment 302 is connected to the lower end of the first guiding segment 304, and the second guiding segment 302 extends obliquely upward from the ground surface, so that the universal wheel 22 passes through the second guiding segment 302 and the first guiding segment 304 from the ground surface 30 in sequence, thereby realizing the running of the universal wheel 22 on the first running surface 300.

In the present embodiment, the first guide section 304 is inclined upward with respect to the second travel surface 400 in a direction toward the storage chamber 10a, that is, the first guide section 304 is inclined upward with respect to the second travel surface 400 in a direction in which the cleaning robot 20 travels backward toward the base station 10.

In this embodiment, when the universal wheel 22 enters the first guiding section 304 of the base station 10, the driving wheel 24 enters or is located on the second driving surface 400 of the base station 10, so that when the cleaning robot 20 travels towards the base station 10, and when the universal wheel 22 enters the first guiding section 304, the driving wheel 24 enters or is located on the second driving surface 400, the front end of the cleaning robot 20 is lifted when the driving wheel 24 contacts the second driving surface 400, so as to avoid the front end of the cleaning robot 20 from contacting the ground, ensure that the front end of the cleaning robot 20 has a gap with the ground, avoid the cleaning robot 20 from colliding with and scraping the ground when entering the base station 10, and ensure that the cleaning robot 20 smoothly enters the base station.

It can be understood that the second guiding segment 302 is inclined upwards in a direction toward the containing cavity 10a, that is, the second guiding segment 302 is inclined upwards in a direction in which the cleaning robot 20 travels backward toward the base station 10, the second guiding segment 302 is connected with the first guiding segment 304, and the second guiding segment 302 is sequentially arranged in the direction in which the cleaning robot 20 travels toward the base station 10, an inclination of the first guiding segment 304 is greater than an inclination of the second guiding segment 302, so that an inclination of the first traveling surface 300 is in a gradual change state, the universal wheel 22 first enters the second guiding segment 302 with a smaller inclination, and then the universal wheel 22 travels into the first guiding segment 304 with a larger inclination from the second guiding segment 302, so that the traveling of the universal wheel 22 on the first traveling surface 300 is smoother, which is more beneficial for guiding the cleaning robot 20 to enter the base station, and meanwhile, the cleaning robot 20 is prevented from obviously bumping when entering the base station 10.

In the present embodiment, the inclination of the first guiding section 304 is also the slope of the first guiding section 304, and the slope of the first guiding section 304 is the ratio of the vertical height of the slope surface of the first guiding section 304 to the distance in the horizontal direction, i.e. the tangent of the angle between the tangent of the contact point of the universal wheel 22 and the first guiding section 304 and the plane of the ground. The inclination of the second guiding segment 302 is also the slope of the second guiding segment 302, and the slope of the second guiding segment 302 is the ratio of the vertical height of the slope surface of the second guiding segment 302 to the distance in the horizontal direction, i.e. the tangent of the angle between the tangent of the contact point of the universal wheel 22 and the second guiding segment 302 and the plane where the ground is located.

It is understood that the slope of the first guiding section 304 may be constant, that is, the first guiding section 304 is an inclined plane inclined upwards, and the slope of the first guiding section 304 may also be variable, that is, the slope varies in a curve, that is, the first guiding section 304 may be a concave curved surface, a convex curved surface, and a combination of at least two of the inclined plane and the concave curved surface and the convex curved surface. Alternatively, the first guide section 304 may be planar, concave arcuate surface, or convex arcuate surface.

Of course, the slope of the second guiding segment 302 may be a constant value, that is, the second guiding segment 302 is an inclined surface that inclines upward, and the slope of the second guiding segment 302 may also be variable, that is, the slope changes in a curve, that is, the second guiding segment 302 may be a concave curved surface, a convex curved surface, and a combination of at least two of an inclined surface and a concave curved surface and a convex curved surface. Alternatively, the second guide section 302 may be planar, concave cambered surface, or convex cambered surface.

In this embodiment, the inclination of the first guiding section 304 is greater than the inclination of the second guiding section 302, so that the universal wheel 22 of the cleaning robot 20 can climb and lift to a higher degree instantly, and the length of the second guiding section 302 is less than or equal to the distance between the driving wheel 24 and the universal wheel 22, so that the driving wheel 24 can lift as soon as possible, and the head of the cleaning robot 20 is prevented from touching the ground, so that the cleaning robot can enter the base station 2 as soon as possible when traveling in a short distance, that is, the length of the guide table of the base station 2 can be shortened under the condition that the thickness of the guide table of the base station 2 is constant, so that the overall floor area of the base station 2 is reduced.

When the universal wheels 22 run on the first guide section 304, the driving wheels 24 run on the second running surface 400, and the end of the bottom surface of the cleaning robot 20 far from the end of the universal wheels 22 is located above the ground, at this time, the cleaning robot 20 does not completely enter the guide table of the base station 2, that is, the head of the cleaning robot 20 is located above the ground, at this time, since the universal wheels 22 and the driving wheels 24 of the cleaning robot 20 are located on the guide table of the base station 2, since the slope of the first running surface 300 of the guide table of the base station 2 is different from the slope of the second running surface 400, the bottom surface of the cleaning robot 20 is inclined as the universal wheels 22 and the driving wheels 24 run on the first running surface 300 and the second running surface 400, respectively, so that the end of the bottom surface of the cleaning robot 20 near the front end or the end of the head may contact with the ground. At this time, in order to prevent the bottom surface of the cleaning robot 20 from contacting the ground, the inclination of the first guide section 304 and the inclination of the second driving surface 400 satisfy a preset condition. Meanwhile, the larger the gradient of the first guide section 304 is, the shorter the length of the guide table of the base station 2 is, and thus, in the case where the thickness of the guide table of the base station 2 is constant, the shorter the length of the guide table of the base station 2 is, and the smaller the entire floor area of the base station 2 is.

Optionally, the length of the second guide segment 302 of the base station 10 is less than or equal to the distance between the drive wheel 24 and the caster wheel 22. With such an arrangement, when the cleaning robot 20 travels towards the base station 10, the universal wheels 22 travel along the first guide section 304 to ensure that the driving wheels 24 enter or are located on the second travel surface 400, so that the driving wheels 24 are lifted as soon as possible to avoid the head of the cleaning robot 20 touching the ground, and thus the cleaning robot can enter the base station 10 as soon as possible in a short distance, that is, the length of the guide table of the base station 10 (i.e. the length of the first travel surface 300 and the second travel surface 400) can be shortened under the condition that the thickness of the guide table of the base station 10 is constant, so that the overall floor area of the base station 10 is reduced.

The base station 10 of the present invention is provided with the housing chamber 10a, the first running surface 300 and the second running surface 400, such that the housing chamber 10a is located at the rear side of the first running surface 300 and the second running surface 400, the first running surface 300 is used for the universal wheel 22 of the cleaning robot 20 to run, the second running surface 400 is used for the driving wheel 24 of the cleaning robot 20 to run, and the first running surface 300 is provided as the first guide segment 304 and the second guide segment 302 which are connected, such that when the universal wheel 22 of the cleaning robot 20 enters the first guide segment 304 of the first running surface 300 during the running process of the cleaning robot 20 towards the base station 10, the driving wheel 24 enters or is located on the second running surface 400, such that the front end of the cleaning robot 20 is lifted when the driving wheel 24 contacts the second running surface 400, the end of the cleaning robot 20 opposite to the base station 10 is prevented from directly contacting the ground, and the space between the end of the cleaning robot 20 opposite to the base station 10 and the ground is ensured, the cleaning robot 20 is prevented from colliding with and scraping the ground when entering the base station 10, and meanwhile, the cleaning robot 20 is ensured to smoothly enter the base station 10; meanwhile, the second guide sections 302 and the first guide sections 304 are arranged in sequence along the direction of the first running surface 300 towards the containing cavity 10a, the inclination of the first guide sections 304 is greater than that of the second guide sections 302, so that the inclination of the first running surface 300 is in a gradual change state, and in the process that the cleaning robot 20 runs towards the base station 10, the universal wheels 22 firstly enter the second guide sections 302 with smaller inclination and then the second guide sections 302 enter the first guide sections 304 with larger inclination, so that the universal wheels 22 run on the first running surface 300 more smoothly, the cleaning robot 20 is more favorably guided into the base station 10, and meanwhile, the cleaning robot 20 is prevented from obviously bumping when entering the base station 10.

When the first guide section 304 or the second guide section 302 of the first driving surface 300 is an outward convex curved surface, the slope of the outward convex curved surface along the driving direction of the universal wheel 22 toward the base station 10 gradually decreases, so that the universal wheel 22 smoothly passes through the first guide section 304 or the second guide section 302, the difficulty of climbing the universal wheel 22 is reduced, and the climbing capability of the cleaning robot 20 is improved.

When the first guiding section 304 or the second guiding section 302 of the first driving surface 300 is an inward concave surface, the slope of the inward concave surface gradually increases, so that the acceleration of the universal wheel 22 gradually increases when the universal wheel travels on the inward concave surface, and the slope gradually decreases when the universal wheel 22 travels from the inward concave surface to another surface, so that the universal wheel 22 has a larger acceleration when the universal wheel travels from the inward concave surface to another surface, which is beneficial to the universal wheel smoothly traveling to another surface.

In one embodiment, the upper surface of the skirt 14 smoothly transitions with the second guide section 302. It will be appreciated that by smoothly transitioning the upper surface 14a of the skirt 14 with the second guide section 302, the cleaning robot 20 is facilitated to move to the first and second running surfaces 300, 400 via the upper surface 14a of the skirt 14. Optionally, the upper surface 14a of the surrounding edge 14 is an outwardly convex curved surface, which is not limited herein.

In an embodiment, the base station 10 further has a guiding extension 12a and a guiding protrusion 11a, the guiding extension 12a and the guiding protrusion 11a are disposed in the receiving cavity 10a, the guiding extension 12a is connected to the first guiding section 304, the guiding extension 12a extends along a direction in which the first guiding section 304 extends toward the receiving cavity 10a, and the guiding protrusion 11a is disposed on at least one side of the guiding extension 12 a.

In the present embodiment, as shown in fig. 2, 3, and 7 to 9, the guide extension 12a is provided in the housing cavity 10a of the base station 10, and the guide boss 11a is provided on at least one side of the guide extension 12a, so that the universal wheel 22 is guided into the housing cavity 10a of the base station 10 by the guide boss 11a cooperating with the guide extension 12 a.

It is understood that the cleaning robot 20 enters the first and second traveling surfaces 300 and 400 and then enters the receiving chamber 10a when entering the base station 10. Specifically, the guiding extension 12a and the plurality of guiding bosses 11a are disposed in the receiving cavity 10a, the guiding extension 12a is connected to the first guiding section 304 and extends along the direction in which the first guiding section 304 extends toward the receiving cavity 10a, and the plurality of guiding bosses 11a are disposed at one end of the guiding extension 12a close to the first guiding section 304 and are respectively arranged at two sides of the guiding extension 12a for guiding the universal wheel 22 into the receiving cavity 10 a. Alternatively, the side surface of the guide boss 11a facing the guide extension 12a is an inclined surface or an arc surface, which is not limited herein.

In one embodiment, the second driving surface 400 includes a first driving segment 402 and a second driving segment 404 connected with each other, the first driving segment 402 and the second driving segment 404 are sequentially arranged along the second driving surface 400 in a direction toward the housing 10a, the second driving segment 404 is inclined upward relative to the first driving segment 402 in the direction toward the housing 10a, and the first guiding segment 304 is inclined upward relative to the first driving segment 402 in the direction toward the housing 10 a.

In the present embodiment, as shown in fig. 2, 3, and 7 to 9, the second traveling section 404 of the second traveling surface 400 is inclined upward with respect to the first traveling section 402 in the traveling direction of the cleaning robot 20 toward the base station 10. The first traveling segment 402 and the second traveling segment 404 are connected and arranged in order in a direction in which the cleaning robot 20 travels toward the base station 10. In this embodiment, the first traveling segment 402 is inclined upward in the traveling direction of the cleaning robot 20 toward the base station 10, the inclination of the first traveling segment 402 is smaller than that of the second traveling segment 404, and the higher end of the first traveling segment 402 is connected to the lower end of the second traveling segment 404, so that the inclination of the second traveling surface 400 is in a gradual change state, the driving wheel 24 enters the first traveling segment 402 with smaller inclination first and then enters the second traveling segment 404 with larger inclination from the first traveling segment 402, so that the driving wheel 24 travels smoothly and stably on the second traveling surface 400, and the cleaning robot 20 can enter the base station more conveniently. Alternatively, the first travel segment 402 may be a plane parallel to the ground, which is not limited herein.

As can be appreciated, during the process that the cleaning robot 20 travels towards the base station 10, when the universal wheels 22 enter the first guiding section 304, the driving wheels 24 enter or are located in the first traveling section 402, the front end of the cleaning robot 20 is lifted when the driving wheels 24 contact the first traveling section 402, the front end of the cleaning robot 20 is prevented from contacting the ground, a gap is ensured between the front end of the cleaning robot 20 and the ground, the cleaning robot 20 is prevented from colliding with and scraping the ground when entering the base station 10, and meanwhile, the cleaning robot 20 is ensured to smoothly enter the base station.

In this embodiment, the inclination of the first traveling segment 402 is smaller than the inclination of the second traveling segment 404, the higher end of the first traveling segment 402 is connected to the lower end of the second traveling segment 404, so that the inclination of the second traveling surface 400 is gradually changed, the driving wheel 24 enters the first traveling segment 402 with a smaller inclination first and then enters the second traveling segment 404 with a larger inclination from the first traveling segment 402, so that the driving wheel 24 travels smoothly and stably on the second traveling surface 400, and the cleaning robot 20 can enter the base station more conveniently. Alternatively, the first travel segment 402 may be a plane parallel to the ground, which is not limited herein.

In one embodiment, the first traveling segment 402 and the second traveling segment 404 are provided with the anti-skid threads 500, and the density of the anti-skid threads 500 provided on the second traveling segment 404 is not less than the density of the anti-skid threads 500 provided on the first traveling segment 402.

In the present embodiment, the frictional force of the second travel segment 404 against the driving wheel 24 is not smaller than the frictional force of the first travel segment 402 against the driving wheel 24. Specifically, the first traveling segment 402 and the second traveling segment 404 are provided with the anti-slip threads 500, the density of the anti-slip threads 500 of the second traveling segment 404 is not less than the density of the anti-slip threads 500 of the first traveling segment 402, so that the friction force of the driving wheel 24 relative to the second traveling segment 404 is not less than the friction force of the driving wheel 24 relative to the first traveling segment 402, the driving wheel 24 overcomes the slope change of the second traveling segment 404 relative to the first traveling segment 402, and the driving wheel 24 is prevented from slipping in the stroke of the second traveling segment 404.

Optionally, the density degree of the anti-skid threads 500 of the second driving segment 404 may also be smaller than the density degree of the anti-skid threads 500 of the first driving segment 402, or neither the first driving segment 402 nor the second driving segment 404 has anti-skid threads, and at this time, the first driving segment 402 and the second driving segment 404 are made of different materials, so that the friction force of the driving wheel 24 relative to the second driving segment 404 is not smaller than the friction force of the driving wheel 24 relative to the first driving segment 402, which is not limited herein.

In one embodiment, the first running surface 300 is recessed downward relative to the second running surface 400. It is understood that the second driving surface 400 is connected to the first driving surface 300 and is located on both sides of the first driving surface 300, the first driving surface 300 is recessed downward relative to the second driving surface 400, that is, when the first driving surface 300 and the second driving surface 400 of the base station 2 are perpendicular to the cross section along the direction toward the accommodating cavity 10a, the distance from the first driving surface 300 to the ground is smaller than the distance from the second driving surface 400 to the ground. With this arrangement, on the one hand, the universal wheels 22 can be ensured to travel along the first travel surface 300 to provide a stable guiding effect for the cleaning robot 20, and on the other hand, the height difference between the universal wheels 22 and the driving wheels 24 when the universal wheels 22 and the driving wheels 24 travel along the first travel surface 300 and the second travel surface 400, respectively, is reduced, thereby further avoiding the problem that the cleaning robot 20 is greatly inclined to cause the front end of the cleaning robot 20 to land when the universal wheels 22 travel into the second guiding section 302.

In one embodiment, the width of the first traveling surface 300 is tapered toward the receiving cavity 10 a. It can be understood that the width of the first driving surface 300 is reduced along the driving direction of the cleaning robot 20 toward the base station 10, so that the first driving surface 300 guides the universal wheels 22, thereby calibrating and positioning the driving direction of the universal wheels 22, and further accurately positioning the cleaning robot 20 after entering the base station 10.

In one embodiment, the second driving surface 400 is provided with the anti-skid pattern 500, the anti-skid pattern 500 includes a plurality of sheet-shaped ribs 510, and a fine groove 520 is formed between two adjacent ribs 510.

It will be appreciated that the second running surface 400 is provided with anti-slip threads 500. Optionally, the skid-resistant pattern 500 matches with a groove on the surface of the driving wheel 24, further improving the climbing ability of the cleaning robot 20. Of course, the anti-skid groove 500 may be adapted to the tread design of the driving wheel 24, as shown in fig. 7 to 9, the anti-skid groove 500 includes a plurality of sheet-shaped ribs 510, and a narrow groove 520 is formed between two adjacent ribs 510.

In the present embodiment, by providing the antiskid ridge 500 as a plurality of sheet-shaped ribs 510, two adjacent ribs 510 can be embedded into one groove of the tread of the driving wheel 24 together, and because the narrow groove 520 is formed between two adjacent ribs 510, the ribs 510 are easily deformed when being stressed, so that two adjacent ribs 510 are more easily embedded into one groove of the tread of the driving wheel 24, and stable driving of the driving wheel 24 on the antiskid ridge 500 is ensured. The narrow grooves 520 may serve as drainage grooves for draining water remaining on the tread of the drive wheel 24 on the nonslip grooves 500 to the outside.

In an embodiment, as shown in fig. 2 and 3, the inner wall of the receiving cavity 10a of the base station 10 is provided with a guide roller 600, and the guide roller 600 can contact with the side wall of the cleaning robot 20 and guide the cleaning robot 20, so that the cleaning robot 20 enters the receiving cavity 10a along a nearly straight track, and the base station 10 can guide and position the cleaning robot 20. Specifically, the guide rollers 600 have two guide rollers 600, and the two guide rollers 600 are disposed opposite to each other and are arranged on both sides of the cleaning robot 20.

The following describes the process of the cleaning robot 20 entering the base station by taking the cleaning robot 20 going backwards and climbing as an example, and specifically describes the following:

as shown in fig. 2 to 8, in the first stage, when the cleaning robot 20 travels on the floor 30 far from the base station 10, the universal wheels 22 and the driving wheels 24 are in contact with the floor 30, and the bottom surface of the cleaning robot 20 is parallel to the floor 30 and maintains a distance, in which the front end of the cleaning robot 20 is spaced apart from the floor 30.

In a second stage, when the universal wheel 22 of the cleaning robot 20 enters the second guide section 302, the rear end of the cleaning robot 20 is raised, the front end of the cleaning robot 20 is tilted downward, the bottom surface of the cleaning robot 20 is tilted with respect to the floor 30, at this time, since the pressure of the cleaning robot 20 to the second guide section 302 is smaller than the pressure of the cleaning robot 20 to the floor, the friction force between the universal wheel 22 and the second guide section 302 is reduced with respect to the friction force between the universal wheel 22 and the floor, but since the driving wheel 24 of the cleaning robot 20 is still on the floor 30, the friction force of the driving wheel 24 with respect to the floor 30 is unchanged, the friction force of the driving wheel 24 with respect to the floor 30 is greater than the friction force of the universal wheel 22 with respect to the second guide section 302, so that the universal wheel 22 is prevented from being deflected when entering the second guide section 302, and stable travel of the universal wheel 22 on the second guide section 302 is ensured, at this time, the front end of the cleaning robot 20 is still spaced apart from the floor 30.

In the third phase, the universal wheel 22 is driven from the second guide segment 302 into the first guide segment 304, since the inclination of the first guide section 304 is greater than that of the second guide section 302, the rear end of the cleaning robot 20 is further raised, the front end of the cleaning robot 20 is further inclined downward, the inclination of the bottom surface of the cleaning robot 20 with respect to the floor 30 is further increased, however, at the same time as the universal wheel 22 is driven from the second guide portion 302 into the first guide portion 304, the drive wheel 24 is driven into the first travel portion 402 of the second travel surface 400, or is already on the first travel section 402, the front end of the cleaning robot 20 is lifted by the first travel section 402, the height difference between the front end and the rear end of the cleaning robot 20 is reduced, the front end of the cleaning robot 20 is ensured to be kept spaced from the floor 30, i.e., collision and scratch of the cleaning robot 20 with the floor surface when entering the base station 10 are prevented, while ensuring smooth entry of the cleaning robot 20 into the base station 10.

In addition, as the universal wheel 22 travels along the first guiding section 304, the inclination of the cleaning robot 20 relative to the ground gradually increases, and the risk of skidding of the driving wheel 24 is higher, however, because the anti-skidding lines 500 are arranged on the second traveling surface 400, the friction force between the driving wheel 24 and the second traveling surface 400 is increased, the anti-skidding capacity of the second traveling surface 400 is improved, the influence that the inclination of the cleaning robot 20 is further increased by the first guiding section 304 is compensated, and the universal wheel 22 and the driving wheel 24 respectively and smoothly pass through the first guiding section 304 and the second traveling surface 400 is ensured.

The utility model also proposes a cleaning system comprising a cleaning robot 20 and the base station 10 described above, the cleaning robot 20 having universal wheels 22 and drive wheels 24 located at the bottom of the cleaning robot 20. The specific structure of the base station 10 refers to the foregoing embodiments, and since the cleaning system adopts all technical solutions of all the foregoing embodiments, at least all the beneficial effects brought by the technical solutions of the foregoing embodiments are achieved, and no further description is given here.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. A base station, characterized in that the base station comprises:

the base is provided with an accommodating cavity, the base is provided with a first driving surface and a second driving surface, and the accommodating cavity is positioned on the rear sides of the first driving surface and the second driving surface; and

and the surrounding edge is arranged on the periphery of the base and is connected with the first running surface and the second running surface.

2. The base station of claim 1, wherein the peripheral edge is provided with a weight member;

the counterweight is arranged inside the surrounding edge; or, the counterweight is arranged outside the surrounding edge.

3. The base station of claim 2, wherein the weight is disposed proximate an outer edge of the perimeter.

4. The base station of claim 1, wherein said skirt includes a resilient portion that contacts the ground and creates resilient friction with said ground.

5. The base station of claim 1, wherein the skirt is made of an elastic material.

6. The base station according to any one of claims 1 to 5, wherein the first travel surface comprises a first guide segment and a second guide segment connected with each other, the second guide segment and the first guide segment are arranged in sequence along the direction of the first travel surface towards the accommodating cavity, and the inclination of the first guide segment is greater than that of the second guide segment.

7. The base station of claim 6, wherein an upper surface of the skirt transitions smoothly with the second guide section;

and/or the first guide section and the second guide section are planes, concave cambered surfaces or convex cambered surfaces.

8. The base station of claim 6, wherein the second running surface includes a first running section and a second running section connected, the first running section and the second running section being arranged in order in a direction toward the housing cavity along the second running surface, the second running section being inclined upward with respect to the first running section in a direction toward the housing cavity, and the first guide section being inclined upward with respect to the first running section in a direction toward the housing cavity.

9. The base station according to any one of claims 1 to 5, characterized in that the first tread is recessed downwards relative to the second tread;

and/or the width of the first running surface is tapered along the direction towards the accommodating cavity;

and/or the second driving surface is provided with anti-skid grains, each anti-skid grain comprises a plurality of sheet-shaped convex ribs, and a fine groove is formed between every two adjacent convex ribs.

10. A cleaning system, characterized in that the cleaning system comprises:

a cleaning robot having a universal wheel and a driving wheel at a bottom of the cleaning robot; and

a base station as claimed in any one of claims 1 to 9.

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