CN110327001B - Cleaning device, device to be cleaned, cleaning equipment and control method - Google Patents
Cleaning device, device to be cleaned, cleaning equipment and control method Download PDFInfo
- Publication number
- CN110327001B CN110327001B CN201910650244.7A CN201910650244A CN110327001B CN 110327001 B CN110327001 B CN 110327001B CN 201910650244 A CN201910650244 A CN 201910650244A CN 110327001 B CN110327001 B CN 110327001B
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- Prior art keywords
- cleaning
- assembly
- cleaned
- garbage
- bearing
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- 238000004140 cleaning Methods 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 125
- 230000001174 ascending effect Effects 0.000 claims abstract description 8
- 239000000428 dust Substances 0.000 claims description 35
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000000630 rising effect Effects 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 abstract description 13
- 230000003028 elevating effect Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4025—Means for emptying
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
Landscapes
- Cleaning In General (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention relates to a cleaning device, a device to be cleaned, cleaning equipment and a control method, wherein the cleaning device comprises: a holder main body; the lifting structure comprises a first bearing component, wherein the first bearing component is connected to the bracket main body in a matching way and is provided with a cleaning port communicated with a garbage discharge port of the device to be cleaned; the auxiliary structure comprises a second bearing assembly, and the second bearing assembly is connected to the bracket main body in a matching way; the first bearing component takes the connection point of the first bearing component and the bracket main body as a fulcrum to lift along a first direction; when the first bearing component is located at the ascending position, the auxiliary structure can drive at least one of the device to be cleaned and the garbage collection device to move in a direction approaching to the other one. Above-mentioned cleaning device, through the mutually supporting of elevation structure and auxiliary structure, realize the automatic collection to rubbish in the robot of sweeping the floor, the user only need clear up the garbage bin can, and need not the rubbish in the robot of sweeping the floor of manual clearance to reduce the degree of automation that has promoted the robot of sweeping the floor.
Description
Technical Field
The invention relates to the field of household appliances, in particular to a cleaning device, a device to be cleaned, cleaning equipment and a control method.
Background
Along with the development of science and technology and the improvement of living standard of people, various intelligent household appliances gradually enter the life of people. The floor sweeping robot is used as an intelligent household appliance capable of automatically sucking dust on the ground, can automatically detect factors such as the size of a room, furniture placement, ground cleanliness and the like, and makes a reasonable cleaning route to clean the ground by means of a built-in program, so that the floor sweeping robot is favored by people, and is more and more widely applied to the life of people. The robot for cleaning floor forms vacuum in the main machine by high-speed rotation of the motor, and sucks sundries and dust from the suction inlet by using the high-speed airflow generated by the vacuum.
However, although the robot for sweeping floor automatically cleans the floor, the dust and sundries sucked into the machine body still need to be manually handled by the user, who needs to manually disassemble the dust box of the robot for sweeping floor to pour out the dust from the dust box and easily get the dust on the dust box stained, thereby bringing inconvenience to the use of the robot for sweeping floor.
Disclosure of Invention
Based on the above, it is necessary to provide a cleaning device, a cleaning device to be cleaned, a cleaning device and a control method capable of automatically cleaning the garbage collected by the sweeping robot, aiming at the problem that the garbage collected by the sweeping robot needs to be cleaned manually.
A cleaning device, the cleaning device comprising:
a holder main body;
the lifting structure comprises a first bearing component for bearing the device to be cleaned, wherein the first bearing component is connected to the bracket main body in a matching way and is provided with a cleaning port communicated with a garbage discharge port of the device to be cleaned; and
the auxiliary structure comprises a second bearing component for bearing the garbage collection device, and the second bearing component is matched and connected with the bracket main body;
the first bearing component takes a connecting point of the first bearing component and the bracket main body as a fulcrum and ascends and descends between an initial position and a ascending position along a first direction; when the first bearing component is located at the ascending position, the auxiliary structure can drive at least one of the device to be cleaned and the garbage collection device to move towards the direction close to the other one until the garbage discharge port is allowed to be communicated with the garbage collection device through the cleaning port.
Above-mentioned cleaning device, through the mutually supporting of elevation structure and auxiliary structure, realize the automatic collection to rubbish in the robot of sweeping the floor, the user only need clear up the garbage bin can, and need not the rubbish in the robot of sweeping the floor of manual clearance to reduce the degree of automation that has promoted the robot of sweeping the floor.
In one embodiment, the second bearing assembly carries an end of the refuse collection device capable of rotating and/or translating under external force in a plane intersecting the first direction.
In one embodiment, the second bearing component rotates around the first direction between a waiting position and a collecting position by taking a connecting point with the bracket main body as a fulcrum;
wherein the waiting position is offset from the initial position and the rising position in the first direction, and the collecting position is located between the initial position and the rising position in the first direction.
In one embodiment, the first carrier assembly is further movable in the first direction to a cleaning position, the cleaning position being between the initial position and the cleaning position;
when the first bearing component is located at the cleaning position, the second bearing component is located at the collecting position, and the distance between the first bearing component and the second bearing component is the minimum preset distance.
In one embodiment, the stand body includes a support guide rod extending in the first direction and through the first load bearing assembly; the lifting structure comprises a lifting driving assembly, the lifting driving assembly is mounted on the support main body and is in transmission connection with the first bearing assembly, and the lifting driving assembly is used for driving the first bearing assembly to reciprocate along the support guide rod in the first direction.
In one embodiment, the lifting driving assembly comprises a lifting driving member and a lifting driving screw, the lifting driving member is mounted on the support body, the lifting driving screw extends along the first direction, two ends of the lifting driving screw are respectively connected with the lifting driving member and the support body, the first bearing assembly is sleeved on the lifting driving screw and is in threaded fit with the lifting driving screw, and the lifting driving member is used for driving the lifting driving screw to rotate around the first direction to drive the first bearing assembly to reciprocate along the first direction.
In one embodiment, the auxiliary structure comprises an auxiliary driving assembly, the auxiliary driving assembly is mounted on the bracket main body and is in transmission connection with the second bearing assembly, and the auxiliary driving assembly is used for driving the second bearing assembly to rotate around the first direction.
In one embodiment, the auxiliary driving assembly comprises a rotation driving member and a rotation transmission rod, the rotation driving member is mounted on the support body, the rotation transmission rod extends along the first direction, two ends of the rotation transmission rod are respectively connected with the rotation driving member and the support body, the second bearing assembly is sleeved on the rotation transmission rod, and the rotation driving member is used for driving the rotation transmission rod to rotate around the first direction so as to drive the second bearing assembly to rotate around the first direction.
The device to be cleaned can be moved into the cleaning device, the device to be cleaned is provided with a dust box, and the dust box is provided with a garbage discharge port capable of being opened and closed; when the device to be cleaned is borne on the first bearing component of the cleaning device, the dust box is communicated with the cleaning port of the first bearing component through the garbage discharge port.
The cleaning equipment comprises the cleaning device and the device to be cleaned, and the device to be cleaned can move to the cleaning device and is borne on the first bearing assembly.
A control method of a cleaning apparatus, comprising the steps of:
acquiring a cleaning signal sent by a device to be cleaned;
controlling the first bearing component to move to an initial position;
controlling the device to be cleaned to move onto the first bearing component, wherein a garbage discharge port of the device to be cleaned is positioned above a cleaning port on the first bearing component;
controlling the first bearing component to move to an ascending position;
controlling at least one of the second bearing component and the first bearing component which bear the garbage collection device to move towards the direction approaching to the other bearing component until the garbage discharge port is allowed to be communicated with the garbage collection device through the cleaning port;
and opening the garbage discharge port.
In one embodiment, after the step of acquiring the cleaning signal sent by the device to be cleaned, the method further includes the following steps:
the second bearing assembly is controlled to rotate to the waiting position.
In one embodiment, the step of opening the garbage discharge port specifically includes the steps of;
controlling the first bearing assembly to move to a cleaning position;
controlling the garbage discharge port to be opened so as to be communicated with the garbage collection device through the cleaning port;
and controlling the first bearing assembly to move to the ascending position.
Drawings
FIG. 1 is a front view of a cleaning apparatus according to an embodiment of the present invention with a first carriage assembly in a raised position;
FIG. 2 is a side view of the cleaning apparatus of FIG. 1;
FIG. 3 is an exploded view of the cleaning device of FIG. 1;
FIG. 4 is a front view of the cleaning apparatus of FIG. 1 with the first carriage assembly in the home position and the second carriage assembly in the standby position;
fig. 5 is a side view of the cleaning apparatus of fig. 4.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 2, a cleaning apparatus 100 of the present invention is used for cleaning dust and sundries on the floor. The cleaning apparatus 100 includes a cleaning device 20 and a cleaning device 40, the cleaning device 20 can move on the ground according to a certain route to suck garbage (including dust, sundries, etc.), the cleaning device 40 can be provided with a garbage collection device 200, and the garbage collection device 200 can automatically collect the garbage sucked by the cleaning device 20 through the cleaning device 40.
In the following embodiments, the cleaning device 20 is a cleaning robot, which includes a main body and a dust box disposed in the main body, wherein a dust discharge opening capable of being opened and closed is disposed at the bottom of the dust box, and the dust box is communicated with an external environment through the dust discharge opening (not shown). The garbage collection device 200 is a garbage can with an opening at the top end, which can be sleeved with a garbage bag 210. In this way, when the garbage discharge port of the cleaning device 20 is in an opened state, the garbage in the dust box can be discharged out of the dust box through the garbage discharge port and finally falls into the garbage collection device 200 for easy disposal.
The cleaning device 40 includes a stand body 43, a lifting structure 45, and an auxiliary structure. The lifting structure 45 includes a first carrying component 452 for carrying the device 20 to be cleaned, where the first carrying component 452 is coupled to the bracket body 43 and provided with a cleaning opening 4521a communicating with a garbage discharge opening in the device 20 to be cleaned. The auxiliary structure includes a second carrying assembly 472 for carrying the garbage collection device 200, the second carrying assembly 472 being coupled to the rack body 43.
The first carrying member 452 is lifted and lowered between an initial position and a raised position in the first direction with a connection point with the stand body 43 as a fulcrum. The auxiliary structure can drive at least one of the device to be cleaned 20 and the garbage collection device 200 to move towards the direction approaching to the other when the first bearing assembly 452 is located at the ascending position until the garbage discharge port of the device to be cleaned 20 is allowed to be communicated with the garbage collection device 200 through the cleaning port 4521a, so that the garbage in the dust bin of the device to be cleaned 20 can fall into the garbage collection device 200 through the cleaning port 4521a.
In the first embodiment, the auxiliary structure is coupled to the lifting structure 45 and can be extended and retracted in a plane perpendicular to the lifting plane of the lifting structure 45, so as to enable the to-be-cleaned device 20 to move relative to the garbage collection device 200.
Specifically, when the first carrier assembly 452 is in the initial position, the auxiliary structure is in the contracted state. When the first carrying component 452 is located at the raised position, the auxiliary structure extends outwards to drive the device 20 to be cleaned to translate towards the direction approaching the garbage collection device 200 until the garbage discharge port of the device 20 to be cleaned is communicated with the garbage collection device through the cleaning port 4521a.
In the second embodiment, the auxiliary structure is coupled to the bracket body 43 and can be retracted in a plane perpendicular to the lifting plane of the lifting structure 45, so as to realize the movement of the garbage collection device relative to the cleaning device.
Specifically, when the first carrying assembly 452 is in the initial position, the auxiliary structure is in the retracted state, so that the garbage collection device 200 is dislocated from the first carrying assembly 452 to avoid interfering with the movement of the first carrying assembly 452 to the raised position. When the first bearing assembly 452 is located at the raised position, the auxiliary structure extends outwards to drive the second bearing assembly 452 to bear one end of the garbage collection device 200 to translate in a plane intersecting the first direction until the garbage discharge port of the device to be cleaned 20 is communicated with the garbage collection device 200 through the cleaning port 4521a.
In the third embodiment, the auxiliary structure is coupled to the lifting structure 45 and can be extended and retracted in a plane perpendicular to the lifting plane of the lifting structure 45, so as to enable the garbage collection device 20 and the cleaning device 200 to move towards each other.
Specifically, when the first bearing assembly 452 is located at the ascending position, the auxiliary structure drives the garbage collection device 20 and one end of the second bearing assembly 452 bearing the garbage collection device 200 to move toward each other until the garbage discharge port of the to-be-cleaned device 20 is communicated with the garbage collection device 200 through the cleaning port.
In the fourth embodiment, the second carrier member 472 rotates about the first direction between the waiting position and the collecting position with the connection point with the holder main body 43 as a fulcrum. When the second carrier member 472 rotates to the waiting position, the second carrier member 472 is displaced from the first carrier member 452 in the first direction. When the second carrier assembly 472 is rotated to the collection position, the waste discharge port of the cleaning apparatus 20 communicates with the waste collection device 200 through the cleaning port.
The specific configurations of the stand body 43, the elevating structure 45, and the auxiliary structure will be described in detail below by taking the fourth embodiment as an example. In the following embodiment, the auxiliary structure is a rotary structure 47.
As shown in fig. 1 and 3, the cleaning device 40 includes a control main board 41, a bracket body 43, a lifting structure 45, and a rotating structure 47. Wherein, the control main board 41, the lifting structure 45 and the rotating structure 47 are all installed on the bracket main body 43, and the control main board 41 is used for receiving the control signal sent by the device to be cleaned 20 and controlling the working states of the lifting structure 45 and the rotating structure 47. The lifting structure 45 is used for carrying the device 20 to be cleaned and driving the device 20 to be cleaned to lift in a first direction, and the rotating structure 47 is used for installing the garbage collection device 200 and driving the garbage collection device 200 to rotate around the first direction.
When the rotating structure 47 drives the garbage collection device 200 to rotate to the position right below the device to be cleaned 20, the garbage discharge opening of the device to be cleaned 20 is opened, and the garbage in the dust box can fall into the garbage collection device 200 through the garbage discharge opening. In this way, the lifting structure 45 and the rotating structure 47 are mutually matched, so that the garbage in the device 20 to be cleaned can be automatically collected, and a user only needs to clean the garbage collecting device 200 without manually cleaning the garbage in the device 20 to be cleaned.
With continued reference to fig. 1-3, the carriage body 43 includes a carriage bottom plate 432, a carriage top plate 434, and a support guide 436.
The support base 432 has a rectangular plate-like structure, the thickness direction of the support base 432 is a first direction, the length direction of the support base 432 is a second direction, and the width direction of the support base 432 is a third direction. The bottom fixing edge 4321 is provided at one side edge of the bracket bottom plate 432 in the third direction, and the bottom fixing edge 4321 may be fixed to the wall surface by a fastener such as a screw or an adhesive such as a double sided tape. The bracket base 432 is provided at both ends in the second direction with first fixing members 4323, respectively, and the first fixing members 4323 are used for fixing and supporting the guide rods 436.
The bracket top plate 434 has a rectangular plate structure, and a top fixing edge 4341 is provided at one side edge of the bracket top plate 434 in the third direction, and the top fixing edge 4341 can be fixed on the wall surface by a fastener such as a screw or an adhesive such as double faced adhesive tape. The bracket top plate 434 is provided at both ends thereof in the second direction with second fixing members 4343, respectively, and the second fixing members 4343 are used for fixedly supporting the guide rods 436.
The support guide bar 436 extends in the first direction, one end of the support guide bar 436 is inserted into the first fixing part 4323 provided to the bracket bottom plate 432, and the other end of the support guide bar 436 is inserted into the second fixing part 4343 provided to the bracket top plate 434. In this way, the support guide bar 436 is supported between the support base plate 432 and the support top plate 434, and the support base plate 432 and the support top plate 434 are disposed at a spacing in the first direction.
In particular, in some embodiments, the stand body 43 includes three support guide rods 436, wherein two support guide rods 436 are provided at one end of the stand base 432 in the second direction, and one support guide rod 436 is provided at the other end of the stand base 432 in the second direction. It will be appreciated that the number of support guide rods 436 is not limited and may be provided as desired.
The lifting structure 45 includes a first carrying assembly 452 and a lifting driving assembly 454. The lifting driving assembly 454 is mounted on the bracket body 43 and is in transmission connection with the first bearing assembly 452, and the lifting driving assembly 454 is used for driving the first bearing assembly 452 to reciprocate along the supporting guide rod 436 in the first direction.
Specifically, the first carrying component 452 includes a first carrying component 4521 and a lifting guide 4523. The first bearing component 4521 is a hollow box structure with one side open, and comprises a box bottom plate, a box top plate, a box right side plate, a box left side plate and a box back plate. The box bottom plate and the box top plate are arranged at intervals along the first direction, the box right side plate and the box left side plate are arranged at intervals along the second direction and are connected between the box bottom plate and the box top plate, and the box back plate is arranged on one side of the box bottom plate and the box top plate in the third direction and is connected between the box bottom plate and the box top plate.
Thus, the bottom plate, the top plate, the right side plate and the left side plate together form an inlet for allowing the device to be cleaned 20 to enter the first bearing assembly 4521, and after the device to be cleaned 20 enters the first bearing assembly 4521 along the third direction, the first bearing assembly 4521 can drive the device to be cleaned 20 to lift along the first direction.
Further, a cleaning opening 4521a is formed in the bottom plate of the case, and the cleaning opening 4521a is larger than the garbage discharge opening of the apparatus 20 to be cleaned. In this way, when the device to be cleaned 20 is located in the first bearing assembly 4521, the dust box of the device to be cleaned 20 is communicated with the cleaning opening 4521a and the external environment, and the garbage in the dust box can fall down through the cleaning opening 4521a. In some embodiments, the size of the cleaning opening 4521a is larger than the size of the open end of the garbage collection device 200, so that the garbage collection device 200 can pass through the cleaning opening 4521a to be abutted against the bottom surface of the device 20 to be cleaned, thereby avoiding dust emission during garbage discharge.
In some embodiments, the bracket bottom plate 432 is provided with a filling member 4325 protruding toward one side end surface of the first bearing assembly 4521, and the filling member 4325 has a shape matching the shape of the cleaning opening 4521a. When the first carrier assembly 4521 is lowered onto the floor of the housing, the filler 4325 is positioned within the cleaning opening 4521a to form a complete plane to facilitate walking of the device 20 to be cleaned within the first carrier assembly 4521.
In some embodiments, a side edge of the bottom plate of the case, which is far from the back plate of the case, is provided with a guiding edge 4527, and the guiding edge 4527 extends obliquely along the first direction to contact with the ground, so as to guide the device 20 to be cleaned into the first bearing assembly 4521 smoothly.
The lifting guide 4523 is disposed on a side of the lifting carrier 4521 where the right and left side panels are apart from each other. The elevating guide 4523 is provided with a connection hole extending in the first direction, the aperture of which matches the diameter of the support guide 436. In this manner, the support guide 436 passes through the lifting guide 4523 in the first direction to mate with the lifting carriage 4521, and the lifting carriage 4521 may reciprocate along the support guide 436 in the first direction under the drive of the lifting drive assembly 454.
In particular, in some embodiments, the first carrier assembly 452 includes three lifting guides 4523, wherein two lifting guides 4523 are disposed on a left side of the first carrier assembly 4521, two support guides 436 are disposed through two lifting guides 4523, respectively, and another lifting guide 4523 is disposed on a right side of the first carrier assembly 4521, and one support guide 436 is disposed through the lifting guide 4523. It will be appreciated that the number and position of lift guides 4523 and the number and position of support guide rods 436 match.
Further, the first carrier assembly 452 further includes a lift transmission member 4525 mounted to the first carrier assembly 4521. The lifting transmission member 4525 is provided with a threaded hole extending along a first direction so as to be in transmission connection with the lifting driving assembly 454, and the lifting driving assembly 454 drives the first bearing assembly 4521 to move along the first direction through the lifting transmission member 4525. In particular, in one embodiment, the lifting drive 4525 is disposed on the left side panel of the housing and between the two lifting guides 4523.
The lift drive assembly 454 includes a lift drive 4541 and a lift drive screw 4543. The lifting driving member 4541 is mounted on an end surface of the bracket top plate 434 facing the bracket bottom plate 432, the lifting driving screw 4543 extends along the first direction, two ends of the lifting driving screw 4543 are respectively connected with the lifting driving member 4541 and the bracket main body 43, and the lifting driving member 4525 on the lifting bearing box body 4521 is sleeved on the lifting driving screw 4543 and is in threaded fit with the lifting driving screw 4543.
In this way, the lifting driving member 4541 can drive the lifting driving screw 4543 to rotate around the first direction, so as to drive the first bearing assembly 452 to reciprocate along the first direction. Specifically, the elevating driver 4541 is a driving motor. It is to be understood that the configuration of the elevating drive assembly 454 is not limited thereto and may be provided as desired.
The rotary structure 47 includes a second carrier assembly 472 and an auxiliary drive assembly 474. The auxiliary driving component 474 is mounted on the bracket body 43 and is in transmission connection with the second bearing component 472, and the auxiliary driving component 474 is used for driving the second bearing component 472 to rotate around the first direction.
The second bearing assembly 472 includes a rotary carrier 4721 and a rotary fixing member 4723 provided at one end of the rotary carrier 4721. The rotary carrier 4721 is provided with a limiting groove 4722, and the bottom of the garbage collection device 200 is limited in the limiting groove 4722.
The auxiliary driving assembly 474 includes a rotation driving member 4741 and a rotation driving rod 4743, the rotation driving member 4741 is mounted on one side end surface of the bracket top plate 434 facing the bracket bottom plate 432, the rotation driving rod 4743 extends along the first direction, two ends of the rotation driving rod 4743 are respectively connected with the rotation driving member 4741 and the bracket bottom plate 432, and the rotation fixing member 4723 of the second bearing assembly 472 is sleeved on the rotation driving rod 4743 and fixed relative to the rotation driving rod 4743. In this manner, the rotation driving member 4741 may drive the rotation transmission lever 4743 to rotate about the first direction, thereby driving the rotation bearing member 4721 to rotate about the first direction.
In some embodiments, the lifting drive assembly 454 may drive the first carrier assembly 452 to lift between an initial position, a raised position, and a cleaning position, and the auxiliary drive assembly 474 may drive the second carrier assembly 472 to rotate between a waiting position and a collection position, thereby enabling garbage collection by the cleaning apparatus 20.
Specifically, the initial position is lower in height in the first direction than the raised position, and the cleaning position is located between the initial position and the cleaning position. The waiting position is staggered from the initial position and the rising position in the first direction, and the collecting position is positioned between the cleaning position and the rising position.
As shown in fig. 4 and 5, when the first carrying element 452 is located at the initial position, the second carrying element 472 is located at the waiting position, the second carrying element 472 is staggered from the first carrying element 452 in the first direction, and the garbage collection device 200 on the second carrying element 472 is located outside the bracket main body 43, so that the cleaning device 20 can enter the second carrying element 472 from the ground or leave the second carrying element 472 to return to the ground.
When the first carrying element 452 is located at the raised position, the second carrying element 472 is rotatable to the collecting position, and the second carrying element 472 is located directly below the cleaning opening 4521a of the first carrying element 452 in the first direction, so that the garbage collecting device 200 on the second carrying element 472 is located directly below the device 20 to be cleaned. Moreover, the distance between the first carrier assembly 452 and the second carrier assembly 472 is the maximum predetermined distance, thereby facilitating the rotation of the first carrier assembly 452 and the cleaning of the garbage collection device 200 or the removal of the garbage bag in the garbage collection device 200 by the user.
As shown in fig. 1 and 2, when the first carrying element 452 is located at the cleaning position, the second carrying element 472 is located at the collecting position, the second carrying element 472 is located directly under the cleaning opening 4521a of the first carrying element 452 in the first direction, the garbage collection device 200 on the second carrying element 472 is located directly under the device 20 to be cleaned, and the distance between the first carrying element 452 and the second carrying element 472 is the minimum preset distance. At this time, the top of the garbage collection device 200 passes through the cleaning opening 4521a to be in contact with the bottom surface of the device 20 to be cleaned, and the garbage in the dust box of the device 20 to be cleaned may fall into the garbage collection device 200. Because the device to be cleaned 20 and the garbage collection device 200 are in contact with each other, a certain sealing state is formed, and dust is prevented from being raised in the process of releasing garbage to pollute the indoor environment.
In some embodiments, the cleaning apparatus 40 further includes a height sensing element (not shown) mounted on the support guide 436 or the rotation transmission lever 4743 for sensing the height of the garbage in the garbage collection apparatus 200. When the height sensing piece senses that the height of the garbage in the garbage collection device 200 reaches the preset highest height of the garbage, a sound can be made or an indicator lamp can be lighted to prompt a user to clean the garbage collection device 200 or replace garbage bags, so that excessive garbage accumulation in the garbage collection device 200 is avoided.
The control method of the cleaning apparatus 100 of the above embodiment includes the steps of:
s110: a cleaning signal from the device to be cleaned 20 is acquired.
Specifically, after the cleaning of the device to be cleaned 20 is completed, the device to be cleaned 20 sends a cleaning signal to the cleaning device 40, and the control main board 41 of the cleaning device 40 obtains the cleaning signal and controls the working states of the rotating structure 47 and the lifting structure 45 according to the cleaning signal.
S120: the second carrier assembly 472 is controlled to rotate to the waiting position.
Specifically, the control main board 41 controls the auxiliary driving component 474 to drive the second bearing component 472 to rotate to a waiting position, and at this time, the garbage collection device 200 on the second bearing component 472 is located outside the bracket main body 43 to avoid the cleaning device 20.
S130: the first carrier assembly 452 is controlled to move to the initial position.
Specifically, the control main board 41 controls the lifting driving component 454 to drive the first bearing component 452 to move to the initial position along the first direction, and at this time, the leading edge 4527 of the first bearing component 452 is driven to contact with the ground.
S140: the device 20 to be cleaned is controlled to move onto the first bearing assembly 452, and the garbage discharge opening of the dust box of the device 20 to be cleaned is positioned above the cleaning opening 4521a on the first bearing assembly 452.
Specifically, the device 20 to be cleaned enters the first carrier assembly 4521 along the leading edge 4527, and the dust removal opening of the device 20 to be cleaned is directly over the cleaning opening 4521a.
S150: controlling the first carrier assembly 452 to move to the raised position.
Specifically, the control main board 41 controls the lifting driving component 454 to drive the first bearing component 452 to move upwards to the lifting position along the first direction, so that a sufficient space is formed between the first bearing component 452 and the bracket base 432 to accommodate the garbage collecting device 200.
S160: the second carrier assembly 472 is controlled to rotate to the collection position.
Specifically, the control main board 41 controls the auxiliary driving component 474 to drive the second bearing component 472 to rotate around the first direction to the collecting position, so that the garbage collecting device 200 is located directly below the cleaning device 20.
S170: and opening a garbage discharge port.
Specifically, the control main board 41 controls the lifting driving component 454 to drive the first bearing component 452 to move downward to the cleaning position, at this time, the top end of the garbage collection device 200 passes through the cleaning opening 4521a of the lifting bearing box 4521, and the bottom surface of the to-be-cleaned device 20 in the first bearing component 4521 abuts against the top edge of the garbage collection device 200. Thereafter, the to-be-cleaned device 20 controls the garbage discharge opening to communicate the dust box with the cleaning opening 4521a. Thus, the garbage in the dust bin can fall into the garbage collection device 200, and garbage recovery is completed. Finally, the control main board 41 controls the lifting driving component 454 to drive the first bearing component 452 to move upwards to return to the lifting position, so that the garbage collection device 200 is convenient to clean.
The above-mentioned cleaning apparatus 100, since the garbage collected in the cleaning device 20 is automatically recovered by the cleaning device 40, reduces the burden on the user who only needs to take out the garbage collection device 200 everywhere or take out the garbage bag from the garbage collection device 200 to take away the garbage, without manually cleaning the dust box of the cleaning device 20 directly.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (11)
1. A cleaning device, the cleaning device comprising:
a holder main body (43);
the lifting structure (45) comprises a first bearing component (452) for bearing a device to be cleaned, wherein the first bearing component (452) is matched with the bracket main body (43) and is provided with a cleaning port (4521 a) communicated with a garbage discharge port of the device to be cleaned; and
an auxiliary structure comprising a second carrying assembly (472) for carrying a refuse collection device (200), the second carrying assembly (472) being coupled to the stand body (43);
the first bearing component (452) takes a connection point of the first bearing component and the bracket main body (43) as a fulcrum and ascends and descends between an initial position, a cleaning position and a rising position along a first direction, and the cleaning position is positioned between the initial position and the rising position; the second bearing assembly (472) rotates around the first direction between a waiting position and a collecting position by taking a connecting point with the bracket main body (43) as a fulcrum, wherein the waiting position is staggered from the initial position and the rising position in the first direction, and the collecting position is positioned between the initial position and the rising position in the first direction;
when the first bearing assembly (452) is positioned at the ascending position, the auxiliary structure can drive at least one of the device to be cleaned and the garbage collection device to move towards the other direction until the garbage discharge port is allowed to be communicated with the garbage collection device (200) through the cleaning port (4521 a); when the first bearing component (452) is located at the cleaning position, the second bearing component (472) is located at the collecting position, the distance between the first bearing component (452) and the second bearing component (472) is the minimum preset distance, and the garbage in the device to be cleaned can fall into the garbage collection device (200) through the cleaning opening (4521 a).
2. The cleaning apparatus of claim 1, wherein the second carrier assembly (472) carries an end of the garbage collection device (200) capable of rotating and/or translating in a plane intersecting the first direction under the influence of an external force.
3. The cleaning apparatus of claim 1, wherein the bracket body (43) includes a support guide bar (436), the support guide bar (436) extending in the first direction and through the first carrier assembly (452); the lifting structure (45) comprises a lifting driving assembly (454), the lifting driving assembly (454) is installed on the support main body (43) and is in transmission connection with the first bearing assembly (452), and the lifting driving assembly (454) is used for driving the first bearing assembly (452) to reciprocate along the support guide rod (436) in the first direction.
4. A cleaning apparatus according to claim 3, wherein the stand main body (43) includes a stand bottom plate (432) and a stand top plate (434), the support guide bar (436) is supported between the stand bottom plate (432) and the stand top plate (434), and the stand bottom plate (432) and the stand top plate (434) are disposed at a spacing in the first direction.
5. The cleaning device according to claim 4, characterized in that a filling member (4325) is provided on a side end surface of the bracket bottom plate (432) facing the first bearing assembly, and the filling member (4325) is shaped to match the cleaning opening (4521 a).
6. A cleaning device according to claim 3, wherein the lifting driving assembly (454) comprises a lifting driving member (4541) and a lifting driving screw (4543), the lifting driving member (4541) is mounted on the bracket main body (43), the lifting driving screw (4543) extends along the first direction, two ends of the lifting driving screw (4543) are respectively connected to the lifting driving member (4541) and the bracket main body (43), the first bearing assembly (452) is sleeved on the lifting driving screw (4543) and is in threaded fit with the lifting driving screw (4543), and the lifting driving member (4541) is used for driving the lifting driving screw (4543) to rotate around the first direction so as to drive the first bearing assembly (452) to reciprocate along the first direction.
7. The cleaning apparatus of claim 1, wherein the auxiliary structure comprises an auxiliary drive assembly (474), the auxiliary drive assembly (474) being mounted to the bracket body (43) and drivingly connected to the second carrier assembly (472), the auxiliary drive assembly (474) being configured to drive the second carrier assembly (472) to rotate about the first direction.
8. The cleaning device according to claim 7, wherein the auxiliary driving assembly (474) comprises a rotation driving member (4741) and a rotation driving rod (4743), the rotation driving member (4741) is mounted on the bracket main body (43), the rotation driving rod (4743) extends along the first direction, two ends of the rotation driving rod (4743) are respectively connected with the rotation driving member (4741) and the bracket main body (43), the second bearing assembly (472) is sleeved on the rotation driving rod (4743), and the rotation driving member (4741) is used for driving the rotation driving rod (4743) to rotate around the first direction so as to drive the second bearing assembly (472) to rotate around the first direction.
9. A cleaning device which can be moved into the cleaning device according to any one of claims 1 to 8, wherein the cleaning device is provided with a dust box, and the dust box is provided with a garbage discharge opening which can be opened and closed; when the device to be cleaned is carried on the first carrying component (452) of the cleaning device, the dust box is communicated with the cleaning port (4521 a) of the first carrying component (452) through the garbage discharge port.
10. A cleaning apparatus comprising a cleaning device according to any one of claims 1 to 8 and a device to be cleaned according to claim 9, said device to be cleaned being movable to said cleaning device and carried on said first carrier assembly (452).
11. A control method of a cleaning apparatus, comprising the steps of:
acquiring a cleaning signal sent by a device to be cleaned;
controlling the second carrier assembly (472) to rotate to a waiting position;
controlling the first bearing component (452) to move to an initial position;
controlling the device to be cleaned to move onto the first bearing assembly (452), wherein a garbage discharge port of the device to be cleaned is positioned above a cleaning port (4521 a) on the first bearing assembly (452);
controlling the first carrier assembly (452) to move to an elevated position;
controlling movement of at least one of a second carrier assembly (472) carrying a refuse collection device and the first carrier assembly (452) in a direction approaching the other until the refuse discharge port is allowed to communicate with the refuse collection device (200) through the cleaning port (4521 a);
controlling the first carrier assembly (452) to move to a cleaning position;
controlling the opening of the garbage discharge port to communicate with the garbage collection device (200) through the cleaning port (4521 a); the garbage in the device to be cleaned falls into the garbage collection device (200) through the cleaning port (4521 a);
controlling the first carrier assembly (452) to move to the raised position.
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| CN201910650244.7A CN110327001B (en) | 2019-07-18 | 2019-07-18 | Cleaning device, device to be cleaned, cleaning equipment and control method |
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| CN201910650244.7A CN110327001B (en) | 2019-07-18 | 2019-07-18 | Cleaning device, device to be cleaned, cleaning equipment and control method |
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| CN112294190B (en) * | 2019-07-31 | 2022-03-08 | 美智纵横科技有限责任公司 | Dust collecting station of self-moving cleaning device and dust collecting system with dust collecting station |
| CN111590638A (en) * | 2020-06-04 | 2020-08-28 | 江苏美的清洁电器股份有限公司 | Dust collection method and dust collection station |
| WO2021244663A1 (en) * | 2020-06-05 | 2021-12-09 | 苏州宝时得电动工具有限公司 | Self-moving robot system |
| CN112471971A (en) * | 2020-11-10 | 2021-03-12 | 安徽信息工程学院 | Automatic lifting type intelligent ash-discharging and floor-sweeping robot and use method thereof |
| CN113180548B (en) * | 2021-04-29 | 2022-08-16 | 深圳市云视机器人有限公司 | Cleaning system |
| CN113333356A (en) * | 2021-05-25 | 2021-09-03 | 王冰 | Intelligent nursing and disinfecting device for infectious department |
| CN113842087B (en) * | 2021-10-12 | 2022-10-14 | 东莞市品佳智能科技有限公司 | Floor sweeping robot |
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