CN221129798U - Guiding mechanism, berthing base station and robot system - Google Patents

Abstract

The utility model relates to the technical field of robots and discloses a guiding mechanism, a docking base station and a robot system, wherein the guiding mechanism is arranged in a base station main body and comprises a guiding arm and a rotating assembly, the rotating assembly is connected with the base station main body, and the guiding arm is connected with the rotating assembly to enable the guiding arm to rotate unidirectionally. The mobile equipment gradually enters the docking station, and the guide arms are gradually accommodated in the guide grooves on the mobile equipment to be matched with each other so that the mobile equipment is limited and stops moving, and therefore operations such as charging or cleaning a dustbin are carried out on the mobile equipment. The mobile equipment gradually drives away from the berth base station, and the guide arm gradually breaks away from the guide groove on the mobile equipment, so that the guide mechanism breaks away from the mobile equipment, and the situation that the guide arm blocks the movement of the mobile equipment in the process that the mobile equipment drives away from the berth base station is avoided.

Description

Guiding mechanism, berthing base station and robot system

Technical Field

The utility model relates to the technical field of robots, in particular to a guiding mechanism, a docking base station and a robot system.

Background

At present, with the improvement of living standard, the application of the cleaning robot in home or office scenes is more and more widespread, and the cleaning robot can bear the work of cleaning the ground.

The cleaning robot needs to clean the ground, and when the cleaning area is too large, the cruising of the cleaning robot is particularly important. Especially when the cleaning robot has a limited internal space, it is difficult to increase the battery capacity, and a large-capacity battery cannot be mounted, it is necessary to add a docking station to the cleaning robot. In general, the docking station can charge the cleaning robot, discharge sewage, clean the dustbin and the like.

But the cleaning robot needs to be positioned when entering the base station to ensure that the cleaning robot rests in a specified position. The existing cleaning robot adopts a guide device which is generally a strip-shaped or columnar guide arm, the guide arm is fixedly arranged on the outer surface of a chassis of a base station, a guide groove matched with the guide arm is formed in the tail of the cleaning robot, after the cleaning robot enters the base station, the guide arm is accommodated in the guide groove, and the cleaning robot enters a designated position. However, when the cleaning robot leaves the base station, the guide arm contacts the guide groove, and the guide arm is easily jammed in the guide groove, so that the guide arm hinders the movement of the cleaning robot, resulting in difficulty in the cleaning robot to be separated from the base station.

Disclosure of utility model

The embodiment of the utility model aims to provide a guide mechanism, a docking base station and a robot system, so as to solve the technical problem that the cleaning robot is difficult to separate from the base station due to the fact that the guide arm blocks the movement of the cleaning robot when the cleaning robot leaves the base station in the prior art.

In order to solve the technical problems, an embodiment of the present utility model provides a guide mechanism for butt-joint cooperation with a mobile device, where the mobile device includes a guide groove, the guide mechanism includes a guide arm and a rotating assembly, and the guide arm is rotationally connected with the rotating assembly;

the mobile device reciprocates relative to the guide arm;

The guide arm is configured to be gradually accommodated in the guide groove when the mobile device gradually approaches the guide arm, so that the guide mechanism is abutted to the mobile device, and the mobile device is limited;

When the mobile device gradually moves away from the guide arm, the groove wall of the guide groove props against the guide arm to drive the guide arm to rotate unidirectionally, and the guide arm gradually breaks away from the guide groove, so that the guide mechanism is separated from the mobile device.

Optionally, the rotating assembly includes a rotating shaft member and an elastic member, the guide arm includes a connection end, the connection end is rotatably connected to the rotating shaft member, and the connection end is connected to the elastic member;

When the mobile equipment gradually moves away from the guide arm, the groove wall of the guide groove props against the guide arm to drive the guide arm to rotate unidirectionally, and the elastic piece deforms along with the guide arm until the guide arm is separated from the guide groove;

when the guide arm is separated from the guide groove, the elastic piece drives the guide arm to restore to the original position.

Optionally, one end of the guiding arm far away from the connecting end is a guiding end, the guiding end is provided with a guiding surface, and the guiding surface is configured to guide the mobile device when the guiding surface abuts against the outer wall of the mobile device, so that the guiding arm is gradually contained in the guiding groove.

Optionally, the guiding end is provided with a rolling element, and the guiding surface is arranged on the outer surface of the rolling element.

The utility model also provides a docking base station, which comprises the guiding mechanism of any one of the above, and a base station main body, wherein the guiding mechanism is arranged in the base station main body; the base station main body is provided with an opening, and the mobile equipment gradually approaches the guide mechanism through the opening so that the mobile equipment stops at the stop base station; the mobile device gradually travels away from the guide mechanism through the opening to separate the mobile device from the docking station.

Optionally, the base station main body includes a guide table, the guide table is disposed at a side of the opening far from the guide mechanism, and the height of the guide table gradually increases along the direction from the opening to the guide mechanism.

Optionally, the base station main body is provided with an installation cavity, and the guide mechanism is installed in the installation cavity; the mounting cavity comprises a limiting side wall, and the limiting side wall is configured to abut against the guide arm when the guide arm does not rotate so as to limit the guide arm to rotate along a direction away from the opening.

The utility model also provides a robot system comprising the docking station of any one of the above, and further comprising a mobile device, wherein the mobile device is provided with a guide groove, and the guide groove is used for the guide mechanism to cooperate so that the mobile device is docked in the docking station.

Optionally, the mobile device further includes a roller set, the roller set is rotatably connected to the mobile device, the roller set is disposed on a side wall of the guide groove, a pressing surface is disposed on one side of the guide arm, the pressing surface is configured to enable the mobile device to gradually drive away from the docking station, and the roller set abuts against the pressing surface, so that the guide arm gradually breaks away from the guide groove.

Optionally, a limiting surface is disposed on a side, facing away from the pressing surface, of the guide arm, and the limiting surface abuts against the inner wall of the guide groove, so that the mobile device is parked in the parked base station.

Optionally, the positioning groove is formed in the bottom of the base station main body, the positioning groove is located at one side of the opening, which is far away from the guiding mechanism, the mobile device comprises a driving wheel, the inner wall of the guiding groove abuts against the limiting surface, and the bottom end of the driving wheel is contained at the bottom of the positioning groove.

Compared with the prior art, in the embodiment of the utility model, a guiding mechanism, a docking base station and a robot system are disclosed, wherein the guiding mechanism is arranged in a base station main body and comprises a guiding arm and a rotating assembly, the rotating assembly is connected with the base station main body, and the guiding arm is connected with the rotating assembly to enable the guiding arm to rotate unidirectionally.

The mobile equipment gradually enters the docking station, and the guide arms are gradually accommodated in the guide grooves on the mobile equipment to be matched with each other so that the mobile equipment is limited and stops moving, and therefore operations such as charging or cleaning a dustbin are carried out on the mobile equipment.

The mobile equipment gradually drives away from the berth base station, and the guide arm gradually breaks away from the guide groove on the mobile equipment, so that the guide mechanism breaks away from the mobile equipment, and the situation that the guide arm blocks the movement of the mobile equipment in the process that the mobile equipment drives away from the berth base station is avoided.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures are not to be considered limiting, unless expressly stated otherwise.

FIG. 1 is a schematic view of a guiding mechanism according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a mobile device engaging guide mechanism according to the present utility model;

FIG. 3 is a schematic view of the structure of the guide mechanism of the present utility model installed in a docking station;

FIG. 4 is a schematic view of the robot system of the present utility model;

fig. 5 is a partial enlarged view of a portion a in fig. 4;

FIG. 6 is a schematic diagram of a mobile device in the present utility model docked after entering a docking station;

the reference numerals are as follows:

100. A guide mechanism; 10. a guide arm; 101. a connection end; 102. a guide end; 1021. a guide surface; 103. a pressing surface; 104. a limiting surface; 11. a rotating assembly; 111. a rotating shaft member; 112. an elastic member; 200. a mobile device; 210. a guide groove; 220. a roller set; 221. a first roller; 2211. a first roller portion; 2212. a second roller portion; 230. a driving wheel; 20. a rolling member; 300. stopping the base station; 30. a base station main body; 31. an opening; 32. a guide table; 321. a deceleration strip; 33. a main body portion; 34. a mounting cavity; 341. a limiting side wall; 35. a positioning groove; 400. a robotic system.

Detailed Description

In order that the utility model may be readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or intervening elements may be present. The terms "upper," "lower," "left," "right," "upper," "lower," "top," and "bottom," and the like, as used herein, refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

In order to solve the problems in the prior art, a cleaning robot needs to enter a designated position of a base station to perform cleaning or charging and other works, and when the cleaning robot stops in the base station, the cleaning robot is limited by extending a strip or column-shaped guide arm into a guide groove at the bottom of the tail end of the cleaning robot. When the cleaning robot leaves the base station, the guide arm is easily jammed in the guide groove, resulting in blocking the movement of the cleaning robot. The utility model provides a guide mechanism, when a mobile device, namely a cleaning robot, leaves a base station, the guide arm can rotate in one direction to gradually separate from a guide groove of the mobile device, so that the guide mechanism is separated from the mobile device, and the situation that the guide arm blocks the movement of the mobile device in the process that the mobile device leaves the base station is avoided. In addition, in the process of moving into the base station, the guide arm can be gradually contained in the guide groove, and the guide arm can be matched with the guide groove to limit the mobile equipment, so that the mobile equipment stops moving and accurately stops into the base station.

Referring to fig. 1 and fig. 2 together, fig. 1 is a schematic structural diagram of a guiding mechanism according to an embodiment of the utility model; fig. 2 is a schematic structural view of a guiding mechanism matched with a mobile device in the utility model.

In one embodiment of the present utility model, a guiding mechanism 100 is provided, where the guiding mechanism 100 is used for butt-jointing with a mobile device 200, the mobile device 200 includes a guiding slot 210, the guiding mechanism 100 includes a guiding arm 10 and a rotating assembly 11, and the guiding arm 10 is rotationally connected with the rotating assembly 11;

The mobile device 200 reciprocates relative to the guide arm 10;

The guide arm 10 is configured such that when the mobile device 200 gradually approaches the guide arm 10, the guide arm 10 is gradually accommodated in the guide groove 210, so that the guide mechanism 100 is abutted against the mobile device 200, and the mobile device 200 is limited;

when the mobile device 200 gradually moves away from the guide arm 10, the groove wall of the guide groove 210 presses the guide arm 10 to drive the guide arm 10 to rotate unidirectionally, and the guide arm 10 gradually breaks away from the guide groove 210, so that the guide mechanism 100 is separated from the mobile device 200.

In particular, mobile device 200 may be understood as having devices that are mobile on the ground, such as: cleaning robots, remote control carts, etc. The mobile device 200 reciprocates relative to the guide arm 10, and it is understood that the guide mechanism 100 can be installed in a base station, and the movement of the mobile device 200 into and out of the base station can be regarded as reciprocation, wherein the mobile device 200 approaches the guide arm 10 in a first direction until the mobile device 200 stops moving; the mobile device 200 travels away from the guide arm 10 in a second direction, the first direction being opposite the second direction. Furthermore, the guide arm 10 is rotatably connected to the rotation assembly 11, and when the mobile device 200 is driven away from the guide arm 10, the mobile device 200 drives the guide arm 10 to rotate, so that the guide arm 10 gradually disengages from the guide slot 210, and the situation that the guide arm 10 hinders the movement of the mobile device 200 does not exist.

In one embodiment, the rotating assembly 11 includes a rotating shaft member 111 and an elastic member 112, the guide arm 10 includes a connecting end 101, the connecting end 101 is rotatably connected to the rotating shaft member 111, and the connecting end 101 is connected to the elastic member 112;

When the mobile device 200 gradually moves away from the guide arm 10, the groove wall of the guide groove 210 presses the guide arm 10 to drive the guide arm 10 to rotate unidirectionally, and the elastic piece 112 deforms accordingly until the guide arm 10 is separated from the guide groove 210;

When the guide arm 10 is disengaged from the guide groove 210, the elastic member 112 drives the guide arm 10 to return to the original position.

In particular, the shaft member 111 may be understood as a part capable of being rotated by being subjected to a force, for example: a rotating shaft or a rotating rod, etc.; the elastic member 112 can be understood as that the part is elastically deformed by an external force within a certain range, and the elastic deformation returns to the original state after the external force disappears; such as torsion springs or springs, etc. In one embodiment, the elastic member 112 is a torsion spring, which is sleeved on the rotating shaft member 111, and the connection end 101 is connected to the torsion spring. When the mobile device 200 moves away from the guide mechanism 100, the mobile device 200 pushes against the guide arm 10 and drives the torsion spring to deform, and the guide arm 10 rotates to gradually separate from the guide groove 210; to avoid impeding movement of the mobile device 200. Moreover, the torsion spring has a unidirectional rotation effect, so that the situation that the guide arm 10 rotates and cannot be contained in the guide groove 210 when the mobile device 200 approaches the guide arm 10 is avoided, and the mobile device 200 stops moving is avoided. When the mobile device 200 is separated from the guide arm 10, the guide arm 10 is influenced by the torsion spring to restore to the original state, so that manual adjustment steps are reduced, and the next butt joint between the mobile device 200 and the guide arm 10 is facilitated.

Alternatively, the elastic member 112 may be a spring, wherein one end of the spring may be mounted on a rigid wall, and the other end of the spring is connected to the guide arm 10, and the spring mainly acts to provide a tensile force to the guide arm 10, in other words, when the groove wall of the guide groove 210 abuts against the guide arm 10 to urge the guide arm 10 to rotate, the spring deforms, that is, the guide arm 10 rotates unidirectionally in a direction away from the spring (i.e., counterclockwise direction in fig. 2) until the guide arm 10 is separated from the guide groove 210, and the elastic member 112 is in a stretched state. When the guide arm 10 is separated from the guide groove 210, the spring is deformed to recover its original length, and at this time, the spring drives the guide arm 10 to rotate unidirectionally in a direction approaching to the spring (i.e., clockwise in fig. 2), so that the guide arm 10 is recovered.

Alternatively, the elastic member 112 may be a spring, one end of which may be mounted on a rigid wall, and the other end of which is connected to the guide arm 10. At this time, the spring mainly plays a role of pushing the guide arm 10, in other words, when the groove wall of the guide groove 210 abuts against the guide arm 10, the guide arm 10 is urged to rotate, the spring is deformed, and the spring is compressed. When the guide arm 10 is separated from the guide groove 210, the spring is recovered to be long by the compression effect of the spring, and the spring can give a pushing effect to the guide arm 10, so that the guide arm 10 is driven to rotate unidirectionally in a direction away from the spring, and the guide arm 10 is recovered to be in the original position.

Alternatively, the rotating assembly 11 may be a geared unidirectional transmission.

Alternatively, the rotating assembly 11 may be a spring unidirectional transmission structure.

In one embodiment, the end of the guide arm 10 away from the connection end 101 is a guide end 102, the guide end 102 is provided with a guide surface 1021, and the guide surface 1021 is configured to guide the mobile device 200 so that the guide arm 10 is gradually received in the guide groove 210 when the guide surface 1021 abuts against the outer wall of the mobile device 200.

Specifically, the guiding surface 1021 is a smooth curved surface; moreover, the guide groove 210 is formed at the bottom of the mobile device 200, when the mobile device 200 approaches the guide arm 10, the bottom of the mobile device 200 abuts against the guide end 102 of the guide arm 10, and the friction between the mobile device 200 and the guide arm 10 is reduced by the arrangement of the smooth curved surface, so that the mobile device 200 can move further towards the guide arm 10, and the mobile device 200 and the guide arm 10 can be prevented from being blocked.

Optionally, the bottom of the mobile device 200 is provided with an inclined surface, the guiding surface 1021 is also an inclined surface, the slopes of the two inclined surfaces are consistent, and the inclined surface is arranged obliquely downwards along a first direction, which is the direction in which the mobile device 200 gradually approaches the guiding arm 10, as can be appreciated.

In one embodiment, the guide end 102 mounts the rolling member 20 and the guide surface 1021 is disposed on an outer surface of the rolling member 20.

Specifically, the rolling element 20 adopts a ball, the guide arm 10 is sleeved outside the ball, the part of the ball protrudes out of the guide arm 10, when the cleaning device is propped against the guide arm 10, the ball rotates to convert sliding friction between the mobile device 200 and the guide arm 10 into rolling friction, and friction between the mobile device 200 and the guide arm 10 is reduced.

Referring to fig. 1, 3 and 4, fig. 3 is a schematic view of a guiding mechanism 100 installed in a docking station 300 according to the present utility model; FIG. 4 is a schematic diagram of a robotic system 400 according to the present utility model;

A docking station 300 comprising the guide mechanism 100 described above, and a base station body 30, the guide mechanism 100 being installed in the base station body 30; the base station main body 30 is provided with an opening 31, and the mobile device 200 gradually approaches the guide mechanism 100 through the opening 31 so that the mobile device 200 is parked at the docking base station 300; the mobile device 200 gradually travels away from the guide mechanism 100 through the opening 31 to separate the mobile device 200 from the docking station 300.

It is understood that the base station body 30 may be a charging station for parking the base station 300 or a remote control car, etc., and the mobile device 200 may be parked in the base station body 30 via the guide mechanism 100 to perform operations such as charging or water replenishing for the mobile device 200.

Specifically, since the guide mechanism 100 is installed in the base station body 30, the base station body 30 also has the advantages of the guide mechanism 100 described above, and the description thereof will be omitted.

The base station body 30 is provided with an opening 31, the mobile device 200 enters the inside of the base station body 30 through the opening 31 along a first direction, and the mobile device 200 moves away from the base station body 30 through the opening 31 along a second direction, that is, the mobile device 200 reciprocates relative to the base station body 30. The first direction is the direction from the opening 31 to the guiding mechanism 100, and the second direction is the direction from the guiding mechanism 100 to the opening 31.

In one embodiment, the base station body 30 includes a guide table 32, the guide table 32 is disposed at a side of the opening 31 away from the guide mechanism 100, and the height of the guide table 32 increases gradually in a direction from the opening 31 to the guide mechanism 100.

Specifically, the base station main body 30 includes a main body portion 33 and a guide table 32, the guide table 32 is connected to the main body portion 33, and alternatively, the guide table 32 is integrally manufactured with the main body portion 33; optionally, the guide table 32 is spliced with the main body 33. One side of the guide table 32 is horizontally placed on the ground, the other side of the guide table 32 is provided with an inclined surface, and the height of the inclined surface is gradually increased along the first direction, so that when the mobile device 200 enters the base station main body 30 along the guide table 32, the bottom of the mobile device 200 is gradually lifted, and the bottom of the mobile device 200 is higher than the guide arm 10 until the guide groove 210 on the mobile device 200 is matched with the guide arm 10 to achieve the effect of limiting the mobile device 200. Moreover, the mobile device 200 does not collide with the protruding portion of the guide arm 10.

Optionally, the guide arm 10 is made of a plastic material, reducing wear between the mobile device 200 and the guide arm 10.

Optionally, the end of the guide arm 10 is made of a silica gel flexible material, so that collision abrasion between the mobile device 200 and the guide arm 10 is reduced.

In one embodiment, a discontinuous planar structure is provided on the outer surface of the guide table 32 to slow the cleaning apparatus too fast to accurately enter the docking position within the base station body 30. Specifically, the outer surface of the guide table 32 is provided with a deceleration strip 321, the deceleration strip 321 comprises a plurality of groups of deceleration strips, and the plurality of groups of deceleration strips are sequentially distributed at intervals along the direction from the opening 31 to the guide mechanism 100.

In one embodiment, the base station body 30 is provided with a mounting cavity 34, and the guide mechanism 100 is mounted in the mounting cavity 34; the mounting cavity 34 includes a limiting sidewall 341, where the limiting sidewall 341 is configured such that when the guide arm 10 is not rotated, the limiting sidewall 341 abuts against the guide arm 10 to limit the guide arm 10 from rotating in a direction away from the opening 31.

Specifically, the limiting side wall 341 plays a limiting role on the guide arm 10, if the limiting side wall 341 does not abut against the guide arm 10, when the cleaning device enters the base station main body 30, the bottom of the cleaning device or the inner wall of the guide groove 210 abuts against the guide arm 10, and gravity of the cleaning device drives the guide arm 10 to rotate in a direction away from the opening 31, which may cause the guide arm 10 to be damaged and not play a unidirectional rotation effect.

Furthermore, the guide mechanism 100 is installed in the installation cavity 34, the rotation shaft member 111 is rotatably connected to the side wall of the installation cavity 34, and when the torsion spring is not rotated, the guide arm 10 is partially protruded from the installation cavity 34; when the torsion spring rotates, the guide arm 10 is gradually accommodated in the installation cavity 34.

The utility model also provides a robot system 400, which comprises the docking station 300, the robot system 400 further comprises the mobile equipment 200, the mobile equipment 200 is provided with a guide groove 210, and the guide groove 210 is used for being matched with the guide mechanism 100 so that the mobile equipment 200 is docked in the docking station 300.

It will be appreciated that the mobile device 200 and docking station 300 together form a robotic system 400, for example: the cleaning robot enters the docking station 300 to perform the work of supplementing a water tank, replacing a mop, charging or the like; the remote control car enters the docking station 300 to perform the work of changing the battery or charging.

In one embodiment, the mobile device 200 is exemplified by a cleaning robot, and docks with the base station 300 to exemplified by a cleaning base station. The guiding groove 210 is formed at the bottom of the cleaning robot, so as to prevent the cleaning robot from being clamped with the protruding portion of the wall surface during the cleaning and turning process. Also, the notch of the guide groove 210 faces the floor, so that the exterior surface of the cleaning robot is more flush and beautiful. In addition, if the opening of the guide slot 210 is opened on the outer side surface of the cleaning robot, the overall guide slot occupies a large overall volume of the cleaning robot, resulting in a complex overall structure of the cleaning robot.

When the cleaning robot enters the base station main body 30, the cleaning robot moves along the direction from the guide table 32 to the opening 31, and the cleaning robot is continuously lifted along with the guide table 32 until the bottom of the cleaning robot is flush with the guide end 102 of the guide arm 10, so that the bottom of the cleaning robot is propped against the guide end 102 of the guide arm 10; under the action of the balls, the outer wall of the bottom of the cleaning robot slides with the balls, so that the guide arm 10 is gradually accommodated in the guide groove 210, and the butt joint matching of the cleaning robot and the guide arm 10 is completed.

When the cleaning robot drives away from the base station main body 30, the cleaning robot moves along the direction from the guide mechanism 100 to the opening 31, the groove wall of the cleaning robot guide groove 210 abuts against the guide arm 10, and the guide arm 10 is driven to rotate unidirectionally, so that the guide arm 10 is gradually separated from the guide groove 210, and the cleaning robot is driven away from the base station main body 30 conveniently.

Referring to fig. 4, 5 and 6, fig. 5 is a partial enlarged view of a portion a in fig. 4; fig. 6 is a schematic diagram of a mobile device 200 according to the present utility model, which is docked after entering a docking station 300.

In one embodiment, the mobile device 200 further includes a roller set 220, the roller set 220 is rotatably connected to the mobile device 200, the roller set 220 is disposed on a side wall of the guide slot 210, one side of the guide arm 10 is provided with a pressing surface 103, the pressing surface 103 is configured to gradually drive the mobile device 200 away from the docking station 300, and the roller set 220 abuts against the pressing surface 103, so that the guide arm 10 gradually breaks away from the guide slot 210.

Specifically, the mobile device 200 is provided with a roller cavity, the roller cavity is connected to the guide groove 210, the roller cavity is located at one side of the guide groove 210, the roller set 220 is accommodated in the roller cavity, the roller set 220 includes a first roller 221, the first roller 221 is connected to the mobile device 200 through a rotating shaft, and a portion of the first roller 221 protruding from the roller cavity and accommodated in the guide groove 210 is set as a first roller portion 2211.

In one embodiment, a portion of the first roller 221 protruding downward from the bottom of the mobile device 200 is provided as a second roller portion 2212, and the first roller portion 2211 is connected to the second roller portion 2212; it is understood that the roller cavity is formed at the connection between the groove wall of the guide groove 210 and the bottom of the mobile device 200, and the roller cavity is located at the rear side of the guide groove 210. The purpose of this arrangement is that the mobile device 200 gradually moves away from the base station main body 30, the first roller portion 2211 contacts with the pressing surface 103, and as the mobile device 200 moves away, the first roller 221 rotates, the guide arm 10 gradually is accommodated in the installation cavity 34 until the second roller portion 2212 abuts against the pressing surface 103 so that the guide arm 10 is separated from the guide groove 210; in the whole process, the friction between the mobile device 200 and the guide arm 10 is rolling friction, and compared with the sliding friction between the bottom of the mobile device 200 and the guide arm 10, the rolling friction can reduce the abrasion between the mobile device 200 and the guide arm 10.

Optionally, the roller set 220 includes a first roller 221 and a second roller, the first roller 221 is disposed on a rear inner wall of the guide slot 210, the second roller is disposed on the bottom of the mobile device 200 and protrudes from the bottom of the mobile device 200, and the second roller is disposed on a rear side of the first roller 221.

Optionally, a gear groove is formed on the pressing surface 103, the roller set 220 adopts a gear, the gear shaft is connected to the mobile device 200, and friction between the mobile device 200 and the guide arm 10 is reduced through engagement connection between the gear and the gear groove.

In one embodiment, a limiting surface 104 is disposed on a side of the guiding arm 10 facing away from the pressing surface 103, and the limiting surface 104 abuts against an inner wall of the guiding slot 210, so that the mobile device 200 is parked in the docking station 300.

Specifically, after the guide arm 10 is received in the guide slot 210, the mobile device 200 further moves along the first direction, i.e. from the opening 31 to the guide mechanism 100, until the inner wall of the guide slot 210 abuts against the limiting surface 104, the mobile device 200 is difficult to continue moving along the first direction, and at this time, the mobile device 200 is limited and stops moving.

In one embodiment, the base station main body 30 is provided with a positioning groove 35 at the bottom, the positioning groove 35 is located at one side of the opening 31 far away from the guiding mechanism 100, the mobile device 200 includes a driving wheel 230, the inner wall of the guiding groove 210 abuts against the limiting surface 104, and the bottom end of the driving wheel 230 is accommodated at the bottom of the positioning groove 35.

Specifically, the mobile device 200 gradually enters the base station main body 30, and the rear side to the front side of the mobile device 200 is gradually raised, so that when the mobile device 200 is stopped, the mobile device 200 is obliquely placed, and the mobile device 200 has a tendency to slide down along the guide table 32. When the mobile device 200 is limited by the limiting surface 104, the mobile device 200 may slide out of the base station body 30 due to gravity. By providing the positioning groove 35 so that the driving wheel 230 on the mobile device 200 is further positioned by the positioning groove 35, the mobile device 200 is prevented from being tilted to slide from the base station main body 30 due to its own weight.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the utility model, the steps may be implemented in any order, and there are many other variations of the different aspects of the utility model as described above, which are not provided in detail for the sake of brevity; while the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (11)

1. The guide mechanism is used for being in butt joint with mobile equipment, and the mobile equipment comprises a guide groove, and is characterized by comprising a guide arm and a rotating assembly, wherein the guide arm is in rotating connection with the rotating assembly;

the mobile device reciprocates relative to the guide arm;

The guide arm is configured to be gradually accommodated in the guide groove when the mobile device gradually approaches the guide arm, so that the guide mechanism is abutted to the mobile device, and the mobile device is limited;

When the mobile device gradually moves away from the guide arm, the groove wall of the guide groove props against the guide arm to drive the guide arm to rotate unidirectionally, and the guide arm gradually breaks away from the guide groove, so that the guide mechanism is separated from the mobile device.

2. The guide mechanism of claim 1, wherein the rotating assembly comprises a shaft member and an elastic member, the guide arm comprises a connecting end rotatably connected to the shaft member, and the connecting end is connected to the elastic member;

When the mobile equipment gradually moves away from the guide arm, the groove wall of the guide groove props against the guide arm to drive the guide arm to rotate unidirectionally, and the elastic piece deforms along with the guide arm until the guide arm is separated from the guide groove;

when the guide arm is separated from the guide groove, the elastic piece drives the guide arm to restore to the original position.

3. The guide mechanism according to claim 2, wherein an end of the guide arm away from the connection end is a guide end, the guide end is provided with a guide surface, and the guide surface is configured to guide the mobile device so that the guide arm is gradually received in the guide groove when the guide surface abuts against the outer wall of the mobile device.

4. A guide mechanism according to claim 3, wherein the guide end is provided with a roller, and the guide surface is provided on an outer surface of the roller.

5. A docking station comprising a guiding mechanism according to any one of claims 1 to 4, and a base station body within which the guiding mechanism is mounted; the base station main body is provided with an opening, and the mobile equipment gradually approaches the guide mechanism through the opening so that the mobile equipment stops at the stop base station; the mobile device gradually travels away from the guide mechanism through the opening to separate the mobile device from the docking station.

6. The docking station of claim 5, wherein the base station body comprises a guide table disposed on a side of the opening remote from the guide mechanism, the guide table increasing in height in a direction from the opening to the guide mechanism.

7. The docking station of claim 5, wherein the base station body defines a mounting cavity, the guide mechanism being mounted within the mounting cavity; the mounting cavity comprises a limiting side wall, and the limiting side wall is configured to abut against the guide arm when the guide arm does not rotate so as to limit the guide arm to rotate along a direction away from the opening.

8. A robotic system comprising a docking station as claimed in any one of claims 5 to 7, the robotic system further comprising a mobile device, the mobile device being provided with a guide slot for the guide mechanism to cooperate to dock the mobile device within the docking station.

9. The robotic system of claim 8, wherein the mobile device further comprises a roller set rotatably coupled to the mobile device, the roller set disposed on a sidewall of the guide slot, one side of the guide arm having a pressing surface configured to gradually move the mobile device away from the docking station, the roller set abutting the pressing surface to gradually disengage the guide arm from the guide slot.

10. The robotic system of claim 9, wherein a side of the guide arm facing away from the abutment surface is provided with a stop surface that abuts against an inner wall of the guide slot to dock the mobile device within the docking station.

11. The robot system of claim 10, wherein a positioning groove is formed in the bottom of the base station body, the positioning groove is located on one side, far away from the guide mechanism, of the opening, the mobile device comprises a driving wheel, the inner wall of the guide groove abuts against the limiting surface, and the bottom end of the driving wheel is accommodated in the groove bottom of the positioning groove.