CN112754372B - Sealing structure and self-moving cleaning robot - Google Patents
Sealing structure and self-moving cleaning robot Download PDFInfo
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- CN112754372B CN112754372B CN202011585508.4A CN202011585508A CN112754372B CN 112754372 B CN112754372 B CN 112754372B CN 202011585508 A CN202011585508 A CN 202011585508A CN 112754372 B CN112754372 B CN 112754372B
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- sealing
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- 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
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- 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
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
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- 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
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
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- Cleaning In General (AREA)
Abstract
The application provides a seal structure and self-moving cleaning robot, wherein, seal structure includes: the sealing device comprises a sealing container, a first sealing element and a second sealing element, wherein the first sealing element and the second sealing element are arranged at an external communication port of the sealing container; the first seal and the second seal form a sealing structure when the sealed container is in a first state so that the sealed container forms a seal relative to the outside; the first seal and the second seal form an open structure in the second state of the sealed container so that the sealed container is in communication with the outside.
Description
Technical Field
The application relates to the technical field of cleaning, in particular to a sealing structure and a self-moving cleaning robot.
Background
At present, the cleaning mode of the self-moving cleaning robot mainly comprises cleaning, dust absorption and fixed rag wiping, and in the cleaning process, a sealed container (such as a water tank) of the self-moving cleaning robot pumps away air in the tank through a vacuum pump, so that negative pressure is formed in the sealed container to suck away sewage generated in the cleaning process of the cleaning robot. In the sewage discharging process, the self-moving cleaning robot can be in butt joint with the cleaning base station, and sewage in the sealed container is automatically extracted through the cleaning base station, so that automatic sewage discharging is realized. Therefore, how to improve the sealing capability of the sealed container structure of the self-moving cleaning robot becomes a problem to be solved urgently.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provides a sealing structure, a working method of a cleaning robot and a self-moving cleaning robot.
In order to achieve the purpose, the following technical scheme is adopted in the application:
a sealing structure, comprising:
the sealing device comprises a sealing container, a first sealing element and a second sealing element, wherein the first sealing element and the second sealing element are arranged at an external communication port of the sealing container;
the first sealing member and the second sealing member form a sealing structure when the sealed container is in a first state so that the sealed container forms a seal relative to the outside;
in the second state of the sealed container, the first sealing member and the second sealing member form an open structure so that the sealed container is communicated with the outside.
Optionally, the sealing structure further comprises:
one end of the communicating pipe is positioned in the sealed container and forms a first communicating port, and the other end of the communicating pipe extends to the outside of the sealed container through the external communicating port of the sealed container and forms a second communicating port;
the second sealing element is installed at the first communication port in a limiting mode, and the first sealing element moves between the second communication port and the second sealing element in a limiting mode.
Optionally, the second seal comprises:
the sealing base is in limit connection with the inner wall of the communicating pipe;
and the third communication port is formed in the middle of the sealing base and communicated with the second communication port.
Optionally, the first sealing element is a spherical structure or a conical structure, wherein a vertex of the conical structure is located at one end of the communication pipe close to the third communication port.
Optionally, an inner diameter of the communication tube is larger than a maximum width of the first packing;
the second communication port is arranged on the side wall of the communication pipe, and the diameter of the second communication port is smaller than the maximum width of the first sealing element;
the diameter of the third communication port is smaller than the maximum width of the first seal.
Optionally, the sealing structure further comprises:
the limiting piece is arranged on the inner wall of the communicating pipe and is positioned above the first sealing piece;
under the condition that the first sealing element and the second sealing element form an open structure, the first sealing element is separated from the second sealing element under the action of external force and is limited below the limiting piece.
Optionally, the stopper includes:
the at least two limiting convex ribs are arranged on the inner wall of the communicating pipe at intervals along the same horizontal plane;
the distance between the adjacent limiting convex ribs is smaller than the maximum width of the first sealing element, so that the first sealing element can move in a limiting mode between the second sealing element and the limiting convex ribs.
Optionally, the communication pipe includes:
one end of the first pipe body is positioned outside the sealed container and communicated with the second communication port, and the other end of the first pipe body is communicated with the second pipe body through the external communication port;
and one end of the second pipe body is communicated with the first pipe body through the external communication port, and the other end of the second pipe body extends to the bottom of the sealed container and is in limit connection with the second sealing element.
Optionally, a groove cavity is provided in the bottom of the sealed container, into which the second tube extends, such that the second seal is fully seated within the groove cavity.
Optionally, the sealing structure further comprises:
and the rotating door is arranged in the communicating pipe, corresponds to the second communicating port and enables the second communicating port to be in a normally closed state.
The application also provides a from removing cleaning machines people, its characterized in that includes:
a robot body on which a sealed container is mounted;
a first sealing element and a second sealing element are arranged in the sealed container, and the first sealing element and the second sealing element form a sealing structure under the action of negative pressure, so that the sealed container forms a seal relative to the outside.
Optionally, the self-moving cleaning robot further comprises:
one end of the communicating pipe is positioned in the sealed container and forms a first communicating port, and the other end of the communicating pipe extends to the outside of the sealed container through the water tank communicating port and forms a second communicating port;
the second sealing element is installed at the first communication port in a limiting mode, and the first sealing element moves between the second communication port and the second sealing element in a limiting mode.
Optionally, when the sealed container is in a negative pressure state, the water body sucked through the robot body flows into the sealed container;
in the case that the body of water flowing into the sealed container submerges the second seal in the communication pipe, the first seal separates from the second seal by buoyancy and continues to seal the sealed container from the outside by the body of water.
Optionally, the self-moving cleaning robot further comprises:
the communication cavity is arranged at the bottom of the sealed container in a protruding mode and is located below the water tank communication opening;
the communication pipe extends into the communication chamber and places the second packing member in the communication chamber.
The utility model provides a seal structure makes through setting up first sealing member and second sealing member in sealed container utilizing different pressure state in the sealed container first sealing member and second sealing member form seal structure or open structure, and make sealed container keeps good seal state at the during operation, has advantages such as simple structure is reliable and application scope is wide. Simultaneously, through setting up first sealing member and second sealing member in the communicating pipe of independent structure, have the advantage that can independently dismantle fast.
Furthermore, the self-moving cleaning robot of this application, through setting up sealed container and communicating pipe into the independent structure, break away from sealing member and first communicating port from sealed container, form seal structure through utilizing the negative pressure difference between sealed container and the communicating pipe, thereby under the condition that does not influence robot body structure, realize sealed container sealed for first communicating port, the problem of the sealed difficult of first communicating port has been solved, moreover, the steam generator is simple in structure and reliable, the process cost has been reduced and the control of manufacturing process is convenient for under the condition that does not influence sealed container self structure.
Drawings
Fig. 1 is a cross-sectional view of the overall structure of a seal structure provided in an embodiment of the present application;
fig. 2 is an overall structural sectional view of a communication pipe provided in the embodiment of the present application;
fig. 3 is a partial structural sectional view of a communication pipe provided in the embodiment of the present application;
FIG. 4 is a schematic structural diagram of a swing door provided in an embodiment of the present application;
fig. 5 is a partial structural schematic view of a cleaning robot provided in an embodiment of the present application;
FIG. 6 is a sectional view showing an assembled structure of a water tank and a communicating pipe provided in the embodiment of the present application;
fig. 7 is a schematic view of an assembly structure of the communication pipe and the swing door provided in the embodiment of the present application;
fig. 8 is a sectional view of the entire structure of the sealed container provided in the embodiment of the present application.
Reference numerals
1-sealed container, 2-communicating pipe, 21-first pipe, 22-second pipe, 3-revolving door, 31-revolving door support, 32-revolving part, 33-revolving door body, 4-first sealing element, 5-second sealing element, 51-sealing base, 52-third communication port, 6-drainage cover, 7-limiting piece, 71-limiting convex rib, 81-first communication port, 82-second communication port, 9-air suction pipe, 10-water inlet pipe, 11-water storage cavity, 12-water inlet cavity, 13-external communication port, 14-communication cavity and 15-groove cavity.
Detailed Description
The following description of specific embodiments of the present application refers to the accompanying drawings.
In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.
In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, the premise that each other exists, and the like.
In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.
Unless otherwise indicated, numerical ranges herein include not only the entire range within its two endpoints, but also several sub-ranges subsumed therein.
The sealing structure of the application can be applied to a commercial or household self-moving cleaning robot, and the sealing structure of the application, such as a water tank, is arranged in the self-moving cleaning robot and used for storing water sucked by the self-moving cleaning robot in cleaning operation.
The application provides a sealing structure, as shown in fig. 1, comprising a sealing container 1, wherein a first sealing member 4 and a second sealing member 5 are arranged at an external communication port of the sealing container 1, when the inside of the sealing container 1 is in a first state, the first sealing member 4 and the second sealing member 5 form a sealing structure and keep the external communication port closed, and further the sealing container 1 forms a seal relative to the outside; correspondingly, when the sealed container 1 is in a second state, the first sealing element 4 and the second sealing element 5 form an open structure to keep the external communication port open, so that the sealed container 1 is communicated with the outside, and a medium such as a water body in the sealed container 1 can be exchanged with the outside, wherein the first state refers to that the pressure inside the sealed container 1 is smaller than the pressure outside the sealed container 1, and the second state refers to that the pressure inside the sealed container 1 is greater than or equal to the pressure outside the sealed container 1.
In an embodiment of the present application, as shown in fig. 1, the sealing structure of the present application further includes a communication pipe 2, one end of the communication pipe 2 is located in the sealed container 1, and the other end of the communication pipe extends to the outside of the sealed container 1 through an external communication port of the sealed container 1, the first sealing element 4 is movably installed in the communication pipe 2 as a moving mechanism to control sealing and unsealing of the sealing structure through changing its own position, the second sealing element 5 is installed in the communication pipe 2 in a limited manner and is arranged corresponding to the first sealing element 4, and when the sealed container 1 is in the second state, the first sealing element 4 can move freely relative to the second sealing element 5, so that the communication pipe 2 is in the communication state; when the sealed container 1 is in the first state or when the pressure of the external environment of the sealed container 1 suddenly and relatively increases, the pressure inside the sealed container 1 relatively remains unchanged (i.e. the pressure generated by the atmospheric pressure), at this time, the sealed container 1 will form a pressure difference with the external environment, and the first sealing element 4, under the action of the pressure, freely moves relative to the second sealing element 5, and is converted into a sealing structure tightly attached to the second sealing element 5, so as to seal the pipeline of the communication pipe 2 to form a one-way sealing structure.
The sealing structure of this application makes through setting up first sealing member 4 and second sealing member 5 in sealed container 1, utilizes the pressure state of difference in sealed container 1 first sealing member 4 and second sealing member 5 form seal structure or open structure, and makes sealed container 1 keeps good encapsulated situation at the during operation, has advantages such as simple structure is reliable and application scope is wide. Meanwhile, by providing the first packing 4 and the second packing 5 in the communication pipe 2 of an independent structure, there is an advantage in that they can be detached independently and quickly.
In an embodiment of the present application, as shown in fig. 1, the sealing structure further includes a first communication port 81 and a second communication port 82, the first communication port 81 is disposed at an end portion of the communication pipe 2 located inside the sealed container 1, the second communication port 82 is disposed at an end portion of the communication pipe 2 located inside and outside the sealed container 1, the second sealing member 5 is installed at the first communication port 81 at a limited position, and when the communication pipe 2 is in the communication state, a fluid medium including a water body or air can flow along the communication pipe 2 via the second communication port 82 and the second sealing member 5, and at the same time, the first sealing member 4 is in a limited movement between the second communication port 82 and the second sealing member 5, that is, the first sealing member 4 cannot be separated from the communication pipe 2.
It should be noted that, in the case that the relative positional relationship between the first sealing member 4 and the second sealing member 5 is relatively determined, for example, the first sealing member 4 is always located above or on one side of the second sealing member 5, the direction of the pressure acting on the first sealing member 4 will determine the moving direction of the first sealing member 4, and thus determine whether the communication pipe 2 is in the closed state.
In a special case, the first sealing member 4 may also be connected to the second communication port 82 to seal the pipeline of the communication pipe 2 to form a one-way closed structure, which will be exemplified later in the present application.
In the above-described embodiment, as shown in fig. 2, the second sealing member 5 includes the sealing base 51 and the third communication port 52, the sealing base 51 is connected to the inner wall of the communication pipe 2 in a limiting manner so as to fixedly mount the second sealing member 5 in the communication pipe 2, the third communication port 52 is formed in the middle of the sealing base 51 and communicates with the second communication port 82, and in the state where the communication pipe 2 is unsealed, a gap exists between the sealing base 51 and the first sealing member 4, so that the fluid medium can flow in or out through the third communication port 52.
Particularly, be formed with at least one spacing recess on seal base 51's the lateral wall, be parallel arrangement between the adjacent spacing recess and form crisscross sawtooth structure be provided with on the inner wall of communicating pipe 2 with spacing groove matched with spacing protruding muscle to form continuous crisscross limit structure and have good sealed effect.
In one embodiment of the present application, as shown in fig. 2, the first sealing member 4 has a spherical structure or a conical structure, wherein a vertex of the conical structure is located at an end of the communication pipe 2 close to the third communication port 52, and the first sealing member 4 may be made of a rigid material or a flexible material.
Meanwhile, the inner diameter of the communication pipe 2 is larger than the maximum width of the first packing 4 to ensure that the first packing 4 can move normally, and in addition, the diameter of the second communication port 82 is smaller than the maximum width of the first packing 4, and the diameter of the third communication port 52 is smaller than the maximum width of the first packing 4 to ensure that the first packing 4 cannot be separated from the communication pipe 2, and the third communication port 52 can be sealed by interference fit.
Optionally, first sealing member 4 can be the rubber ball, and is corresponding, second sealing member 5 can be the rubber buffer, rubber ball and rubber buffer can closely laminate and take place elastic deformation under the effect of pressure to form seal structure.
In another embodiment of the present application, install the movable valve element on the second sealing member 5, the movable valve element is disposed in the third communicating port 52 and make the third communicating port 52 be in a normally open state, and fluid medium can pass through the movable valve element to follow the third communicating port 52 flows in or flows out, meanwhile, the first sealing member 4 is a butt sleeve matched with the third communicating port 52, under the condition that the inside of the communication pipe 2 forms a negative pressure difference with the external environment, the butt sleeve abuts against the movable valve element under the action of pressure, so that the movable valve element is in a normally closed state, and the closure of the third communicating port 52 is realized through the movable valve element, thereby realizing the sealing of the communication pipe 2.
In one embodiment of the present application, as shown in fig. 1, the sealing structure further includes a limiting member 7, the limiting member 7 is disposed on an inner wall of the communication pipe 2 and located above the first sealing member 4, and a distance between the limiting member 7 and the second sealing member 5 should be such that there is a certain moving space in the first sealing member 4, and in a case where the first sealing member 4 and the second sealing member 5 form an open structure, by changing an external environment of the communication pipe 2 or introducing other influencing factors, the first sealing member 4 is separated from the second sealing member 5 and limited below the limiting member 7 under an external force, so that the communication pipe 2 is changed to a communication state and is bidirectionally communicated, and a fluid medium can flow along the communication pipe 2.
Specifically, as shown in fig. 2, the limiting member 7 includes limiting ribs 71, at least two of the limiting ribs 71 are disposed at intervals along the same horizontal plane on the inner wall of the communication pipe 2 to form an interval-type limiting structure, and a distance between adjacent limiting ribs 71 is smaller than a maximum width of the first sealing element 4, so that the first sealing element 4 cannot pass through the interval between the limiting ribs 71, and the first sealing element 4 is ensured to move in a limiting manner between the second sealing element 5 and the limiting ribs 71.
In an embodiment of the present application, as shown in fig. 2, the communication pipe 2 includes a first pipe 21 and a second pipe 22, one end of the first pipe 21 is located outside the hermetic container 1 and is communicated with the second communication port 82, and the other end is communicated with the second pipe 22 through the external communication port, and the second communication port 82 may be disposed at a suitable position according to a specific application scenario, for example, on a side wall of the first pipe 21, or an end of the first pipe 21 away from one end of the second pipe 22, and the present application is not limited in particular; one end of the second tube 22 is communicated with the first tube 21 through the external communication port, and the other end of the second tube extends to the bottom of the sealed container 1 and is connected with the second sealing element 5 in a limiting manner.
In one embodiment of this application, as shown in fig. 3, seal structure still includes revolving door 3, revolving door 3 installs in communicating pipe 2 and with second intercommunication mouth 82 corresponds the setting, and makes second intercommunication mouth 82 is in the normally closed state, and this application is in promptly second intercommunication mouth 82 department of communicating pipe 2 disposes revolving door 3, makes communicating pipe 2 is under being in non-operating condition, second intercommunication mouth 82 can be in non-confined normally closed state to it is right to prevent that children from inserting by mistake and the danger factor in the external environment is to first sealing member 4 and the second sealing member 5 of communicating pipe 2 inside cause the destruction.
Specifically, as shown in fig. 4, the swing door 3 includes a swing door bracket 31, a rotating portion 32, and a swing door body 33, the swing door bracket 31 is disposed on a side wall of the communication pipe 2 on a side away from the hermetic container 1, the second communication port 82 is located on the swing door bracket 31, the rotating portion 32 is located in the communication pipe 2 and connected to a side wall of the swing door bracket 31, the swing door body 33 is located in the communication pipe 2 and rotatably connected to the rotating portion 32, and the swing door body 33 abuts against the swing door bracket 31 under the action of the swing door body 33, so as to cover the second communication port 82.
In one embodiment of the present application, as shown in fig. 1, a groove cavity 15 is provided at the bottom of the hermetic container 1, and the end of the communication tube 2 extends into the groove cavity 15, so that the second packing 5 is completely placed in the groove cavity 15.
In the above embodiment, in the process that the water body continuously flows into the groove cavity 15, the liquid level of the water body in the groove cavity 15 continuously rises and is simultaneously immersed into the communication pipe 2 under the effect of the communicating vessel, and in the process that the water body submerges the second sealing member 5, the first sealing member 4 is subjected to the buoyancy action from the water body, and the direction of the buoyancy is opposite to the direction of the pressure generated by the negative pressure, so that the first sealing member 4 is separated from the second sealing member 5 under the effect of the buoyancy of the water body, the water body can further flow into the communication pipe 2, and the space between the communication pipe 2 and the sealed container 1 is sealed through the water body.
The present application provides a working method of a self-moving cleaning robot, as shown in fig. 2, including a sealed container 1, and a first sealing member 4 and a second sealing member 5 are disposed inside the sealed container 1, wherein the method includes:
Step 201: the self-moving cleaning robot extracts air in the sealed container 1, so that the sealed container 1 is in a first state that negative pressure is formed in the sealed container, the first sealing element 4 and the second sealing element 5 close an external communication port under the action of the negative pressure, and the sealed container 1 is in a sealed state.
In the above embodiment, after the self-moving cleaning robot is started, the vacuum pump starts to work, and the air in the sealed container 1 is pumped out, so that a first state of negative pressure is formed in the sealed container 1, and since one end of the communication pipe 2 is located outside the sealed container 1, the inside of the communication pipe 2 is still at the standard atmospheric pressure, so that a negative pressure difference occurs between the sealed container 1 and the communication pipe 2.
First sealing member 4 in communicating pipe 2 under the effect of pressure with second sealing member 5 in communicating pipe 2 forms seal structure, makes the inside of sealed container 1 isolated with external, further makes the inside vacuum of sealed container 1 increases gradually, the inside negative pressure difference to communicating pipe 2 inside now of sealed container 1 also increases gradually, thereby makes first sealing member 4 and second sealing member 5 keep the state of closely laminating.
Step 202: the self-moving cleaning robot sucks a water body into the sealed container 1 and submerges the second sealing member 5 in a sealed state of the sealed container 1, thereby maintaining the sealed state of the sealed container 1 by the water body.
In the above embodiment, after the water body submerges the second sealing member 5, the sealing between the sealed container 1 and the communicating pipe 2 can be achieved directly through the water body, and it is ensured that the inside of the sealed container 1 is continuously in a negative pressure state, so that the water inlet pipe 10 can continuously feed water.
Step 203: in a second state where the sealed container 1 is at a positive pressure or a normal pressure inside, the first sealing member 4 is separated from the second sealing member 5 to open the external communication port, so that the sealed container 1 communicates with the outside.
In an embodiment of the present application, the self-moving cleaning robot further includes a communication pipe 2, one end of the communication pipe 2 is located inside the sealed container 1, the other end of the communication pipe 2 is located outside the sealed container 1, the first sealing element 4 is movably installed inside the communication pipe 2, and the second sealing element 5 is installed inside the communication pipe 2 in a limited manner;
the self-moving cleaning robot sucks a water body into the sealed container 1 and submerges the second sealing member 5, thereby maintaining the sealed state of the sealed container 1 by the water body, including:
Step 211: the sealed container 1 introduces water from the self-moving cleaning robot into the sealed container 1 through a water inlet pipe 10 under the action of negative pressure.
In the above embodiment, the water from the self-moving cleaning robot is introduced into the hermetic container 1 through the water inlet pipe 10 under the pressure generated by the negative pressure difference. Meanwhile, negative pressure is formed in the sealed container 1, so that water from the self-moving cleaning robot flows into the sealed container 1 through the water inlet pipe 10 under the action of pressure to fill up missing air, and the requirement of the self-moving cleaning robot for collecting sewage or purified water is met.
Step 212: the water inside the hermetic container 1 is gradually immersed into the communicating tube 2 by the communicating vessel effect and submerges the second packing member 5.
In the above embodiment, the communicating pipe 2 functions to discharge the water flowing into the sealed container 1 by suction, so that the sealed container 1 can be reused, and therefore, one end of the communicating pipe 2 is located inside the sealed container 1 to obtain the water, and the other end of the communicating pipe 2 is kept outside the sealed container 1 to extract the water, and meanwhile, the communicating pipe 2 and the sealed container 1 also form mutually independent detachable structures rather than integrally formed structures.
Step 213: the sealed container 1 separates the first sealing member 4 from the second sealing member 5 by using the buoyancy of the water body, thereby maintaining the sealed state of the sealed container 1 through the water body.
In the above embodiment, in the process that the water body continuously flows into the sealed container 1, the liquid level of the water body in the sealed container 1 continuously rises, and is synchronously immersed into the communicating pipe 2 under the effect of the communicating vessel, and in the process that the water body submerges the second sealing member 5, the first sealing member 4 is subjected to the buoyancy from the water body, and the direction of the buoyancy is opposite to the direction of the pressure generated by the negative pressure, so that the first sealing member 4 is separated from the second sealing member 5 under the effect of the buoyancy of the water body.
In an embodiment of the present application, the self-moving cleaning robot further includes a swing door 3, the swing door 3 is mounted on the communication pipe 2 and is disposed corresponding to the second communication port 82 of the communication pipe 2, and makes the second communication port 82 in a normally closed state, and the method further includes:
step 221: in the process that the self-moving cleaning robot moves to a base station and is docked, the water suction pipe of the base station opens the swing door 3 and extends into the communicating pipe 2 through the second communication port 82.
Step 222: and the base station extracts the water body in the communicating pipe 2 through the water suction pipe until the liquid level of the water body in the sealed container 1 is lower than the first sealing element 4 and higher than the second sealing element 5.
Step 223: the suction pipe of the base station is separated from the rotary door 3, so that the rotary door 3 is automatically closed, and the second communication port 82 is in a normally closed state again.
In the embodiment, the self-moving cleaning robot of this application discerns the liquid level of water through predetermined liquid level recognition device under the condition that water in the sealed container 1 reaches predetermined liquid level, vacuum pump stop work, and exhaust tube 9 stops the extraction air in the sealed container 1 to make inlet tube 10 stop intaking, sealed container 1 is in the "full load" state of settlement. After the sealed container 1 is in a set full-load state, the self-moving cleaning robot stops cleaning operation and is in butt joint with a corresponding base station, and a water suction pipe from the base station extends into the upper part of the first sealing element 4 along the communicating pipe 2 to automatically suck and drain water. In the embodiment of the application, the base station extracts the water in the communicating pipe 2 through the suction pipe until the liquid level of the water in the sealed container 1 is lower than the first sealing element 4 and higher than the second sealing element 5, and at this time, the second sealing element 5 is still in the state of water sealing, so that the communicating pipe 2 and the sealed container 1 are still in the isolated state, and the sealed container 1 is ensured to be capable of keeping stable sealing performance in subsequent cleaning operation.
Optionally, the first sealing member 4 is a spherical structure, a third communication port 52 is provided in the second sealing member 5, and a diameter of the second communication port 82 and a diameter of the third communication port 52 are both smaller than a diameter of the first sealing member 4.
The working method of the self-moving cleaning robot is suitable for all dust collectors or the self-moving cleaning robot and the like, adopts a water tank structure in a suction and pollution discharge mode, and solves the problems of tightness and reliability of the water tank structure in the prior art by matching the self-moving cleaning robot with a fully-automatic processing base station.
The application still provides a self-moving cleaning robot, as shown in fig. 5 and 6, including the robot body install sealed container 1 on the robot body be provided with first sealing member 4 and second sealing member 5 in the sealed container 1 from the in-process that the self-moving cleaning robot began to get into the cleaning operation, air in the sealed container 1 is extracted via the vacuum pump, makes sealed container 1 is in the negative pressure state, first sealing member 4 under the effect of negative pressure with second sealing member 5 forms the seal structure of closely laminating, makes sealed container 1 forms sealedly relatively the outside.
In one embodiment of the present application, the self-moving cleaning robot further includes a communication pipe 2, one end of the communication pipe 2 is located in the sealed container 1 and forms a first communication port 81, the other end of the communication pipe passes through the external communication port 13 and extends to the outside of the sealed container 1 and forms a second communication port 82, the second sealing element 5 is installed in the first communication port 81 in a limiting manner, and the first sealing element 4 is in the second communication port 82 and the second sealing element 5 in a limiting manner.
Specifically, in a case where the water flowing into the sealed container 1 submerges the second packing 5 in the communication pipe 2, the first packing 4 is separated from the second packing 5 by buoyancy, and the sealed container 1 continues to be sealed from the outside by the water.
The utility model provides a from removing cleaning machines people, through setting up sealed container 1 and communicating pipe 2 into the independent structure, break away from sealing member and first communication port 81 from sealed container 1, through utilizing the negative pressure difference between sealed container 1 and the communicating pipe 2 to form seal structure, thereby under the condition that does not influence the robot body structure, realize sealed container 1 sealed for first communication port 81, the problem of first communication port 81 sealed difficult has been solved, still have advantages such as with low costs and technology empty control is convenient.
In an embodiment of the present application, as shown in fig. 6, the self-moving cleaning robot further includes a limiting member 7, the limiting member 7 is disposed on an inner wall of the communication pipe 2 and located above the first sealing member 4, in a process of cleaning operation performed by the self-moving cleaning robot, sewage entering the sealed container 1 is immersed into the communication pipe 2 through the second sealing member 5, and the first sealing member 4 is separated from the second sealing member 5 and is limited below the limiting member 7 under the buoyancy of the sewage.
Specifically, as shown in fig. 7, the limiting member 7 includes limiting ribs 71, at least two of the limiting ribs 71 are disposed on the inner wall of the communication pipe 2 at intervals along the same horizontal plane, a distance between adjacent limiting ribs 71 is smaller than a maximum width of the first sealing element 4, and the first sealing element 4 is in limiting movement between the third communication port 52 and the limiting ribs 71.
In one embodiment of the present application, as shown in fig. 7, the second sealing element 5 includes a sealing base 51 and a third communication port 52, the sealing base 51 is disposed at an end of the communication pipe 2 and is connected to an inner wall of the communication pipe 2 in a limiting manner, one end of the third communication port 52 is communicated with the sealed container 1, the other end of the third communication port is disposed corresponding to the first sealing element 4, and a diameter of the third communication port 52 is smaller than a maximum width of the first sealing element 4.
In one embodiment of the present application, as shown in fig. 6, the self-moving cleaning robot further includes a swing door 3, and the swing door 3 is installed in the communication pipe 2 and is disposed corresponding to the second communication port 82, and makes the second communication port 82 in a normally closed state. Specifically, the swing door 3 includes a swing door support 31, a rotating portion 32 and a swing door body 33, the swing door support 31 is disposed on the side wall of one side of the hermetic container 1 away from the communication pipe 2, the second communication port 82 is located on the swing door support 31, the rotating portion 32 is located in the communication pipe 2 and connected to the side wall of the swing door support 31, the swing door body 33 is located in the communication pipe 2 and rotationally connected to the rotating portion 32, and the swing door body 33 abuts against the swing door support 31 under the effect of the swing door body 33, so as to cover the second communication port 82.
In an embodiment of this application, as shown in fig. 7, communicating pipe 2 includes first body 21 and second body 22, first body 21 is located sealed container 1's outside and at vertical direction from top to bottom expansion gradually, revolving door support 31 sets up on the first body 21, the one end of second body 22 with the bottom of first body 21 is linked together, the other end with sealed container 1 is linked together, second sealing member 5 and first sealing member 4 are located in the second body 22.
In one embodiment of the present application, as shown in fig. 5 and 8, the sealed container 1 includes a water storage chamber 11 and a communication chamber 14, a water inlet chamber 12 and an external communication port 13 are adjacently disposed on the water storage chamber 11, and the communication pipe 2 extends into the water storage chamber 11 through the external communication port 13 and is adjacently disposed to the water inlet chamber 12. The communication cavity 14 is arranged at the bottom of the sealed container 1 in a protruding mode and is located below the external communication port 13, a water outlet is formed in one end, away from the water storage cavity 11, of the communication cavity 14, and a water discharge cover 6 is installed outside the water outlet. Specifically, the end of the communication pipe 2 extends into the communication chamber 14 and is disposed in correspondence with the drain cover 6 so that the second packing 5 is completely located in the communication chamber 14, and it should be noted that, in the case where the communication chamber 14 is submerged by the contaminated water in the hermetic container 1, the second packing 5 is completely submerged in the contaminated water, and after the cleaning work is finished, the user discharges the remaining contaminated water in the hermetic container 1 by gravity by opening the drain cover 6.
Optionally, first sealing member 4 can be the rubber ball, and is corresponding, second sealing member 5 can be the rubber buffer, rubber ball and rubber buffer can closely laminate and take place elastic deformation under the effect of pressure to form seal structure.
This application utilizes the negative pressure difference among the sealed container 1 to form seal structure, and after second sealing member 5 submerges totally, utilize the buoyancy of sewage to make first sealing member 4 deblocking and trun into to keep sealed through the water to the utilization has guaranteed sealed reliability.
The utility model provides a from removing cleaning machines people, through setting up sealed container and communicating pipe into the independent structure, break away from sealing member and first communicating port from sealed container, negative pressure difference through utilizing sealed container and communicating pipe between forms seal structure, thereby under the condition that does not influence robot body structure, realize sealed container sealed for first communicating port, the problem of the sealed difficult of first communicating port has been solved, moreover, the steam generator is simple in structure and reliable, the process cost has been reduced and the control of the manufacturing process of being convenient for under the condition that does not influence sealed container self structure.
In addition, through the communication cavity arranged on the sealed container, the communicating vessel is far away, so that the liquid level difference of the water level in the sealed container and the water level in the communicating pipe is avoided.
The application scene one:
in the following, a specific application scenario is described by taking a cleaning system composed of a cleaning robot as a large floor washing machine and a base station as an example, and the application scenario is a large comprehensive market.
The user starts the floor scrubber and begins to wash the ground in the market, vacuum pump in the floor scrubber begins work and takes out the air in the water tank, the inside negative pressure state that forms of water tank, the rubber ball in the communicating pipe supports against with the rubber buffer under the effect of pressure, thereby form seal structure, realize sealed for the communicating pipe with the water tank, and simultaneously, the sewage that the round brush of floor scrubber produced when wasing flows into the water tank under the effect of pressure, along with the gradual rise of sewage liquid level, sewage immerses in the communicating pipe and submerges the rubber buffer under the communicating vessel effect, the rubber ball breaks away from the rubber buffer under the effect of the buoyancy of sewage, make sewage can continue to flow in the communicating pipe.
After the washing is finished, the floor washing machine moves to the position where the base station is located to be in butt joint, the water suction pipe of the base station stretches into the position where the rubber ball is located through the communicating pipe and conducts sewage pumping until the liquid level of the sewage is lower than the rubber ball, and the water suction pipe exits from the communicating pipe to finish pumping.
Application scenario two:
a specific application scenario is described below by taking a cleaning robot as a cleaning system composed of a sweeping robot and a base station as an example, and the application scenario is a home location.
The user starts the robot of sweeping the floor and begins to wash the ground in market, the vacuum pump in the robot of sweeping the floor begins to work and takes out the air in the water tank, the inside negative pressure state that forms of water tank, the rubber ball in the communicating tube supports against with the rubber buffer under the effect of pressure, thereby form seal structure, realize sealed for communicating tube with the water tank, and simultaneously, the sewage that the round brush of robot of sweeping the floor produced when wasing flows into the water tank under the effect of pressure in, along with the gradual rise of sewage liquid level, sewage immerses in the communicating tube under the communicating vessel effect and submerges the rubber buffer, the rubber ball breaks away from the rubber buffer under the effect of the buoyancy of sewage, make sewage can continue to flow into in the communicating tube.
After the cleaning is finished, the sweeping robot moves to the position where the base station is located to be in butt joint, the water suction pipe of the base station stretches into the position where the rubber ball is located through the communicating pipe and conducts sewage extraction until the liquid level of the sewage is lower than the rubber ball, and the water suction pipe exits the communicating pipe to finish water pumping.
The preferred embodiments and examples of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the embodiments and examples, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.
Claims (12)
1. A sealing structure, comprising:
the sealing device comprises a sealing container (1), wherein a first sealing element (4) and a second sealing element (5) are arranged at an external communication port of the sealing container (1);
in a first state of the sealed container (1), the first sealing member (4) and the second sealing member (5) form a sealing structure so that the sealed container (1) forms a seal relative to the outside;
in the second state of the sealed container (1), the first sealing member (4) and the second sealing member (5) form an open structure so that the sealed container (1) is communicated with the outside;
The sealing structure further comprises a communication pipe (2), one end of the communication pipe (2) is located in the sealed container (1) and forms a first communication port (81), and the other end of the communication pipe extends to the outside of the sealed container (1) through an external communication port of the sealed container (1) and forms a second communication port (82);
the second sealing element (5) is mounted at the first communication opening (81) in a limiting mode, and the first sealing element (4) moves between the second communication opening (82) and the second sealing element (5) in a limiting mode.
2. The seal structure of claim 1, characterized in that the second seal (5) comprises:
the sealing base (51), the sealing base (51) is connected with the inner wall of the communicating pipe (2) in a limiting way;
a third communication port (52), the third communication port (52) being formed in a middle portion of the sealing base (51) and communicating with the second communication port (82).
3. The sealing structure according to claim 2, characterized in that the first sealing member (4) is a spherical structure or a conical structure, wherein the apex of the conical structure is located at the end of the communication pipe (2) close to the third communication port (52).
4. A sealing arrangement according to claim 3, characterised in that the inner diameter of the communication tube (2) is larger than the maximum width of the first seal (4);
The second communication opening (82) is arranged on the side wall of the communication pipe (2), and the diameter of the second communication opening (82) is smaller than the maximum width of the first sealing element (4);
the diameter of the third communication port (52) is smaller than the maximum width of the first seal (4).
5. The seal structure of claim 1, further comprising:
the limiting piece (7) is arranged on the inner wall of the communication pipe (2) and positioned above the first sealing piece (4);
under the condition that the first sealing element (4) and the second sealing element (5) form an open structure, the first sealing element (4) is separated from the second sealing element (5) under the action of external force and is limited below the limiting piece (7).
6. The sealing structure according to claim 5, characterized in that the stopper (7) comprises:
the limiting convex ribs (71), at least two of the limiting convex ribs (71) are arranged on the inner wall of the communicating pipe (2) at intervals along the same horizontal plane;
the distance between the adjacent limiting convex ribs (71) is smaller than the maximum width of the first sealing element (4), so that the first sealing element (4) can move in a limiting way between the second sealing element (5) and the limiting convex ribs (71).
7. The sealing structure according to claim 1, characterized in that the communication pipe (2) includes:
a first pipe body (21), one end of the first pipe body (21) is positioned outside the sealed container (1) and communicated with the second communication port (82), and the other end of the first pipe body is communicated with the second pipe body (22) through the external communication port;
one end of the second pipe body (22) is communicated with the first pipe body (21) through the external communication port, and the other end of the second pipe body (22) extends to the bottom of the sealed container (1) and is in limit connection with the second sealing element (5).
8. The sealing structure according to claim 7, characterized in that a groove cavity (15) is provided at the bottom of the sealing container (1), the second tube (22) extending into the groove cavity (15) such that the second seal (5) is completely placed in the groove cavity (15).
9. The seal structure of claim 1, further comprising:
the swing door (3) is installed in the communicating pipe (2), is arranged corresponding to the second communicating port (82), and enables the second communicating port (82) to be in a normally-closed state.
10. A self-moving cleaning robot, comprising:
A robot body on which a sealed container (1) is mounted;
a first sealing element (4) and a second sealing element (5) are arranged in the sealed container (1), the first sealing element (4) and the second sealing element (5) form a sealing structure under the action of negative pressure, and the sealed container (1) forms a seal relative to the outside;
the self-moving cleaning robot further includes:
one end of the communication pipe (2) is positioned in the sealed container (1) and forms a first communication port (81), and the other end of the communication pipe (2) extends to the outside of the sealed container (1) through the water tank communication port (13) and forms a second communication port (82);
the second sealing element (5) is mounted at the first communication opening (81) in a limiting mode, and the first sealing element (4) moves between the second communication opening (82) and the second sealing element (5) in a limiting mode.
11. The self-moving cleaning robot according to claim 10, wherein in a state where the sealed container (1) is under negative pressure, the water body sucked through the robot body flows into the sealed container (1);
under the condition that the water body flowing into the sealed container (1) submerges the second sealing member (5) in the communication pipe (2), the first sealing member (4) is separated from the second sealing member (5) under the action of buoyancy, and the sealed container (1) is continuously sealed relative to the outside through the water body.
12. The self-moving cleaning robot as claimed in claim 11, further comprising:
the communication cavity (14) is arranged at the bottom of the sealed container (1) in a protruding mode and is located below the water tank communication opening (13);
the communication pipe (2) extends into the communication chamber (14) and enables the second sealing member (5) to be placed in the communication chamber (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011585508.4A CN112754372B (en) | 2020-12-28 | 2020-12-28 | Sealing structure and self-moving cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011585508.4A CN112754372B (en) | 2020-12-28 | 2020-12-28 | Sealing structure and self-moving cleaning robot |
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| CN112754372A CN112754372A (en) | 2021-05-07 |
| CN112754372B true CN112754372B (en) | 2022-05-24 |
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| CN112754372A (en) | 2021-05-07 |
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