WO2023273663A1

WO2023273663A1 - Support structure, recognition system and cleaning apparatus

Info

Publication number: WO2023273663A1
Application number: PCT/CN2022/093263
Authority: WO
Inventors: 韩玉强; 姚凯文; 刘璎皞; 许波建
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2021-06-28
Filing date: 2022-05-17
Publication date: 2023-01-05

Abstract

Provided in the present disclosure are a support structure, a recognition system and a cleaning apparatus. The support structure is applied to a cleaning robot, and the recognition system, which is used for detecting a surrounding environment, is provided outside the top of a machine body of the cleaning robot. The support structure comprises: a sliding seat, which is arranged, in a lifting manner, on a rack under driving of a lifting mechanism; a mounting seat, which is adapted to mount the recognition system and is movably arranged on the rack; a trigger part, which is arranged on the mounting seat or is adapted to be arranged on the recognition system; and a trigger piece, which is arranged on a moving path of the trigger part, wherein the mounting seat is driven to move by a collision force, which is generated when the recognition system receives an external obstacle, so as to drive the trigger part to trigger the trigger piece, and the lifting mechanism drives the sliding seat to move downwards in response to the triggering of the trigger piece. By using a method, the own height of the cleaning apparatus is adjusted according to an external environment, a cleaning operation in a low space is realized, and a cleaning capability of an autonomous mobile robot is effectively increased.

Description

A support structure, identification system and cleaning device

This disclosure claims the priority of the following patent application: a Chinese patent application filed with the China Patent Office on June 28, 2021, with the application number 202110722043.0, and the title of the invention is "Support structure and matching structure and cleaning equipment for support structure and identification system" ; Submitted to the China Patent Office on June 28, 2021, the application number is 202121444218.8, and the invention title is "Supporting structure and matching structure and cleaning equipment for the supporting structure and identification system"; Submitted on June 28, 2021 China Patent Office, application number 202121449095.7, Chinese patent application titled "An Identification System and Self-Moving Cleaning Equipment With It"; the entire content of the above patent application is incorporated by reference in this disclosure.

technical field

The present disclosure relates to the technical field of robots, in particular to a support structure, an identification system and cleaning equipment.

Background technique

Cleaning robot is a kind of smart household appliances, which can automatically complete the floor cleaning work in the room by virtue of certain artificial intelligence. Generally speaking, robots that complete cleaning, vacuuming, and mopping the floor are collectively classified as sweeping robots. Sweeping robots are usually equipped with a recognition system for recognizing the surrounding environment during the sweeping process, so as to plan the cleaning path. For example, the identification system may be an LDS lidar identification system, an infrared sensor identification system or an ultrasonic identification system.

However, in the structure of the current sweeping robot, the identification system is generally protruded on the top surface of the sweeping machine, so that the overall height of the sweeping robot increases, that is, the height of the sweeping robot is equal to the height of the sweeping robot body and the obstacle recognition The sum of the heights of the system results in a limited range that the sweeping robot can clean. For example, when the height between the bottom of indoor furniture or other equipment and the ground is less than the height of the sweeping robot and greater than the height of the sweeping robot body, the sweeping robot Just can not clean the ground below furniture or other equipment, therefore, it is necessary to improve the prior art to overcome the said defective in the prior art.

Contents of the invention

The purpose of the present disclosure is to provide a support structure, identification system and cleaning equipment, which can adjust its height according to the external environment, realize cleaning operations in low spaces, expand the cleaning range of the cleaning equipment, and improve the cleaning ability of the cleaning robot.

The purpose of this disclosure is to be achieved through the following technical solutions:

In a first aspect, the present disclosure provides a support structure, which is applied to cleaning equipment. The top of the body of the cleaning equipment is provided with an identification system for detecting the surrounding environment. The drive is installed on the frame in a liftable manner; the mounting base is suitable for installation of the identification system; the mounting base is movably disposed on the frame; the trigger part is located on the mounting base or is suitable for It is set on the identification system; the trigger is set on the movement path of the trigger part; the mounting seat is driven by the recognition system to receive the collision force of external obstacles and moves, driving the trigger part to trigger the The trigger member; the lifting mechanism drives the sliding seat to perform a downward movement in response to the triggering of the trigger member.

In one embodiment, the mounting seat is movably arranged on the sliding seat, and the trigger member is provided on the sliding seat; the triggering part moves with the mounting seat, triggers the trigger.

In one of the embodiments, the mounting seat is vertically floatable on the top of the sliding seat, and the trigger member is located between the top of the sliding seat and the bottom of the triggering part; the support The structure also includes a motion conversion component, which is used to convert at least part of the horizontal motion of the installation base into a vertical motion component, so as to force the trigger part to collide with the trigger part vertically.

In one of the embodiments, the motion conversion assembly includes at least one conversion member, which has a first slope inclined from the sliding seat toward the installation seat; the conversion member is arranged on the installation seat or the sliding seat. On the seat, the mounting seat and the sliding seat are arranged in contact with the first slope surface; at least one elastic member is arranged between the sliding seat and the mounting seat, and the mounting seat is supported by the elastic member The biasing force drives the sliding seat and the installation seat to keep abutting against the top of the first slope.

In one of the embodiments, the conversion piece includes at least two mounting holes and at least one sliding rod, one of which is arranged on the mounting seat, and the other is arranged on the sliding seat; The wall of the hole is the first slope; the two ends of the sliding rod respectively pass through at least one of the installation holes.

In one of the embodiments, the top of the sliding seat is provided with a downwardly recessed installation cavity; the installation seat is embedded in the installation cavity, and in the overlapping side walls of the installation seat and the sliding seat, a The mounting hole is provided on the side wall, and the sliding rod is provided on the other side wall.

In one of the embodiments, the mounting base is provided with a through-hole area; the trigger part is provided on the bottom of the identification system, the trigger is located in the through-hole area, and the mounting base is Driven by the collision force to move, the trigger part is forced to collide with the trigger member.

In one embodiment, a mounting protrusion or a mounting groove is provided on the top of the mounting base, and the mounting protrusion or mounting groove is used for plugging and fitting of the identification system; and/or the trigger is trigger switch;

In one of the embodiments, the lifting mechanism includes a driver, which is arranged on the frame and connected with the trigger, and is used to execute the control signal of the trigger; a power part and a transmission part, and the power part The bottom of the drive is fixed on the shaft of the driver, the top of the power part is hinged on the bottom of the transmission part; the top of the transmission part is hinged on the bottom of the sliding seat; and the guide assembly is used to guide The sliding seat moves up and down vertically.

In one of the embodiments, the guide assembly includes at least one guide piece and at least one guide sleeve, one of which is arranged on the frame, and the other is arranged on the sliding seat; the guide sleeve has a A vertically extending guide channel, the guide sleeve is sleeved on the outside of the guide member.

In a second aspect, the present disclosure provides a matching structure of a support structure and an identification system, including the above-mentioned support structure; the identification system is provided on the mounting seat of the support structure.

In a third aspect, the present disclosure provides a cleaning device, including a body of the cleaning device, which has an installation area inside, and a top opening communicating with the installation area; the matching structure as mentioned above, the support of the matching structure A structure is arranged in the installation area, and the identification system is driven by the support structure to switch between an extended state extending out of the top opening and a contracted state retracting into the installation area.

With the development of science and technology and social progress, more and more families use self-moving cleaning equipment such as washing machines and mopping machines to replace traditional mops for mopping and mopping. In order to ensure that the self-moving cleaning equipment can cope with the complex environment to be cleaned, it usually sets a distance measuring mechanism on the fuselage to measure the distance between it and the target site, so as to avoid collisions with obstacles during the cleaning process; in addition, the distance measuring mechanism also It can draw a map of the site to be cleaned from the mobile cleaning equipment to plan the cleaning path. However, in order to facilitate the distance measurement by the distance measuring mechanism and avoid the occlusion of the fuselage, it is usually arranged on the upper end of the fuselage, which will increase the overall height of the device, making it difficult for the device to enter a low space for cleaning. Therefore, it is necessary to improve the prior art to overcome the defects in the prior art.

Based on this, in the fourth aspect, the present disclosure also provides an identification system applied to self-moving cleaning equipment, including: a distance measuring mechanism arranged outside the top of the fuselage of the self-moving cleaning equipment, and the distance measuring mechanism has The first state exposed on the outside of the fuselage and the second state accommodated in the fuselage; the lifting mechanism is arranged in the fuselage and supported under the distance measuring mechanism; and the sensing unit , set on the fuselage and connected with the lifting mechanism, the sensing unit is configured to judge the height of external obstacles to form a driving signal for controlling the lifting mechanism; wherein, the lifting mechanism The ranging mechanism is driven to switch between the first state and the second state in response to a driving signal of the sensing unit.

In one embodiment, the moving direction of the self-moving cleaning device is forward, the distance measuring mechanism is located at the rear of the fuselage, and at least one of the sensing units is arranged on the top of the fuselage. When the distance measuring mechanism is in the first state, the distance measuring mechanism is higher than the sensing unit.

In one embodiment, the moving direction of the self-moving cleaning device is forward, and at least one of the sensing units is distributed on the front side of the distance measuring mechanism.

In one embodiment, a plurality of sensing units are distributed on the front side, left side and right side of the distance measuring mechanism.

In one of the embodiments, the identification system further includes: a first trigger mechanism, arranged between the distance measuring mechanism and the lifting mechanism, and connected to the lifting mechanism, the distance measuring mechanism can move the device Above the lifting mechanism, the first trigger mechanism is triggered in response to the collision between the distance measuring mechanism and an obstacle, so that the distance measuring mechanism switches from the first state to the second state; And/or the second trigger mechanism is arranged at the front part of the fuselage and is connected with the lifting mechanism. The front part of the fuselage is floating with a striker body, and the second trigger mechanism The collision between the collision plate body and the obstacle is triggered, so that the distance measuring mechanism switches from the first state to the second state.

In one embodiment, the first trigger mechanism includes a trigger switch and an elastic element, and the trigger switch is connected to the lifting mechanism; wherein, the elastic element is configured to make the distance measuring mechanism float on the above the lifting mechanism.

In one of the embodiments, when the first trigger mechanism is provided between the distance measuring mechanism and the lifting mechanism, a motion conversion structure is provided between the distance measuring mechanism and the lifting mechanism, The motion conversion structure is configured such that when the distance measuring mechanism collides in the running direction, the horizontal displacement component generated by the collision force of the distance measuring mechanism in the running direction is at least partially converted into a vertical displacement component; wherein, The horizontal displacement component is smaller than the vertical displacement component.

In one of the embodiments, the motion conversion structure includes a guide groove and a limit rod, one of which is arranged at the bottom of the distance measuring mechanism, and the other is arranged at the top of the lifting mechanism, and the two ends of the limit rod through the guide groove; wherein, the guide groove is inclined relative to the horizontal plane, so that the distance measuring mechanism has a downward and backward movement posture.

In one embodiment, a first perspective window is provided on the side wall of the fuselage close to the distance measuring mechanism, and the first perspective window is configured to facilitate The distance measuring mechanism senses the external environment.

In the fifth aspect, the present disclosure also provides a self-moving cleaning device, including: the aforementioned identification system; a fuselage with an installation area inside, the top opening of the installation area is set, and the distance measuring mechanism of the identification system is set in the top opening.

Compared with the prior art, the present disclosure has the following beneficial effects:

The support structure provided by the first aspect of the present disclosure, the matching structure between the support structure and the identification system provided by the second aspect, and the cleaning equipment provided by the third aspect are triggered by mechanical collisions. After the identification system collides with external obstacles, the installation The seat is driven by the recognition system to receive the collision force of external obstacles, and the trigger part moves with the mounting seat to trigger the trigger. After receiving the control signal of the trigger, the lifting mechanism drives the sliding seat to move down to realize the height of the recognition system. further, the identification system of the cleaning equipment is set on the supporting structure, when encountering a low space such as the bottom of the sofa or the bottom of the bed, the identification system can be retracted into the body, thus, the cleaning equipment can achieve low space The cleaning operation effectively improves the cleaning ability and has the advantage of being easy to use.

The identification system provided in the fourth aspect of the present disclosure and the cleaning equipment provided in the fifth aspect can adjust the height of the whole machine in time according to the information of surrounding obstacles, so that the washing machine can enter a low space for cleaning operations. When the washing machine encounters a low space, the sensing unit on the body sends a driving signal to the lifting mechanism, driving the distance measuring mechanism to retract into the body. At this time, the washing machine can smoothly enter the low space for cleaning operations. When the washing machine runs to the outside of the low space, under the action of the driving signal of the sensing unit, the lifting mechanism drives the distance measuring mechanism to lift upwards, which is convenient for switching and effectively improves the cleaning ability.

Description of drawings

The drawings described here are used to provide a further understanding of the present disclosure, and constitute a part of the present disclosure. The schematic embodiments of the present disclosure and their descriptions are used to explain the present disclosure, and do not constitute improper limitations to the present disclosure. In the attached picture:

FIG. 1 is a schematic diagram of a three-dimensional structure of a support structure proposed in the present disclosure;

Fig. 2 is a schematic diagram of the structure of Fig. 1 in the direction of the main view;

Fig. 3 is the sectional structure schematic diagram of Fig. 1;

Fig. 4 is a schematic diagram of an exploded structure of Fig. 1;

Fig. 5 is a schematic structural view of the lifting mechanism in Fig. 1;

Fig. 6 is a schematic structural view of the sliding seat in Fig. 1;

Fig. 7 is a schematic diagram when the sliding bar is at the low end;

Fig. 8 is a schematic diagram when the sliding bar is at the high end;

Fig. 9 is a schematic diagram when the identification system completes the upward movement;

Fig. 10 is a schematic diagram when the identification system completes the descending motion;

FIG. 11 is a schematic diagram of a cleaning device proposed by the present disclosure;

Fig. 12 is a partial structural exploded schematic diagram of Fig. 13;

Fig. 13 is a perspective view of the self-moving cleaning device proposed in the present disclosure;

Fig. 14 is a schematic diagram of the decorative cover in Fig. 13 when it is in an open state;

Fig. 15 is a schematic view of the self-moving cleaning device proposed in the present disclosure in the upward direction;

Fig. 16 is an exploded schematic diagram between the second cleaning part and the installation cavity in Fig. 15;

Fig. 17 is a schematic cross-sectional structure diagram of Fig. 13;

Fig. 18 is a schematic diagram of an enlarged structure of area A in Fig. 17;

Fig. 19 is an exploded schematic view between the fuselage and the ranging mechanism in Fig. 13;

Figure 20 is a schematic diagram of a circulation system of the present disclosure;

Fig. 21 is a schematic structural view of the striking plate assembly in the present disclosure;

Fig. 22 is an exploded schematic view of Fig. 11;

Fig. 23 is a schematic diagram of the connection relationship between the second cleaning element and the driver in the present disclosure;

Fig. 24 is a schematic cross-sectional structure diagram of a second cleaning member in the present disclosure;

Fig. 25 is a schematic diagram of an enlarged structure of area B in Fig. 24;

Fig. 26 is a schematic structural view of the side-drawn end cover in Fig. 25;

Fig. 27 is a schematic diagram of the positional relationship between the opening of the side wall and the first connecting part in Fig. 25;

Fig. 28 is a schematic diagram of an enlarged structure of area C in Fig. 27;

Fig. 29 is a schematic cross-sectional view between the first cleaning element and the dust box in Fig. 13;

Fig. 30 is a schematic diagram of the positional relationship between the mounting seat, the dust collecting box, the first box body and the second box body in the present disclosure;

Figure 31 is an exploded schematic view of Figure 30;

Figure 32 is a perspective view of the dust box in the present disclosure;

Fig. 33 is a schematic diagram of the upper cover of the dust box in the open state in the present disclosure;

Fig. 34 is an exploded schematic diagram of a filter unit in the present disclosure;

35 is a schematic cross-sectional view of the dust box in the present disclosure;

Fig. 36 is a schematic diagram of the positional relationship between the support structure and the fuselage in the present disclosure;

Fig. 37 is a schematic diagram of the positional relationship between the ranging mechanism and the sensing unit in the present disclosure;

Fig. 38 is an exploded schematic diagram between the ranging mechanism and the supporting structure in the present disclosure;

Fig. 39 is a schematic view of the distance measuring mechanism and supporting structure in the upward direction according to the present disclosure.

detailed description

Exemplary embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. If there are several specific embodiments, the features of these embodiments can be combined with each other under the condition of no conflict. When the description refers to the drawings, unless otherwise stated, the same numerals in different drawings identify the same or similar elements. What is described in the following exemplary detailed description does not represent all implementations consistent with the present disclosure; rather, they are only consistent with some aspects of the disclosure described in the claims of the present disclosure Examples of devices, products and/or methods.

Terms used in the present disclosure are only for the purpose of describing specific embodiments, and are not intended to limit the protection scope of the present disclosure. As used in the specification and claims of this disclosure, the singular forms "a", "the" or "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

It should be understood that words such as "first", "second" and similar words used in the description and claims of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish the nomenclature of features . Likewise, words like "a" or "one" do not denote a limitation in quantity, but indicate that there is at least one. Unless otherwise indicated, terms such as "front", "rear", "upper" and "lower" appearing in the present disclosure are for convenience of description only and are not limited to a specific position or a spatial orientation. "Includes" or "comprising" and other similar words are an open-ended expression, meaning that the elements appearing before "comprising" or "comprising" cover the elements appearing after "comprising" or "comprising" and their equivalents, This does not exclude that elements appearing before "comprising" or "comprising" may also contain other elements. If "several" appears in the present disclosure, it means two or more than two.

Referring to FIGS. 1 to 10 , the present disclosure provides a support structure, which is applied to a cleaning robot. The top of the body 700 of the cleaning robot is provided with an identification system 600 for detecting the surrounding environment. The support structure includes: The sliding base 200 is driven by the elevating mechanism 300 and is mounted on the frame 800; the mounting base 100 is suitable for installation of the identification system 600; the mounting base 100 is movably mounted on the frame 800; the triggering part is provided The mounting base 100 is suitable for being installed on the identification system 600; the trigger member 400 is located on the movement path of the triggering part; the mounting base 100 is driven by the collision force of the external obstacle received by the identification system 600 and moves, driving the triggering part to trigger The trigger 400 ; the lifting mechanism 300 drives the slide seat 200 to move down in response to the trigger of the trigger 400 .

In the present disclosure, the support structure is used for height adjustment of the identification system 600 to be suitable for different working environments. The identification system 600 is an LDS laser radar identification system. Of course, the identification system 600 includes but is not limited to the above structure, and can also be for other mutual inductance systems. The recognition system 600 realizes height adjustment through the trigger and response relationship among the trigger part, the trigger part 400 and the lifting mechanism 300 . The triggering of the trigger 400 includes the following two ways, one way: mechanical collision triggering, after the recognition system 600 collides with an external obstacle, the mounting base 100 is driven by the recognition system 600 to receive the collision force of the external obstacle to move, The trigger part moves together with the mounting base 100 to trigger the trigger 400, and the lifting mechanism 300 drives the sliding seat 200 to move down after receiving the control signal of the trigger 400 to realize the adjustment of the height of the identification system 600; another way: signal triggering The height of external obstacles is detected by the trigger part on the recognition system 600. When the trigger part detects an abnormal obstacle, the trigger part 400 is triggered by a signal, and the lifting mechanism 300 drives the sliding seat after receiving the control signal of the trigger part 400. 200 performs a downward movement, thereby realizing the adjustment of the height of the recognition system 600 . The trigger mode of the mechanical collision trigger is described in detail below, as follows.

In the present disclosure, a mounting protrusion or a mounting groove is provided on the top of the mounting base 100 , and the mounting protrusion or mounting groove is used for plugging and fitting of the identification system 600 , which has the advantages of convenient installation and stable and reliable connection. The mounting base 100 is vertically floatable on the top of the sliding base 200 , the triggering element 400 is disposed on the sliding base 200 , and the triggering element 400 is located between the top of the sliding base 200 and the bottom of the triggering portion. The trigger part moves with the mounting base 100 and triggers the trigger 400 by colliding with the trigger 400 , wherein the trigger 400 is a trigger switch, and the trigger 400 is preferably a push-type trigger switch. Specifically, the trigger 400 is located at the center of the sliding seat 200 , and the sliding seat 200 is provided with an installation groove 230 for installing the trigger 400 , and the trigger 400 is installed and positioned on the sliding seat 200 through the installation groove 230 .

In order to ensure that the mounting base 100 moves on a predetermined path, so as to ensure that the trigger part can trigger the triggering part 400 smoothly, the support structure further includes a motion conversion component, which is used to at least partially convert the horizontal motion of the mounting base 100 subjected to the collision force into a vertical motion. The component of the movement forces the trigger part to collide with the trigger 400 in the vertical direction. The motion conversion assembly includes at least one conversion member 900 and at least one elastic member 500. Considering the stability and reliability of the connection, the number of conversion members 900 is a pair, and the number of elastic members 500 is 2 to 5. Preferably, The number of the elastic members 500 is three, and the three elastic members 500 are distributed in a triangular shape.

Further, the conversion member 900 has a first slope inclined from the sliding seat 200 toward the installation seat 100, the conversion member 900 is arranged on the installation seat 100 or the sliding seat 200, and the installation seat 100 and the sliding seat 200 contact each other through the first slope surface. connection settings. The conversion member 900 includes at least two mounting holes 110 and at least one sliding rod 210, one of which is arranged on the mounting seat 100, and the other is arranged on the sliding seat 200, and the wall of the mounting hole 110 is the above-mentioned first slope surface, Both ends of the sliding rod 210 are passed through at least one mounting hole 110 respectively, wherein the sliding rod 210 is in the shape of an elongated cylinder, and the mounting hole 110 is in the shape of a racetrack. The mounting hole 110 and the sliding rod 210 can also limit the floating displacement of the mounting seat 100 , which has the advantages of simple structure, stable and reliable connection, and precise movement. The elastic member 500 is disposed between the sliding seat 200 and the installation seat 100 , and the installation seat 100 is biased by the elastic member 500 to drive the sliding seat 200 and the installation seat 100 to keep abutting against the top of the first slope. The elastic member 500 can also be understood as being used to make a displacement distance exist between the installation seat 100 and the sliding seat 200 and to drive the identification system 600 to reset after a collision of the identification system 600 . The top end of the elastic member 500 is connected to the mounting seat 100 , and the bottom end of the elastic member 500 is connected to the sliding seat 200 . The elastic member 500 is preferably a spring and is generally distributed vertically. Wherein, the end surface of the sliding seat 200 close to the elastic member 500 is provided with a limiting protrusion 220 , and the bottom end of the elastic member 500 engages with the limiting protrusion 220 to realize the positioning of the elastic member 500 .

In order to reduce the size of the support structure in the vertical direction, the overall structure of the support structure is compact. The top of the sliding seat 200 is provided with a downwardly recessed installation cavity, and the installation seat 100 is embedded in the installation cavity, which effectively utilizes the vertical space, and the installation method in which the installation seat 100 is embedded in the installation cavity can also play a role of motion guidance, with The advantages of stable and reliable movement. Among the overlapping side walls of the mounting seat 100 and the sliding seat 200 , a mounting hole 110 is provided on one side wall, and a sliding rod 210 is provided on the other side wall. In order to further reduce the size of the supporting structure in the vertical direction, as shown in the figure, the mounting base 100 is provided with a through hole area 120, the trigger part is provided on the bottom of the identification system 600, and the trigger part 400 is located at In the through hole area 120 , the mounting seat 100 is driven by the collision force to move, forcing the trigger part to collide with the trigger part 400 , thereby making the support structure compact and occupy less space.

In the present disclosure, the lifting mechanism 300 includes a driver 310, a power member 320, a transmission member 330, and a guide assembly 340, wherein the driver 310 is preferably a motor with a rotary motion output, and the guide assembly 340 is used to guide the sliding seat 200 to move vertically. Lifting movement. The driver 310 is arranged on the frame 800 and connected with the trigger 400 for executing the control signal of the trigger 400 . The bottom of the power part 320 is fixed on the rotating shaft of the driver 310 , the top of the power part 320 is hinged on the bottom of the transmission part 330 , and the top of the transmission part 330 is hinged on the bottom of the sliding seat 200 . The guide assembly 340 includes at least one guide piece 341 and at least one guide sleeve 342, one of which is arranged on the frame 800, and the other is located on the sliding seat 200, the guide sleeve 342 has a guide channel extending vertically, and the guide sleeve 342 is sleeved on the outside of the guide 341. In order to make the sliding seat 200 have better motion stability, the number of guide pieces 341 is set to three, and the guide pieces 341 are arranged in a triangular shape. It can be understood that the lifting mechanism 300 includes but is not limited to the above structure, and may also be an electric device capable of linear reciprocating motion such as a cylinder and a screw unit.

The frame 800 is also provided with a first micro switch 323 and a second micro switch 324, the first micro switch 323 and the second micro switch 324 are arranged near the end of the guide 341, the first micro switch 323 is configured In order to define the upper limit position of the sliding seat 200, and make the sliding seat 200 remain at the above-mentioned upper limit position; the second microswitch 324 is configured to limit the lower limit position of the sliding seat 200, and make the sliding seat 200 remain at the above-mentioned lower limit position . A first abutting block 240 for cooperating with the first micro switch 323 and a second abutting block 250 for cooperating with the second micro switch 324 protrude outward from the edge of the sliding seat 200 .

In order to realize the rapid lifting of the identification system 600, in the present disclosure, the power part 320 can complete the downward movement or the upward movement of the sliding seat 200 by turning half a circle, and the above-mentioned "half circle" refers to: the rotation angle is 180° rotation. Through the above method, the time required for the sliding seat 200 to complete the downward or upward movement is 0.3 s, which effectively shortens the response time. Therefore, the support structure has the advantages of high lifting efficiency and fast response.

It can be understood that the support structure in the present disclosure can be applied to different usage scenarios, which will be described with examples below.

The support structure in the present disclosure can be applied to the matching structure of the support structure and the identification system. Wherein, the matching structure of the support structure and the identification system includes: the support structure as mentioned above; the identification system 600 is provided on the mounting seat 100 of the support structure.

The support structure in the present disclosure also finds application in cleaning equipment. Please refer to Fig. 11 and Fig. 12, the cleaning equipment includes: the body 700 of the cleaning equipment, which has an installation area M inside, and a top opening communicating with the installation area M; the matching structure as mentioned above, the support of the matching structure The structure is arranged in the installation area M, and the identification system 600 is driven by the support structure to switch between the extended state protruding out of the top opening and the contracted state retracted into the installation area M. The identification system 600 includes an identification system body 610 disposed on the top of the mounting base 100 and an outer cover 620 disposed on the periphery of the identification system body 610 , and the outer cover 620 is used to protect the identification system body 610 . The recognition system 600 is configured to generate a surrounding environment image of the self-mobile robot, and set a walking route of the self-mobile robot according to the surrounding environment image.

Cleaning equipment is a robot that can perform the required cleaning operations in an environment without human guidance. For the sake of illustration, the floor-sweeping robot is taken as an example. The height of 700 is lower than the bottom of the sofa, but the overall height of the body 700 and the recognition system 600 is higher than the bottom of the sofa. At this time, the recognition system 600 collides with the bottom of the sofa. The receding direction of the sofa is the rear, and the bottom of the sofa generates a horizontal thrust F from the front to the rear on the recognition system 600. direction movement, so that the trigger 400 is triggered, and the trigger 400 sends a control signal to drive the lifting mechanism 300 to drive the sliding seat 200 down after triggering. When the sweeping robot recognizes that the body 700 has left the low space through other recognition devices on it, the lifting mechanism 300 receives a signal and drives the recognition system 600 to return to the working state to continue cleaning. Therefore, the self-moving robot can realize the cleaning operation in a low space, effectively improve the cleaning ability, and has the advantage of being convenient to use.

Thus, after the horizontal thrust F generated by the collision acts on the recognition system 600 , the mounting base 100 moves backward and downward under the joint action of the mounting hole 110 and the sliding rod 210 , and then drives the triggering part to trigger the triggering part 400 . In the present disclosure, the movement of the mounting base 100 is very small, which can be regarded as a micro-motion, and the micro-motion distance in the front, rear and height directions is 2 mm. The mounting hole 110 has a high end M close to the identification system 600 and a low end N far away from the identification system 600 . When the identification system 600 does not collide with an obstacle, please refer to the figure, the sliding bar 210 is located at the lower end N; when the identification system 600 collides with an obstacle, please refer to FIG. Driven to move backward and downward, at this time, the slide bar 210 is located at the high end M.

The structure of the support structure and cleaning equipment has been fully described above, and those skilled in the art will understand the following movement process:

When the recognition system 600 collides with an obstacle, the recognition system 600 drives the mount 100 to move backward and downward, and the trigger part at the bottom of the recognition system 600 touches the above-mentioned trigger 400, the trigger 400 generates a control signal, and the driver 310 receives the above-mentioned control signal After driving the power part 320 to rotate, when the power part 320 rotates 180°, the sliding seat 200 completes the downward movement, and the sliding seat 200 is at the lower limit position. At this time, the second abutting block 250 of the sliding seat 200 triggers the second micro switch 324, the driver 310 stops rotating after receiving the signal of the second micro switch 324, so that the sliding seat 200 remains at the lower limit position; when the driver 310 receives the external signal, it drives the power part 320 to rotate 180° again, and the sliding seat 200 is moved by the lower limit position. The limit position moves to the upper limit position to complete the upward movement. At this time, the first abutment block 240 of the sliding seat 200 triggers the first micro switch 323, and the driver 310 stops rotating after receiving the signal of the first micro switch 323, so that the sliding Seat 200 remains in the upper limit position.

Please refer to Fig. 13 to Fig. 39, the present disclosure provides a self-moving cleaning device, including: a body 91100, the bottom of which is provided with a first dust suction port F and an installation cavity Z; The bottom of the fuselage 91100 is used to drive the fuselage 91100 forward or backward; the universal wheel is rotatably arranged at the bottom of the fuselage 91100 and is used to assist the fuselage 91100 to advance or retreat; the first cleaning part 91200 is rotatable to set In the first suction port F, it is used to clean the surface to be cleaned; the second cleaning part 91300 is rotatably installed on the bottom of the body 91100, and is used to wet mop the surface to be cleaned. The second cleaning part 91300 is cleaner than the first The part 91200 is located behind the forward direction of the fuselage 91100; the dust collection box 91400 is located in the fuselage 91100, and the dust collection box 91400 has a dust collection chamber connected with the first dust suction port F, under the action of the first suction force, It is used to collect the dirt cleaned by the first cleaning part 91200. Wherein, the dust collecting box 91400 is at the rear of the fuselage 91100 advancing direction compared with the first cleaning part 91200, the driving wheel set is at the rear of the advancing direction of the fuselage 91100 compared with the second cleaning part 91300, and the universal wheel is at the rear of the machine body 91200 compared with the first cleaning part 91200. In front of the forward direction of the body 91100, the first cleaning part 91200 and the second cleaning part 91300 are in the shape of cleaning rollers, and the outer peripheral surfaces of the first cleaning part 91200 and the second cleaning part 91300 are used to clean the cleaning surface of the surface to be cleaned. The cleaning surface of the first cleaning part 91200 is in contact with the surface to be cleaned to achieve the purpose of dust removal, and the cleaning surface of the second cleaning part 91300 is in contact with the surface to be cleaned to achieve the purpose of wet mopping.

The above-mentioned self-moving cleaning equipment is a robot capable of performing required cleaning operations in an environment without human guidance. The floor-cleaning robot with the floor function has the floor-mopping function alone: only a rotating mop is provided at the bottom of the fuselage 91100, and the ground is cleaned by the rotation of the mop. The above-mentioned floor-cleaning robot is hereinafter referred to as a floor-cleaning machine.

In the present disclosure, the first cleaning part 91200 is used to clean the surface to be cleaned. During the rotation of the first cleaning part 91200, the dirt adhered to the surface to be cleaned can be loosened, and the dust on the surface to be cleaned can be blown away. up to facilitate dust collection. When the floor washing machine is working, the first suction force is generated in its body 91100, and under the action of the first suction force, the dirt on the surface to be cleaned enters the dust collection box 91400 through the first suction port F cavity. The dust collection chamber includes a dust inlet 91410 that allows dust gas to enter the dust collection chamber and an air outlet 91420 that allows clean air to flow out of the dust collection chamber. The dust inlet 91410 is located above the first cleaning part 91200. The first cleaning part 91200 is connected to Between the dust inlet 91410, there is a dust gas channel V for the circulation of dust gas. The dust gas channel V communicates with the first cleaning part 91200 and the dust inlet 91410 of the dust collection chamber. The dust gas channel V is arc-shaped or inclined straight line shape or any shape that facilitates the flow of dust and air. The top of the dust collection chamber is detachably equipped with a filter unit 91430. The dust gas inhaled by the dust collection chamber is filtered by the filter unit 91430, and the clean gas generated is discharged from the dust collection box 91400 through the air outlet 91420, and the dust is collected in the dust collection box 91400. . Considering that the dust collection box 91400 on the washing machine needs to be cleaned in time after it is filled with garbage, if it is not cleaned in time, the cleaning effect of the washing machine will be affected. Therefore, the bottom of the dust collection chamber is provided with an air guide unit H for docking with external equipment for dust discharge.

In the present disclosure, the air guiding unit H includes an air inlet 91460 capable of allowing the suction airflow generated by external equipment to enter the dust collection chamber and a dust outlet 91470 capable of discharging the dirt in the dust collection chamber out of the dust collection box 91400, and the air inlet 91460 and the dust outlet 91470 are all communicated with the dust collection cavity of the dust collection box 91400. After the floor scrubber cooperates with the external equipment, the dust outlet 91470 and the air inlet 91460 are adapted to communicate with the first recovery box of the external equipment. The air inlet 91460 and the dust outlet 91470 are located at the rear of the forward direction of the fuselage 91100 compared with the second cleaning part 91300; The air inlet interface 911123 corresponding to the air inlet 91460, and the dust outlet interface 911124 corresponding to the dust outlet 91470. When the dust discharge interface 911124 and the air intake interface 911123 of the floor washing machine cooperate with external equipment, the dust collection chamber is forced to communicate with the first recovery box. When the scrubber cooperates with the external equipment, the second suction force generated by the external equipment will form a suction airflow in the dust collection box 91400, which is used to transfer the dirt in the dust collection chamber to the first recovery box. Thus, the automatic ash discharge operation of the dust collection box 91400 can be realized through the air guide unit H of the dust collection box 91400, which avoids the user from manually pouring ash, and has the advantage of being convenient to use.

In order to prevent the dirt in the dust collection chamber from being scattered into the external environment through the air inlet 91460 and the dust outlet 91470 in the dust suction state. There is a first valve unit at the air inlet 91460, and a second valve unit at the dust outlet 91470; the first valve unit has a closed state for closing the air inlet 91460 and an open state for opening the air inlet 91460; the second valve unit has a closed state. The closed state of the dust discharge port 91470 and the open state of the dust discharge port 91470 are opened. When the dust collection box 91400 is docked with external equipment, the first valve unit and the second valve unit respectively respond to the action of the suction airflow to make the air inlet 91460 and the dust outlet 91470 switch from the closed state to the open state, so that the dust collection The box 91400 can be docked with external equipment to realize automatic dust removal. During the above process, the second suction force drives both the first valve unit and the second valve unit to open so that the dust collecting chamber communicates with the first recovery box.

Specifically, the first valve unit includes a first baffle 91461, the first baffle 91461 is located in the dust collection chamber, and the first baffle 91461 is made of elastic material, preferably rubber material. The top edge of the first baffle plate 91461 is fixed on the wall of the dust collecting chamber, and the other edges of the first baffle plate 91461 are free edges, and the free edges refer to: no connection relationship with the dust collecting chamber. Thus, when the first baffle 91461 is acted by the second suction force, it can be opened toward the inside of the dust collection chamber, and the dirt in the dust collection chamber has the tendency to move inward under the action of the first baffle 91461 It can prevent the dirt in the dust collecting cavity from being scattered into the external environment through the air inlet 91460 when the first baffle plate 91461 is in an open state. The second valve unit includes a second baffle 91471, the second baffle 91471 is pivotally connected to the dust outlet 91470, and the pivot shaft is located on the top of the second baffle 91471. The second baffle 91471 is located outside the dust collection chamber, and the second baffle 91471 is opened toward the outside of the dust collection chamber by the second suction force. The purpose of this setting is to prevent the second baffle 91471 from opening The dirt in the dust chamber is pulled out of the dust collection chamber, which is also for preventing the dirt in the dust collection chamber from being scattered into the external environment.

In order to prevent the fuselage 91100 from colliding with obstacles, the second baffle plate 91471 deviates from the dust outlet 91470 under the action of external force, and the dust outlet 91470 is also equipped with an adsorption structure. The function of the adsorption structure is: when the fuselage 91100 When not cooperating with external equipment, it prevents the second baffle plate 91471 from deviating from the dust outlet 91470 under the action of external force to prevent dirt from leaking out. In one embodiment, the adsorption structure includes a first magnetic part 91472 and a second magnetic part 91473, and the magnetic forces of the first magnetic part 91472 and the second magnetic part 91473 are opposite. The second magnetic part 91473 is arranged at the bottom of the second baffle 91471, and the first magnetic part 91472 is arranged at the bottom of the dust collecting chamber. The second baffle plate 91471 is tightly abutted against the dust discharge port 91470 under the magnetic action of the first magnetic part 91472 and the second magnetic part 91473, which can effectively prevent the dirt in the dust collection chamber of the floor washing machine during the cleaning task. Leakage. It can be understood that the magnetic adsorption force generated by the first magnetic member 91472 and the second magnetic member 91473 is smaller than the second suction force, so that the second baffle plate 91471 can operate under the pressure of the second suction force during the dust removal operation. Opened smoothly under action. Of course, the adsorption structure includes but is not limited to the above-mentioned structures, and may also be other structures with adsorption function, which will not be repeated here.

Further, the filter unit 91430 includes a filter part 91431 and a hard hollow part 91432, and the hard hollow part 91432 and the filter part 91431 are fixed to form a whole; wherein, the hard hollow part 91432 is located in the filter unit 91430 near the inside of the dust collection chamber On the one hand, the hard hollow part 91432 is used to prevent the sharp particles in the dust gas in the dust collecting cavity from damaging the filter part 91431. The filter element 91431 is Hypa, and the hard hollow element 91432 is steel wire mesh. It can be understood that the filter element 91431 and the hard hollow element 91432 include but are not limited to the above forms, and can also be other objects with the same function.

In order to facilitate the replacement of the filter unit 91430, the top of the dust box 91400 is pivotally connected with an upper cover 91440, and the upper cover 91440 has an open state and a closed state; when the upper cover 91440 is in an open state, the filter element 91431 is exposed on the top of the dust box 91400 ; When the upper cover 91440 is closed, the filter element 91431 is sealed in the dust box 91400. A limit block 91441 is provided on the surface of the upper cover 91440 near the side of the filter element 91431. When the upper cover 91440 is in a closed state, the limit block 91441 abuts against the top of the filter element 91431, and the limit block 91441 has an installation limit for the filter element 91431. The function of the position prevents the filter unit 91430 from loosening when the washing machine encounters vibration. Therefore, the filter unit 91430 has the advantages of stable and reliable connection and good installation effect.

In the present disclosure, one end of the second cleaning part 91300 is rotatably provided with a side-drawing end cover unit 91310 , and the second cleaning part 91300 is detachably connected to the body 91100 through the side-drawing end cover unit 91310 . The other end of the second cleaning element 91300 is in transmission connection with the driver 91900 provided in the body 91100 and is driven by the driver 91900 to rotate. The second cleaning part 91300 has a rotation axis. The second cleaning part 91300 is detachably arranged in the installation cavity Z along the direction of the rotation axis. The rotation axis of the second cleaning part 91300 is perpendicular to the forward direction of the scrubber. The installation chamber Z is arranged on the outer wall surface of the bottom of the fuselage 91100. The installation chamber Z is an installation groove with an open opening on the bottom and the side wall. The second cleaning part 91300 is detachably arranged in the installation chamber Z from the side wall opening 911125. Inside, the side wall opening 911125 of the installation cavity is located on the side wall of the fuselage 91100.

Further, please refer to FIG. 23 to FIG. 28 , the side-drawing end cover unit 91310 includes a side-drawing end cover 91311, and the side-drawing end cover 91311 is rotated at one end of the second cleaning part 91300 through a bearing 91312 and a rotating shaft 91313. The cleaning part 91300 is detachably connected with the main body 91100 through the side cover 91311 . The second cleaning part 91300 includes a second cleaning part main body 913001 which is a hollow cylinder, a driven end cover 913002 and a driving end cover 913003 arranged on opposite ends of the second cleaning part main body 913001, and the driven end cover 913002 There is a side-drawing end cover 91311 for the upper rotation, and the active end cover 913003 is connected to the driver 91900 through transmission. Wherein, a bearing 91312 is fixed inside the driven end cover 913002, and a rotating shaft 91313 runs through the driven end cover 913002 along the rotation axis direction of the second cleaning member 91300. 91311 is fixedly connected, and the other end of the rotating shaft 91313 is located in the driven end cover 913002 and connected with the bearing 91312. The driver 91900 is connected with an output end 91910, and the active end cover 913003 of the second cleaning part 91300 abuts against the output end 91910. After the second cleaning part 91300 is installed in the installation cavity Z of the fuselage 91100, the end cover 91311 and the output end cover 91311 are drawn sideways. End 91910 forms an end support for second cleaning element 91300 . Therefore, it has the advantages of convenient installation and stable and reliable support.

Further, the side draw end cover 91311 is matched with the side wall opening 911125, at least one first connecting part 911126 is provided at the side wall opening 911125, and at least one first connecting part 911126 is provided on the side draw end cover 91311. The second connection part 913111 and the side drawer end cover 91310 are connected to the fuselage 91100 through the cooperation between the first connection part 911126 and the second connection part 913111 . The connection ways between the first connecting part 911126 and the second connecting part 913111 include but not limited to the following ways: In one way, the first connecting part 911126 is a turnbuckle distributed along the circumferential direction of the second cleaning part 91300, and the second The connecting part 913111 is a clamping block distributed along the circumferential direction of the second cleaning part 91300; in another way, the first connecting part 911126 is the first screw thread provided at the opening 911125 of the side wall, and the second connecting part 91311 is The second thread provided on the outer circumferential surface of the side extraction end cover 91310, wherein the first thread and the second thread match.

In order to prevent the side-drawing end cover 91311 from loosening when the scrubber is working, a circumferential limit structure is provided between the side-drawing end cover 91311 and the body 91100 . The circumferential limiting structure includes grooves 913112 and ribs 911127 distributed along the direction of the rotation axis of the second cleaning member 91300, and the grooves 913112 and ribs 911127 are engaged; wherein, one of the second connecting part 91311 and the body 91100 One is provided with a groove 913112, and the other is provided with a rib 911127.

In this disclosure, a first box body 91500 and a second box body 91600 are also provided on the body 91100, and any one of the dust collection box 91400, the first box body 91500 and the second box body 91600 is detachably arranged on the machine body. body 91100, and the first box body 91500 and the second box body 91600 are distributed outside the opposite side walls of the dust collecting box 91400. Preferably, the dust collection box 91400 , the first box body 91500 and the second box body 91600 are all adapted to be detachably arranged in the body 91100 . The fuselage 91100 is also provided with a mounting seat 91130, the first box body 91500, the dust collection box 91400 and the second box body 91600 are respectively detachably arranged on the mounting seat 91130, the first box body 91500 and the second box body 91600 are It is arranged on both sides of the dust collecting box 91400 in an axisymmetric manner, and the mounting base 91130 is detachably arranged in the body 91100. The mounting base 91130 is provided with first grooves, second grooves and third grooves which are distributed sequentially and at intervals; wherein, the first box body 91500, the dust collection box 91400 and the second box body 91600 are detachably arranged on the Inside the first groove, the second groove and the third groove. The first groove, the second groove and the third groove are arranged on the top of the mounting base 130, and the first box body 91500, the dust collection box 91400 and the second box body 91600 are detachably mounted on their respective vertically inside the groove. The bottom of the installation seat 91130 is also provided with an upwardly recessed recessed area X; the installation cavity Z corresponds to the recessed area X for the installation of the second cleaning element 91300 .

In the present disclosure, a medium distribution mechanism 91150 for distributing cleaning solution to the second cleaning element 91300 and a medium recovery mechanism 91140 for collecting the sewage solution on the second cleaning element are also provided in the installation cavity Z of the body 91100 . The medium distribution mechanism 91150 is connected with the first box body 91500, and the first box body 91500 is used to deliver the cleaning solution to the medium distribution mechanism 91150, so that the second cleaning piece in the installation chamber Z is wetted. The medium recovery mechanism 91140 is connected with the second box body 91600, and the second box body 91600 is used for storing the sewage solution collected by the medium recovery mechanism 91140. The second box body 91600 is also equipped with a negative pressure generator, which is used to generate negative pressure in the second box body 91600. Under the action of the negative pressure, the sewage solution on the second cleaning piece 91300 passes through the medium recovery mechanism 91140 is sucked into the second box body 91600.

In order to be able to identify whether the first box body 91500, the dust collection box 91400 and the second box body 91600 are installed on the installation base 91130, the installation base 91130 is provided with a first assembly detection part 91131, a dust collection box 91400, and a first box body 91500 and the second box body 91600 are respectively provided with a second assembly detection part 91132 that cooperates with the first assembly detection part 91131; wherein, the first assembly detection part 91131 can be a Hall sensor, and the second assembly detection part 91132 can be a magnet. The first assembly detection parts 91131 and the second assembly detection parts 91132 are provided in one-to-one correspondence. Thus, it can be judged whether the first box body 91500, the dust collection box 91400 and the second box body 91600 are installed in place through the induction between the Hall sensor and the magnet. It can be understood that the first assembly detection part 91131 and the second assembly detection part 91132 include but are not limited to the above structures, and may also be other elements that can sense each other.

In this disclosure, the fuselage 91100 includes a fuselage body 91110 and a strike plate assembly floating on the front of the fuselage body 91110, and the strike plate assembly 91120 includes: a strike plate body 91120, which covers the scrubbing in a stepped shape The front part of the body 91110 of the washing machine; the second trigger mechanism is connected to the external drive circuit and is configured to trigger and send a stop motion signal to the washing machine when the collision plate body 91120 is displaced by collision; The buffer mechanism is configured to elastically buffer the collision plate body 91120 when the collision plate body 91120 is further displaced; the recovery mechanism is configured to cushion the collision plate body 91120 The displacement of 91120 is elastically restored to the central part of the fuselage body 91110 front. Through the above method, the stepped collision plate body 91120 can realize the collision triggering of the front and side parts of the washing machine in the running direction, effectively improving the overall obstacle avoidance ability of the washing machine. When the impact plate body 91120 collides, an impact force will be generated between the impact plate body 91120 and the obstacle. Under the action of the impact force, the scrubber will generate vibration and noise, and the buffer mechanism can impact the impact plate body 91120. Elastic cushioning can effectively reduce vibration and noise, improve user comfort and improve the anti-vibration performance of the scrubber. Considering that the striker body 91120 will have a shape deviation with the fuselage body 91110 after multiple collisions, the above shape deviation refers to the position and shape of the striker body 91120 and the fuselage body 91110 compared with the factory state. The above-mentioned deviation of shape and position will cause the washing machine to collide without being triggered, and also affect the aesthetics of the appearance. In this disclosure, the above-mentioned deviation of shape and position can be reduced or eliminated through the recovery mechanism, thereby ensuring The sensitivity of the trigger and the aesthetics of the appearance.

In the present disclosure, the fuselage body 91110 includes a disc-shaped main body P and a front convex part Q protruding from the front of the main body P to form a front and back round shape; the top surface of the front convex part Q is lower than the top end of the main body P surface, to form a stepped structure at the front of the fuselage body 91110, and the impact plate body 91120 covers the above-mentioned stepped structure. The strike plate body 91120 includes a first strike plate 91121 covering the outer peripheral surface of the front protrusion Q and a second strike plate 91122 extending from the top of the first strike plate 91121 to the top end surface of the main body P. The second strike plate 91122 is arc-shaped And covered on the main body P.

The setting form of the first strike plate 91121 and the second strike plate 91122 is as follows: in the first case, the first strike plate 91121 and the second strike plate 91122 are integrally arranged; in the second case, the first strike plate 91121 and the second strike plate 91122 upper and lower split settings. When the first strike plate 91121 and the second strike plate 91122 adopt the form of upper and lower splits, there will inevitably be installation gaps when the first strike plate 91121 and the second strike plate 91122 are installed, and external dust and water vapor can pass through The installation gap enters the inside of the washing machine. In order to avoid the above situation, a rubber seal (not shown) is installed at the junction of the first strike plate 91121 and the second strike plate 91122. By setting the above rubber seal, it can effectively reduce the Or prevent external dust and water vapor from entering the scrubber, which can prolong the service life of the equipment to a certain extent.

In order to recognize obstacles in all directions in front of the fuselage body 91110, the second trigger mechanism includes a plurality of trigger sensors 91124, one end of the trigger sensor 91124 abuts against the striker body 91120, and the plurality of trigger sensors 91124 are distributed on the steps The front side of the structure and the two sides of the ladder structure, the two sides of the above ladder structure are the left and right sides of the forward direction of the washing machine. As a result, when the fuselage body 91110 is running forward, its front end and left and right ends can be triggered by collisions, obstacles can be recognized in all directions, and the running state of the scrubber can be adjusted in time.

Specifically, the multiple trigger sensors 91124 distributed on the front side body of the stepped structure are divided into upper and lower groups. The protrusion Q corresponds to the front side body of the first striking plate 91121 . Therefore, regardless of whether the collision area between the strike plate body 91120 and the obstacle is located at the top, bottom or middle of the strike plate body 91120, the trigger sensor 91124 can be triggered smoothly, which has the advantage of high trigger sensitivity. The above multiple trigger sensors 91124 are crash switches. Of course, it can be understood that the above multiple trigger sensors 91124 include but are not limited to crash switches, and can also be other devices and structures capable of realizing crash triggers.

Further, the buffer mechanism includes a plurality of first elastic buffer elements 91125 provided on the front convex part Q for buffering the impact of the first impact plate 91121 and a plurality of first elastic buffer elements 91125 provided on the main body P for buffering the impact of the second impact plate 91122 Two elastic buffer elements 91126. Wherein, the first elastic buffer element 91125 and the second elastic buffer element 91126 are made of elastic material, and the above elastic material can be rubber, nylon, sponge and so on. When the striker body 91120 collides with an obstacle, the obstacle will generate a reaction force on the striker body 91120, and the reaction force on the striker body 91120 can drive the striker body 91120 to move toward the side of the fuselage body 91110. The board body 91120 is further displaced, and the first elastic buffer element 91125 and the second elastic buffer element 91126 can absorb the impact force generated during a partial collision to achieve elastic buffering. The plurality of first elastic buffering elements 91125 may be distributed at intervals, or may be connected in sequence to form continuous distribution. Similarly, the multiple second elastic buffer elements 91126 can be distributed at intervals or continuously. In the present disclosure, the first elastic buffer element 91125 and the second elastic buffer element 91126 are preferably detachably disposed on the fuselage body 91110 , so that they can be easily replaced.

Further, the recovery mechanism includes at least one elastic element 91123 , the strike plate body 91120 is floatingly arranged on the front of the fuselage body 91110 through the elastic element 91123 , the elastic element 91123 is arranged on the fuselage body 91110 and connected with the strike plate body 91120 . The elastic element 91123 is preferably a spring, one end of the elastic element 91123 is engaged with the fuselage body 91110 , and the other end of the elastic element 91123 is engaged with the striker body 91120 . In order to make the striker body 91120 return to its position and keep it at the central position of the front of the fuselage body 91110, the elastic element 91123 is arranged on the fuselage body 91110 in an axisymmetric manner, and the front end of any pair of elastic elements 91123 The distance is smaller than the distance between the rear end portions of the pair of elastic members 91123 .

In this disclosure, the fuselage body 91110 includes a bottom cover 91112 and a top cover 91111. The bottom of the bottom cover 91112 is provided with a first suction port F, an installation cavity Z, a driving wheel set, a universal wheel, a first cleaning member 91200 and In the second cleaning part 91300, a decorative cover 91113 is pivotally connected to the top of the top cover 91111. The decorative cover 91113 has a closure covering the dust collection box 91400, the first box body 91500 and the second box body 91600 so that the dust collection box 91400, the first box body 91500 and the second box body 91600 are closed in the fuselage body 91110 state and an open state in which the dust box 91400, the first box body 91500 and the second box body 91600 are exposed to the outside by turning upwards around the pivot shaft. Thus, the dust collecting box 91400, the first box body 91500 and the second box body 91600 can be easily removed, and the hypa on the dust collecting box 91400 can be easily replaced, which has the advantage of being convenient to use.

In this disclosure, there is an installation area M inside the fuselage body 91110, the top opening of the installation area M is set, and an identification system is provided at the top opening of the installation area M. The identification system includes: a distance measuring mechanism 911111, which is located Outside the top of the fuselage 91100 of the device, and located in the top opening of the installation area M, the ranging mechanism 911111 has a first state exposed outside the fuselage 91100 and a second state contained in the fuselage 91100; the supporting structure 91700, Set in the fuselage 91100 and supported under the ranging mechanism 911111; the sensing unit 911112 is set on the fuselage 91100 and connected to the support structure 91700, the sensing unit is configured to judge the height of external obstacles, and forming a driving signal for controlling the lifting of the supporting structure 91700; and a controller (not shown), connected to the sensing unit; wherein, the supporting structure 91700 drives the ranging mechanism 911111 in the first state and the first state in response to the driving signal of the sensing unit 911112 Switch between the second state. The distance measuring mechanism 911111 is located at the rear of the fuselage 91100 , and the distance measuring mechanism 911111 is behind the advancing direction of the fuselage 91100 compared with the second cleaning part 91300 . When the ranging mechanism 911111 is in the first state, the ranging mechanism 911111 is higher than the sensing unit, and the ranging mechanism 911111 can be an LDS lidar mechanism or other types of ranging devices. Although the above-mentioned ranging mechanism 911111 is named Distance measurement, but it can also have functions such as building maps, positioning, and identifying obstacles.

Through the above method, the recognition system in the present disclosure can adjust the height of the whole machine in time according to the information of surrounding obstacles, so that the washing machine can enter a low space for cleaning operations. The height of the whole machine mentioned above refers to the sum of the heights of the fuselage 91100 and the distance measuring mechanism 911111 when the distance measuring mechanism 911111 is in the first state; space area. When the washing machine encounters a low space, the sensing unit 911112 on the body 91100 sends a driving signal to the support structure 91700, driving the distance measuring mechanism 911111 to retract into the body 91100, at this time, the washing machine can enter the low space smoothly space for cleaning. When the washing machine runs to the outside of the low space, under the action of the driving signal of the sensing unit 911112, the supporting structure 91700 drives the distance measuring mechanism 911111 to lift up, which is convenient to switch and effectively improves the cleaning ability.

In order to allow the distance measuring mechanism 911111 to be used normally when retracted into the inside of the fuselage 91100, in this disclosure, a first perspective window 911114 is provided on the side wall of the fuselage 91100 close to the distance measuring mechanism 911111, the first perspective window 911114 is configured to facilitate the distance measuring mechanism 911111 to sense the external environment when the distance measuring mechanism 911111 is in the second state, so as to control the washing machine to continue to work. As a result, when the distance measuring mechanism 911111 is in the second state, the pain point that the distance measuring mechanism 911111 cannot perform position recognition and positioning judgment is solved, and the cleaning ability and intelligent recognition ability of the scrubber in low spaces are effectively improved.

Further, the fuselage 91100 is provided with a plurality of sensing units 911112 , at least one sensing unit 911112 is arranged on the top of the fuselage 911100 , and at least one sensing unit 911112 is distributed on the front side of the ranging mechanism 911111 . In one embodiment, the sensing unit 911112 is a TOF sensor, and multiple sensing units 911112 are distributed on the front side, left side and right side of the ranging mechanism 911111 . In this way, the height information of obstacles around the distance measuring mechanism 911111 can be collected in an all-round way, feedback can be made in time before the distance measuring mechanism 911111 collides with the obstacle, and the position state of the distance measuring mechanism 911111 can be adjusted.

Specifically, as shown in FIG. 19, the top of the fuselage body 91110 of the fuselage 91100 is provided with a storage slot for installing a plurality of sensing units 911112, and the storage slot is located in front of the distance measuring mechanism 911111 and distributed close to the distance measuring mechanism 911111 . The top opening of the storage tank, the sensing unit 911112 is installed into the storage tank through the top opening. The top opening of the storage tank is also covered with a second perspective window 91127. The second perspective window 91127 is used to package a plurality of sensing units 911112 in the storage tank, wherein the storage tank is arc-shaped, and the plurality of sensing units 911112 are spaced apart. Distributed in the storage tank.

Considering that the sensing unit 911112 may not be able to identify sharp obstacles smoothly, a first trigger mechanism is provided between the distance measuring mechanism 911111 and the support structure 91700, and the first trigger mechanism is triggered in response to the collision between the distance measuring mechanism 911111 and the obstacle, Make the distance measuring mechanism 911111 switch from the first state to the second state. In this case, the distance measuring mechanism 911111 can be moved above the support structure 91700. When the distance measuring mechanism 911111 collides with an obstacle, the distance measuring mechanism 911111 moves under the action of an external force to trigger the first trigger mechanism. The first trigger mechanism includes a trigger switch 911113 and an elastic element 911117, the trigger switch 911113 is arranged on the movement path of the distance measuring mechanism 911111, so that when the distance measuring mechanism 911111 moves under the action of an external force, the above trigger switch 911113 can be triggered, The trigger switch 911113 is electrically connected to the support structure 91700 to realize the transmission of the trigger signal. The elastic element 911117 is configured to make the distance measuring mechanism 911111 float above the support structure 91700; when the distance measuring mechanism 911111 does not collide with an obstacle, the elastic element 911117 can make the distance between the bottom of the distance measuring mechanism 911111 and the trigger switch 911113 Maintain a predetermined trigger distance; after the distance measuring mechanism 911111 collides with an obstacle, the elastic element 911117 is used to drive the distance measuring mechanism 911111 to reset. The elastic element 911117 is preferably a spring. Specifically, the top end of the elastic element 911117 is engaged with the distance measuring mechanism 911111 , and the bottom end of the elastic element 911117 is engaged with the supporting structure 91700 . Thus, the distance measuring mechanism 911111 is driven by the collision force of an external obstacle to control the supporting structure 91700 to move downward.

Further, a motion conversion structure is provided between the distance measuring mechanism 911111 and the support structure 91700, and the motion conversion structure is configured so that the distance measuring mechanism 911111 is subjected to a collision force in the running direction when the distance measuring mechanism 911111 collides in the running direction. The horizontal displacement component is at least partially converted into a vertical displacement component; wherein the horizontal displacement component is smaller than the vertical displacement component. The aforementioned horizontal displacement component being smaller than the vertical displacement component means that the displacement of the distance measuring mechanism 911111 in the horizontal direction is smaller than the displacement of the distance measuring mechanism 911111 in the vertical direction. Please refer to Figure 38, the motion conversion structure includes a guide groove 911115 and a limit rod 911116, one of which is located at the bottom of the distance measuring mechanism 911111, and the other is located at the top of the support structure 91700, and the two ends of the limit rod 911116 run through the guide groove 911115, wherein the guide groove 911115 is inclined relative to the horizontal plane, so that the distance measuring mechanism 911111 has a downward and backward movement posture.

Further, as shown in FIG. 39, the support structure 91700 includes a frame 91710, a sliding seat 91720, a driving mechanism 91730 and a guide unit 91740. The frame 91710 is set in the installation area M of the fuselage body 91110, and the sliding seat 91720 is supported on The bottom of the distance measuring mechanism 911111 is mounted on the frame 91710 in a liftable manner driven by the driving mechanism 91730. The driving mechanism 91730 drives the sliding seat 91720 up and down in response to the control signal of the controller. The guide unit 91740 is used to guide the sliding seat 91720 Lift and lower vertically.

Specifically, the driving mechanism 91730 includes a driver 91731, which is arranged on the frame 91710 and connected to the controller for executing the control signal of the controller; the transmission member 91732, the bottom is fixed on the rotating shaft of the driver 91731, and the top is hinged on the sliding seat 91720 on the bottom. The guide unit 91740 is also provided with a micro switch (not shown) for limiting the upper limit position and the lower limit position of the sliding seat 91720 .

In the present disclosure, the second trigger mechanism in the strike plate assembly is connected to the drive mechanism 91730 in the support structure 91700, the second trigger mechanism and the drive mechanism 91730 are connected through a line, and the second trigger mechanism responds to the strike plate body 91120 and the strike plate body 91120. The collision of the obstacle is triggered, so that the distance measuring mechanism 911111 switches from the first state to the second state.

In the present disclosure, a line laser module 91800 is provided on the side wall of the fuselage 91100, and the line laser module 91800 is used to detect the distance between the outer wall of the fuselage 91100 and the cleaning boundary outside. Specifically, the line laser module 91800 is installed on the side wall of the fuselage body 91110. The line laser module 91800 can accurately measure the distance between the fuselage 91100 and the external cleaning boundary when it is working, so as to ensure that the fuselage 91100 is kept clean.

The above embodiments are only used to illustrate the present disclosure and not to limit the technical solutions described in the embodiments of this specification. The understanding of the present disclosure should be based on those skilled in the art, although this specification has made reference to the above embodiments. However, those skilled in the art should understand that those skilled in the art can still make modifications or equivalent replacements to the present disclosure, and all technical solutions and improvements that do not depart from the spirit and scope of the present disclosure are all should be included within the scope of the claims of the present disclosure.

Claims

A support structure applied to a cleaning robot, the top of the body of the cleaning robot is provided with an identification system for detecting the surrounding environment, characterized in that the support structure includes:

The sliding seat is driven by the lifting mechanism and is arranged on the frame in a liftable manner;

An installation base, which is suitable for installation by the identification system; the installation base is movably arranged on the frame;

a trigger part provided on said mount or adapted to be provided on said identification system;

The trigger is arranged on the movement path of the trigger part;

The installation seat is driven by the recognition system to receive the collision force of the external obstacle to move, and drives the trigger part to trigger the trigger part; the lifting mechanism drives the sliding seat in response to the trigger of the trigger part Do descents.
The support structure according to claim 1, wherein the mounting seat is movably arranged on the sliding seat, and the trigger is provided on the sliding seat; the triggering part follows the mounting seat moving, triggering the trigger by colliding with the trigger.
The supporting structure according to claim 2, characterized in that, the mounting seat is vertically floatable on the top of the sliding seat, and the triggering member is located between the top of the sliding seat and the triggering part. between the bottom;

The support structure further includes a motion converting component, configured to convert at least part of the horizontal motion of the installation base into a vertical motion component, so as to force the trigger part to collide with the trigger member vertically.
The support structure of claim 3, wherein said motion conversion assembly comprises

At least one conversion piece has a first slope inclined from the sliding seat toward the installation seat; the conversion piece is arranged on the installation seat or the sliding seat, and the installation seat and the sliding seat abutting against the first slope;

At least one elastic member is provided between the sliding seat and the mounting seat, and the mounting seat is biased by the elastic member to drive the sliding seat and the mounting seat to keep abutting against the first At the top of a slope.
The support structure of claim 4, wherein the transition member comprises

At least two mounting holes and at least one sliding rod, one of which is provided on the mounting seat and the other is provided on the sliding seat;

The hole wall of the installation hole is the first slope; the two ends of the sliding rod respectively pass through at least one of the installation holes.
The support structure according to claim 5, characterized in that, the top of the sliding seat is provided with a downwardly recessed installation cavity;

The mounting seat is embedded in the mounting cavity, and the mounting seat and the sliding seat are overlapped in side walls, one side wall is provided with the mounting hole, and the other side wall is provided with the sliding rod.
The supporting structure according to any one of claims 3-6, wherein a through-hole area is provided on the mounting base;

The trigger part is arranged on the bottom of the identification system, the trigger part is located in the through-hole area, and the mounting seat is driven by the collision force to move, forcing the trigger part to collide with the trigger part .
The support structure according to any one of claims 1-6, characterized in that, the top of the mounting seat is provided with a mounting protrusion or a mounting groove, and the mounting protrusion or mounting groove is provided for the identification System mating; and/or

The trigger is a trigger switch.
The supporting structure according to any one of claims 1-6, wherein the lifting mechanism comprises

a driver, arranged on the frame, connected to the trigger, and used to execute the control signal of the trigger;

a power part and a transmission part, the bottom of the power part is fixed on the rotating shaft of the driver, and the top of the power part is hinged on the bottom of the transmission part;

The top of the transmission member is hinged on the bottom of the sliding seat; and

The guide assembly is used to guide the sliding seat to move up and down vertically.
The support structure of claim 9, wherein the guide assembly comprises

At least one guide piece and at least one guide sleeve, one of which is arranged on the frame, and the other is arranged on the sliding seat;

The guide sleeve has a guide passage extending vertically, and the guide sleeve is sleeved outside the guide piece.
A matching structure of a support structure and an identification system, characterized in that it comprises

A support structure as claimed in any one of claims 1-10;

An identification system is provided on the mounting seat of the supporting structure.
A cleaning device, characterized in that, comprising

The body of the cleaning device has an installation area inside and a top opening communicating with the installation area;

The matching structure according to claim 11, wherein the supporting structure of the matching structure is arranged in the installation area, and the identification system is driven by the supporting structure and can be stretched out of the top opening and retracted. Back to toggle between the retracted state within the mount area.
An identification system applied to self-moving cleaning equipment, characterized in that it includes:

The ranging mechanism is located outside the top of the fuselage of the self-moving cleaning device, and the ranging mechanism has a first state exposed outside the fuselage and a second state accommodated in the fuselage;

an elevating mechanism arranged in the fuselage and supported under the ranging mechanism; and

The sensing unit is arranged on the fuselage and connected to the lifting mechanism, the sensing unit is configured to judge the height of external obstacles to form a driving signal for controlling the lifting mechanism;

Wherein, the lifting mechanism drives the distance measuring mechanism to switch between the first state and the second state in response to a driving signal of the sensing unit.
The identification system of claim 13, wherein:

The moving direction of the self-moving cleaning device is the front, the distance measuring mechanism is located at the rear of the fuselage, and at least one of the sensing units is arranged on the top of the fuselage, when the distance measuring mechanism is at the first In a state, the ranging mechanism is higher than the sensing unit.
The identification system of claim 14, wherein:

The moving direction of the self-moving cleaning device is forward, and at least one of the sensing units is distributed on the front side of the distance measuring mechanism.
An identification system as claimed in claim 14 or 15, characterized in that,

A plurality of sensing units are distributed on the front side, left side and right side of the distance measuring mechanism.
The identification system of claim 13, further comprising:

The first trigger mechanism is arranged between the distance measuring mechanism and the lifting mechanism, and is connected with the lifting mechanism. The distance measuring mechanism can be moved above the lifting mechanism. The first trigger mechanism is triggered in response to a collision of the ranging mechanism with an obstacle, causing the ranging mechanism to switch from the first state to the second state; and/or

The second trigger mechanism is arranged at the front part of the fuselage and is connected with the lifting mechanism. The front part of the fuselage is floating with a strike plate body, and the second trigger mechanism responds to the strike plate body A collision with an obstacle is triggered so that the ranging mechanism switches from the first state to the second state.
The identification system of claim 17, wherein:

The first trigger mechanism includes a trigger switch and an elastic element, and the trigger switch is connected to the lifting mechanism;

Wherein, the elastic element is configured such that the distance measuring mechanism is floating above the lifting mechanism.
The identification system of claim 17, wherein:

When the first trigger mechanism is provided between the distance measuring mechanism and the lifting mechanism, a motion conversion structure is provided between the distance measuring mechanism and the lifting mechanism, and the motion conversion structure is configured as When the distance measuring mechanism collides in the running direction, the horizontal displacement component generated by the collision force in the running direction of the distance measuring mechanism is at least partially converted into a vertical displacement component;

Wherein, the horizontal displacement component is smaller than the vertical displacement component.
The identification system of claim 19, wherein:

The motion conversion structure includes a guide groove and a limit rod, one of which is arranged at the bottom of the distance measuring mechanism, and the other is arranged at the top of the lifting mechanism, and the two ends of the limit rod pass through the guide groove;

Wherein, the guide groove is arranged obliquely relative to the horizontal plane, so that the distance measuring mechanism has a downward and backward movement posture.
The identification system of claim 13, wherein:

A first perspective window is provided on the side wall of the fuselage close to the distance measuring mechanism, and the first perspective window is configured to facilitate the distance measuring mechanism to sense when the distance measuring mechanism is in the second state. external environment.
A cleaning device, characterized in that it comprises:

An identification system as claimed in any one of claims 13-21;

The fuselage has an installation area inside, and the top opening of the installation area is set, and the distance measuring mechanism of the identification system is set in the top opening.