CN113017486B

CN113017486B - Dust collecting station and cleaning system

Info

Publication number: CN113017486B
Application number: CN201911354281.XA
Authority: CN
Inventors: 王攀; 丁铁; 周威; 程福萍
Original assignee: Midea Robozone Technology Co Ltd
Current assignee: Midea Robozone Technology Co Ltd
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2024-08-30
Anticipated expiration: 2039-12-25
Also published as: CN113017486A

Abstract

The embodiment of the application provides a dust collecting station and a cleaning system, wherein the dust collecting station is used for collecting cleaning impurities of autonomous cleaning equipment. The autonomous cleaning device includes a main body portion and a driving wheel mounted at a bottom of the main body portion. The dust collecting station is internally provided with a negative pressure dust collecting channel and comprises a bearing device and a lifting mechanism, the bearing device is used for bearing a driving wheel, and the bearing device is provided with a dust collecting suction communicated with the negative pressure dust collecting channel. At least one side of the dust collecting suction port is provided with a lifting mechanism which protrudes out of the top surface of the bearing device and is used for supporting the main body. Since the main body is supported by the lifting mechanism, the universal wheel is not caught in the dust collecting suction port and is caught.

Description

Dust collecting station and cleaning system

Technical Field

The application relates to the technical field of cleaning equipment, in particular to a dust collecting station and a cleaning system.

Background

At present, the robot for sweeping floor can realize autonomous cleaning, lighten the burden of people for doing housework, and is loved by consumers. But the dust box for accommodating dust therein has a limited capacity due to the volume of the robot itself. After the dust box is full, a person is required to bend down to take the dust box for cleaning. Therefore, the autonomous cleaning time of the sweeping robot is restricted, and the number of times of human intervention is increased.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a dust collection station and cleaning system that are capable of better collecting dust from an autonomous cleaning device.

To achieve the above object, a first aspect of an embodiment of the present application provides a dust collecting station for collecting cleaning impurities of an autonomous cleaning apparatus including a main body portion and a driving wheel mounted at a bottom of the main body portion;

A negative pressure dust collecting channel is formed in the dust collecting station, and the dust collecting station comprises:

The bearing device is used for bearing the driving wheel and is provided with a dust collecting suction port communicated with the negative pressure dust collecting channel;

And the lifting mechanism is arranged on at least one side of the dust collection suction port and protrudes out of the top surface of the bearing device so as to be used for supporting the main body.

Further, the lifting mechanism includes:

the lifting base is arranged at the top of the bearing device;

The movable piece is at least partially protruded out of the top surface of the lifting base and used for supporting the main body part, and the movable piece is movably connected with the lifting base so that friction between the movable piece and the main body part is rolling friction or static friction.

Further, the movable piece can move relative to the lifting base under the drive of the main body part; or the dust collecting station comprises a driving mechanism which is in driving connection with the movable piece to drive the movable piece to move relative to the lifting base.

Further, the movable piece is a roller, the roller is rotationally connected with the lifting base, and the rotation axis of the roller is perpendicular to the advancing direction of the autonomous cleaning equipment.

Further, the number of the rollers is plural, and the plural rollers are arranged along the traveling direction of the autonomous cleaning device.

Further, the movable piece is a ball, a groove is formed on the lifting base, and the ball is movably arranged in the groove; or the movable member is a transmission belt which is arranged along the travelling direction of the autonomous cleaning device.

Further, the dust collection station further comprises a charging terminal for charging the autonomous cleaning device, the charging terminal being arranged on the carrying means.

Further, the top surface is beveled and gradually rises in the direction of travel of the autonomous cleaning device.

Further, the dust collecting station further includes a positioning portion for performing stop positioning on the driving wheel, the positioning portion being disposed at the top of the carrying device, the positioning portion being configured to:

When the driving wheel is positioned at the target position, the positioning part is matched with the driving wheel stop.

Further, the dust collecting suction port is provided with the positioning parts along two opposite sides perpendicular to the advancing direction of the autonomous cleaning equipment, the dust collecting suction port is provided with the lifting mechanism along two opposite sides perpendicular to the advancing direction of the autonomous cleaning equipment, and the minimum distance between the two positioning parts is larger than the maximum distance between the two lifting mechanisms.

Further, the positioning part is provided with an arc-shaped stop surface matched with the driving wheel, and the arc-shaped stop surface is used for being matched with the driving wheel stop.

Further, the positioning part is provided with an anti-slip structure positioned at the moving-in end of the arc-shaped stop surface.

Further, the dust collecting suction opening is provided with the lifting mechanism along opposite sides perpendicular to the traveling direction of the autonomous cleaning device.

A second aspect of an embodiment of the application provides a cleaning system comprising an autonomous cleaning device and a dust collection station of any of the above;

The autonomous cleaning device further comprises a dust box for accommodating cleaning impurities, the dust box is positioned in the main body part, a dust discharge port is formed at the bottom end of the dust box, the dust discharge port can be selectively opened or closed, and when the dust discharge port is communicated with the dust collection suction port, the cleaning impurities in the dust box can sequentially enter the negative pressure dust collection channel through the dust discharge port and the dust collection suction port;

The main body portion is supported on the lifting mechanism during travel of the drive wheel on the carrying device.

Further, the dust collecting suction opening is provided with the lifting mechanisms along two opposite sides perpendicular to the advancing direction of the autonomous cleaning equipment, and in the advancing track of the driving wheels on the bearing device, the two lifting mechanisms are positioned between the two driving wheels.

Further, the autonomous cleaning device further includes a universal wheel mounted at the bottom of the main body portion, the universal wheel passing through the dust collection suction port in a travel path of the driving wheel on the carrying device.

According to the dust collecting station disclosed by the embodiment of the application, when the driving wheel of the autonomous cleaning equipment moves on the bearing device of the dust collecting station, as the lifting mechanism is arranged on at least one side of the dust collecting suction port, the lifting mechanism can support the main body part of the autonomous cleaning equipment, so that the universal wheels connected with the main body part cannot fall into the dust collecting suction port of the bearing device to be clamped, and the autonomous cleaning equipment can be ensured to normally move and walk on the bearing device.

Drawings

FIG. 1 is a schematic diagram of a cleaning system according to an embodiment of the application;

FIG. 2 is a schematic diagram of an autonomous cleaning device according to an embodiment of the present application;

FIG. 3 is a schematic view of a cleaning system according to another embodiment of the present application;

FIG. 4 is an enlarged view at position B of FIG. 1;

FIG. 5 is a schematic view of an autonomous cleaning device according to an embodiment of the present application moved to a dust collecting station with a main body portion supported on a lifting mechanism such that a universal wheel passing through a dust collecting suction port is in a suspended state;

FIG. 6 is an enlarged view of position E of FIG. 2 at another view angle;

FIG. 7 is a cross-sectional view at position C-C of FIG. 3;

FIG. 8 is an enlarged view at position D of FIG. 7;

FIG. 9 is a schematic diagram of the structure of the target mechanism and the actuator mechanism according to the first embodiment of the present application;

FIG. 10 is a schematic view of the target mechanism and actuator of FIG. 9 from another perspective, with the dust station omitted;

FIG. 11 is a schematic diagram of a target mechanism and an actuator mechanism according to a second embodiment of the present application;

FIG. 12 is a schematic view of the structure of FIG. 11 from another perspective, with the dust station and the first electromagnet positioned thereon omitted;

FIG. 13 is a schematic view of a target mechanism and an actuator mechanism according to a third embodiment of the present application;

FIG. 14 is a schematic view of the actuator shown in FIG. 13 from another perspective;

FIG. 15 is a schematic view of the hook of the actuator of FIG. 13 from another perspective;

FIG. 16 is a schematic view of a hook according to an embodiment of the present application;

FIG. 17 is a schematic diagram of a structure of a plurality of actuators according to an embodiment of the present application;

fig. 18 is a schematic structural diagram of a hitching section according to an embodiment of the present application, wherein the hitching section corresponds to the actuator shown in fig. 17 one by one.

Description of the reference numerals

An autonomous cleaning device 1; a dust box 11; a dust discharge port 111; an air inlet 112; a drive wheel 12; a universal wheel 13; a cover plate 14; rotating the connection location 141; a first cover plate 142; a second cover plate 143; a main body 15; a bottom plate 151; a first escape port 1511; a bracket 152; a second escape opening 1521; a stopper 16; a third elastic member 17; a dust collection station 2; a carrying device 21; a dust collection suction port 211; a top surface 212; a charging terminal 22; a positioning portion 23; an arcuate stop surface 231; a non-slip structure 232; a lifting mechanism 24; a movable member 241; lifting the base 242; a dust collection motor 25; a seal 26; a column 27; a dust discharge passage 28; a dial block 31; a ferrous device 32; a hooking portion 34; hook slot 3411; a first slot 3412; a baffle 342; a second notch 3421; a driving part 41; a cam 42; a first electromagnet 43; a clasp 44; a clamping piece 45; a hook 46; a first working portion 461; a connecting portion 462; a second lever 4621; a third lever 4622; a connection plate 4623; a connecting ear 4624; a mounting base 47; a reset mechanism 48; a first elastic member 481; a second elastic member 482; a stopper 49; cushioning member 40

Detailed Description

It should be noted that, in the case of no conflict, the embodiments of the present application and the technical features of the embodiments may be combined with each other, and the detailed description in the specific embodiments should be interpreted as an explanation of the gist of the present application and should not be construed as unduly limiting the present application.

In the description of the embodiments of the present application, the terms "upper," "lower," "top," "bottom," orientation or positional relationship are based on the orientation or positional relationship shown in fig. 1, and it should be understood that these orientation terms are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Referring to fig. 1, an embodiment of the present application provides a cleaning system including an autonomous cleaning device 1 and a dust collecting station 2, the dust collecting station 2 for collecting sweeping impurities of the autonomous cleaning device 1.

Before describing the dust collecting station 2, a description will be first made of a dust collecting object of the dust collecting station 2. Referring to fig. 1, 2, 3 and 8, an autonomous cleaning device 1 according to an embodiment of the present application includes a main body 15 and a driving wheel 12 mounted at the bottom of the main body 15. The main body 15 is a main body structure of the autonomous cleaning apparatus, and can realize a cleaning function, and the driving wheel 12 realizes a function of driving the main body 15 to move.

In one embodiment of the present application, the number of drive wheels 12 is at least two. The number of driving wheels 12 in the present embodiment will be described by taking two as an example, and the two driving wheels 12 are disposed at a distance.

In an embodiment of the application, the autonomous cleaning device 1 further comprises a dust box 11 for accommodating cleaning impurities, the dust box 11 being located in the main body 15, the dust box 11 performing the function of collecting cleaning impurities. The bottom end of the dust box 11 is constructed with a dust discharge port 111, and the dust discharge port 111 can be selectively opened or closed. Specifically, when the dust discharge port 111 is in the open state, at least part of the cleaning impurities in the dust box 11 can fall from the dust discharge port 111, and when the dust discharge port 111 is in the closed state, the cleaning impurities are collected in the dust box. It should be noted that, when the autonomous cleaning apparatus is in the cleaning process, the dust discharge port 111 is in a closed state.

Referring to fig. 10 and 12, the dust box 11 is provided with an air inlet 112, and during cleaning operation of the autonomous cleaning apparatus 1, cleaning impurities such as dust on the floor enter the dust box 11 through the air inlet 112.

In one embodiment, referring to fig. 2, the autonomous cleaning device 1 further includes a universal wheel 13, wherein the universal wheel 13 is mounted on the bottom of the main body 15. Specifically, the universal wheel 13 is provided in front of the driving wheel 12 in the advancing direction of the autonomous cleaning device, and the universal wheel 13 is capable of turning and thereby changing the advancing direction of the autonomous cleaning device 1. Illustratively, in the travel path of the autonomous cleaning device 1, the universal wheel 13 is located between the two drive wheels 12, it being understood that the path of the universal wheel 13 may be located directly in the middle of the path of the two drive wheels 12 or may be offset from the middle, without limitation. A triangular support is formed between the two driving wheels 12 and the universal wheels 13 which are arranged at intervals, so that the autonomous cleaning device 1 has better stability in the moving process.

In order to provide the autonomous cleaning device 1 with better stability, the span between two spaced-apart drive wheels 12 is generally greater. In one embodiment, with continued reference to fig. 2, the dust box 11 is positioned between the two drive wheels 12 in the path of travel of the autonomous cleaning device 1. In this way, the dust box 11 can have a larger volume, and accordingly the opening area of the dust discharge opening 111 of the dust box 11 can be increased, which is beneficial to discharging cleaning impurities in the dust box 11 out of the dust box 11.

Referring to fig. 1 and 4, in the dust collecting station 2 of the embodiment of the present application, a negative pressure dust collecting channel is formed in the dust collecting station 2, and the dust collecting station 2 includes a lifting mechanism 24 and a carrying device 21 for carrying the driving wheel 12. The carrying device 21 is constructed with a dust collecting suction port 211 communicating with the negative pressure dust collecting passage.

In the path of travel of the drive wheel 12 on the carrier 21, the universal wheel 13 passes the dust collection suction opening 211. The universal wheel 13 passes through the dust collecting suction opening 211, there is a risk that the universal wheel 13 gets stuck by being caught in the dust collecting suction opening 211. For this purpose, in the embodiment of the present application, at least one side of the dust collecting suction opening 211 is provided with a lifting mechanism 24, and the lifting mechanism 24 protrudes from the top surface 212 of the carrying device 21 for the main body 15.

When the autonomous cleaning apparatus 1 needs to clean cleaning impurities in the dust box 11, the autonomous cleaning apparatus 1 moves onto the dust collecting station 2, specifically, the driving wheel 12 moves along the top surface of the carrying device 21, and when moving to the main body 15 to be supported on the lifting mechanism 24, the lifting mechanism 24 plays a role in supporting the main body 15, so that the phenomenon that the universal wheel 13 falls into the dust collecting suction opening 211 of the carrying device 21 to be blocked is avoided, that is, the universal wheel 13 is in a suspended state in the process of passing through the dust collecting suction opening 211, the autonomous cleaning apparatus 1 can be ensured to normally move on the carrying device 21, and the driving wheel 12 continues to drive the autonomous cleaning apparatus 1 to move, so that the universal wheel 13 can pass through the dust collecting suction opening 211 basically without obstruction until the autonomous cleaning apparatus moves to a target position.

After moving to the target position, the dust discharge port 111 is communicated with the dust collection suction port 211, and cleaning impurities in the dust box 11 of the autonomous cleaning device 1 are discharged into the dust collection station 2, so that an operator is not required to bend down to take the dust box 11 for cleaning, frequent human intervention on the autonomous cleaning device 1 is avoided, and the workload of a user can be reduced.

When the dust discharge port 111 communicates with the dust collection suction port 211, cleaning impurities in the dust box 11 can enter the negative pressure dust collection passage through the dust discharge port 111 and the dust collection suction port 211 in sequence. Specifically, when the dust discharge port 111 communicates with the dust collection suction port 211, a negative pressure environment is formed in the negative pressure dust collection passage, and the cleaning impurities in the dust box 11 are sucked into the negative pressure dust collection passage under the action of the negative pressure, so that the cleaning impurities in the dust box 11 are emptied, the cleaning impurities are collected in the dust collection station 2, and after the accumulated amount of the cleaning impurities is large, the cleaning impurities collected in the dust collection station 2 are cleaned again, for example, the cleaning impurities in the dust collection station 2 are cleaned once for one month or two months.

The autonomous cleaning apparatus 1 may be a robot for sweeping floor, or may be another apparatus for autonomously cleaning a wall surface, for example, without limitation. In the embodiment of the present application, the autonomous cleaning device 1 is described as an example of a sweeping robot.

The dust collecting station 2 further includes a dust suction motor 25, and the dust suction motor 25 is configured to form a negative pressure in the negative pressure dust collecting channel, and a collecting device, which is in communication with the negative pressure dust collecting channel to accommodate cleaning impurities discharged from the negative pressure dust collecting channel. The dust collection motor 25 can adopt a mute technology, and the mute effect is good. The collection means may be a collection box or a collection bag for collecting the cleaning impurities.

The dust collection station 2 further comprises a stand 27 arranged on the carrying means 21, the suction motor 25 being arranged in the stand 27, the negative pressure dust collection channel also extending into the stand 27, that is to say that the cleaning impurities collected by the dust collection station 2 can be placed in the stand 27. The autonomous cleaning device 1 traveling direction is a direction in which the autonomous cleaning device 1 advances or retreats, specifically, based on fig. 1 or fig. 5, the autonomous cleaning device 1 traveling direction is a direction indicated by an arrow a in fig. 1 or fig. 5.

It will be appreciated that in an embodiment, the lifting mechanism 24 may be provided only on one side of the dust collection suction opening 211 in a direction perpendicular to the traveling direction of the autonomous cleaning device 1, and thus it can be ensured that the universal wheel 13 passing through the dust collection suction opening 211 does not interfere with the lifting mechanism 24. In another embodiment, the lifting mechanisms 24 are arranged on two opposite sides of the dust collecting suction opening 211 along the direction perpendicular to the travelling direction of the autonomous cleaning device 1, so that the lifting mechanisms 24 can support the main body 15 more stably, and the stress of supporting the main body 15 is more balanced. The present embodiment is described taking an example in which the lifting mechanism 24 is provided at both opposite sides of the dust collection suction port 211 in a direction perpendicular to the traveling direction of the autonomous cleaning apparatus 1. In still another embodiment, the lifting mechanism 24 may be provided on at least one side of the dust collecting suction port 211, so long as the position of the lifting mechanism 24 can avoid the movement track of the universal wheel 13 so that the moving universal wheel 13 does not interfere with the lifting mechanism 24.

The specific structure of the lifting mechanism 24 is not limited as long as it can function to lift the main body 15.

Illustratively, in one embodiment, the lifting mechanism 24 may be a fixed structure, with sliding friction between the lifting mechanism 24 and the main body 15. The lifting mechanism 24 in the structure can support the main body 15, can avoid the universal wheels from falling into the dust collection suction port 211 of the bearing device 21 to be blocked, and ensures that the autonomous cleaning device 1 can normally move and walk on the bearing device 21.

In an embodiment of the present application, referring to fig. 4, the lifting mechanism 24 includes a lifting base 242 and a movable member 241. The lifting base 242 is disposed at the top of the bearing device 21, the movable member 241 at least partially protrudes from the top surface 212 of the bearing device 21 to be used for supporting the main body 15, and the movable member 241 is movably connected with the lifting base 242 so that friction between the movable member 241 and the main body 15 is rolling friction or static friction, so that abrasion of the main body 15 due to sliding friction between the lifting mechanism 24 and the main body 15 or scraping of the bottom surface of the main body 15 can be avoided. This embodiment will be described by taking this structural form as an example.

It should be noted that the term "movably connected" refers to a connection manner in which the movable member 241 and the lifting base 242 have a relative motion, for example, the movable member 241 can slide, rotate, roll, etc. relative to the lifting base 242.

The movement of the movable member 241 relative to the lifting base 242 may be active movement or passive movement, as long as the movement of the movable member 241 is adapted to the movement of the main body 15, so that sliding friction is not generated between the movable member 241 and the main body 15. For example, in one embodiment, the movable member 241 can move relative to the lifting base 242 under the driving of the main body 15, and at this time, the movable member 241 moves passively. In another embodiment, the dust collecting station 2 further comprises a driving mechanism, and the driving mechanism is in driving connection with the movable member 241 to drive the movable member 241 to move relative to the lifting base 242, and at this time, the movable member 241 is actively moved, and in this embodiment, the active movement of the movable member 241 can also assist the autonomous cleaning device 1 to travel. The driving mechanism that is in driving connection with the movable member 241 may be provided on the lifting base 242 or may be provided on the carrying device 21.

The specific structural form of the movable member 241 is not limited. For example, in one embodiment, the movable member 241 is a roller, the roller is rotatably connected to the lifting base 242, and the rotation axis of the roller is perpendicular to the running direction of the autonomous cleaning device 1, and the friction between the roller and the main body 15 is rolling friction, so that the running resistance of the autonomous cleaning device 1 can be reduced. It should be noted that the roller may be driven by the driving mechanism to move.

It will be appreciated that the number of rollers may be one or more. When the number of the rollers is plural, the plural rollers are arranged in the traveling direction of the autonomous cleaning device 1, so that the lifting mechanism 24 can be facilitated to support the autonomous cleaning device 1 in the traveling direction of the autonomous cleaning device 1. Of course, a plurality of rollers may also be arranged in a direction oblique to the direction of travel of the autonomous cleaning device 1.

In another embodiment, the movable member 241 may be a ball, and correspondingly, the lifting base 242 is formed with a groove, and the ball is movably disposed in the groove. The balls can roll under the drive of the main body 15, in this embodiment, the friction between the balls and the main body 15 is rolling friction.

In a further embodiment, the movable member 241 may also be a belt, which is arranged in the direction of travel of the autonomous cleaning device 1. Specifically, the dust collecting station 2 includes two rollers rotatably connected to the lifting base 242, a belt is disposed on the rollers, the main body 15 can be supported on the belt, static friction can be formed between the main body 15 and the belt, and the main body 15 drives the belt to move. It will be appreciated that the roller may be adapted to move its rotation by a drive mechanism to move the belt at a speed compatible with the speed of movement of the autonomous cleaning device 1 to maintain static friction between the autonomous cleaning device 1 and the belt.

In an embodiment of the present application, referring to fig. 1, the dust collecting station 2 further comprises a charging terminal 22 for charging the autonomous cleaning device 1, the charging terminal 22 being arranged on the carrying device 21. When the driving wheel (12) is located at the target position, the dust discharge port 111 of the autonomous cleaning device 1 communicates with the dust collection suction port 211 of the dust collection station 2, and the means for charging on the autonomous cleaning device 1 contacts with the charging terminal 22 to charge the autonomous cleaning device 1.

In an embodiment of the present application, referring to fig. 1 and 5, the top surface 212 of the carrying device 21 is a slope, and the top surface 212 is gradually raised along the traveling direction of the autonomous cleaning device 1. As such, when the autonomous cleaning device 1 moves onto the top surface 212 of the carriage 21, the autonomous cleaning device 1 is inclined with the inclination of the top surface 212, which is advantageous in that the autonomous cleaning device 1 can smoothly move to a target position on the dust collecting station 2. It will be appreciated that the top surface of the carrier 21 may also be a horizontal surface.

In an embodiment of the present application, referring to fig. 1 and 4, the dust collecting station 2 further includes a positioning portion 23 for stopping and positioning the driving wheel 12, the positioning portion 23 is disposed on the top of the carrying device 21, and the positioning portion 23 is configured to: when the driving wheel (12) is positioned at the target position, the driving wheel 12 is in stop fit with the positioning part 23, and at this time, the dust discharge port 111 is positioned at a position capable of communicating with the dust collection suction port 211. The positioning portion 23 can perform a function of quickly aligning and positioning the dust discharge port 111 of the autonomous cleaning device 1 and the dust collection suction port 211 of the dust collection station 2.

Specifically, in one embodiment, the dust collecting suction opening 211 is provided with the positioning portions 23 on both opposite sides in the direction perpendicular to the traveling direction of the autonomous cleaning device 1, and the lifting mechanisms 24 are provided on both opposite sides of the dust collecting suction opening 211 in the direction perpendicular to the traveling direction of the autonomous cleaning device 1, and the minimum distance between the two positioning portions 23 is greater than the maximum distance between the two lifting mechanisms 24. Specifically, in the travel path of the autonomous cleaning device 1 on the dust collecting station 2, two lifting mechanisms 24 are located between the two driving wheels 12, that is, they are disposed as close to the dust collecting suction opening 211 as possible to prevent interference with the movement of the driving wheels 12. In this way, the positioning portions 23 on both sides of the dust collecting suction opening 211 can position the driving wheels 12 on the respective sides, respectively, and both the driving wheels 12 of the autonomous cleaning apparatus 1 can be positioned more reliably. In such a configuration, the number of the positioning portions 23 may be two, the number of the driving wheels 12 may be two, and the positioning portions 23 on either side of the dust collecting suction port 211 are used to position the driving wheels 12 on that side.

It will be appreciated that in another embodiment, the positioning portion 23 is provided only on one side of the dust collecting suction opening 211 in a direction perpendicular to the traveling direction of the autonomous cleaning apparatus 1.

The structure of the positioning portion 23 is not limited as long as it can function as a stopper for the driving wheel 12. For example, referring to fig. 4, in one embodiment, the positioning portion 23 has an arcuate stop surface 231 adapted to mate with the driving wheel 12, and the arcuate stop surface 231 is adapted to be in stop engagement with the driving wheel 12. It will be appreciated that the surface of the locating portion 23 that mates with the stop of the drive wheel 12 may take other forms, such as a vertical stop surface or an L-shaped stop surface.

To prevent slippage of the drive wheel 12, in one embodiment, with continued reference to fig. 4, the positioning portion 23 has an anti-slip feature 232 at the inward end of the arcuate stop surface 231. It is understood that the anti-slip structure 232 may be anti-slip strips arranged along the traveling direction of the autonomous cleaning device 1, and the anti-slip structure 232 may be an anti-slip grid, etc., which is not limited herein.

In an embodiment of the present application, referring to fig. 4,6 and 8, the dust collecting station 2 further includes a sealing member 26, wherein an end of the sealing member 26 facing the carrying device 21 is in sealing connection with the carrying device 21, and an end of the sealing member 26 facing away from the carrying device 21 protrudes from the top surface 212. When the dust discharge port 111 communicates with the dust collection suction port 211, the structure around the dust discharge port 111 can be in sealing contact with the sealing member 26 to form a dust discharge passage 28 with a good sealing effect between the dust discharge port 111 and the dust collection suction port 211, so as to maintain the negative pressure effect in the negative pressure dust collection passage and reduce or avoid air leakage.

The autonomous cleaning device 1 further comprises a stopper 16 for preventing the seal 26 from tipping, the stopper 16 being provided on the main body 15 or the dust box 11. The position of the stopper 16 is set as: when the dust discharge port 111 communicates with the dust collection suction port 211, the seal 26 abuts against a side of the stopper 16 facing away from the dust discharge port 111. In this way, since the sealing member 26 abuts against the stopper 16, the sealing member 26 does not topple toward the dust discharge passage 28 due to the negative pressure in the negative pressure dust collection passage, and thus, the air leakage of the dust discharge passage 28 due to toppling of the sealing member 26 is avoided or the air leakage degree of the dust discharge passage 28 is increased.

In an embodiment, referring to fig. 6 and 8, the main body 15 includes a bottom plate 151 and a bracket 152 disposed at the bottom of the bottom plate 151, one end of the sealing member 26 away from the bearing device 21 can be in sealing contact with the bottom of the bracket 152, referring to fig. 6 and 8, a first avoidance port 1511 that can be communicated with the dust exhaust port 111 is configured at a position on the bottom plate 151 corresponding to the dust exhaust port 111, the bracket 152 is configured with a second avoidance port 1521, the first avoidance port 1511 is communicated with the second avoidance port 1521, the stop member 16 is disposed at the bottom of the bracket 152, and the stop member 16 is located outside the second avoidance port 1521. In this way, by the end of the seal 26 facing away from the carrier 21 coming into sealing contact with the bottom of the bracket 152 to effect a seal between the seal 26 and the bracket 152, the seal 26 can abut the stopper 16 provided at the bottom of the bracket 152 to prevent the seal 26 from tipping towards the dust evacuation channel 28. The stopper 16 is located outside the second relief port 1521 such that the second relief port 1521 is sealed by the seal 26 on the side of the seal 26 facing the dust exhaust passage 28, reducing the likelihood of air leakage through the second relief port 1521.

In an embodiment of the present application, the main body 15 may not include the bracket 152, and an end of the sealing member 26 facing away from the bearing device 21 may be in sealing contact with the bottom of the bottom plate 151, where the stopper 16 is disposed at the bottom of the bottom plate 151, and the stopper 16 is located outside the first avoiding opening 1511. In this way, the end of the seal 26 facing away from the carrier 21 is in sealing contact with the bottom of the bottom plate 151 to effect a seal between the seal 26 and the bottom plate 151, the seal 26 being able to abut a stop 16 provided at the bottom of the bottom plate 151 to prevent the seal 26 from tipping towards the dust discharge channel 28. The stopper 16 is located outside the first escape port 1511, so that the first escape port 1511 is sealed by the sealing member 26 on the side of the sealing member 26 facing the dust discharge passage 28, and the possibility of air leakage through the first escape port 1511 is reduced.

In one embodiment of the present application, when the seal 26 abuts the stopper 16, the seal 26 is in sealing contact with the stopper 16. With this structure, the sealing performance of the dust discharge passage 28 can be enhanced, and the possibility of air leakage of the dust discharge passage 28 can be reduced.

It will be appreciated that the abutment surface of the seal 26 and the abutment surface of the stop 16 may each be planar, with the abutment surface of the seal 26 and the abutment surface of the stop 16 abutting to form a sealing contact. The abutment surface of the sealing member 26 may be a concave arc surface, and the abutment surface of the stop member 16 may be a convex arc surface, and the concave arc surface and the convex arc surface are abutted to form sealing contact.

The sealing element 26 is made of flexible material with elasticity, so that when parts protruding towards the bottom on the autonomous cleaning device 1, such as the universal wheel 13, pass the sealing element 26, the sealing element 26 can be pressed down without being blocked by the sealing element 26, and when the universal wheel 13 passes the sealing element 26, the sealing element 26 can return to a position capable of playing a sealing role under the action of the elasticity of the sealing element.

It will be appreciated that the seal 26 may be a full circumference around the dust collecting suction opening 211; the dust discharge passage 28 may be defined by a seal 26 and other structures around the dust collection port 211. Specifically, in the embodiment of the present application, the dust collecting suction opening 211 is provided with the sealing member 26 on opposite sides in the traveling direction of the autonomous cleaning device 1, and the opposite sides in the traveling direction perpendicular to the autonomous cleaning device 1 are sealed by the lifting base 242, that is, in this embodiment, the dust discharging passage 28 is defined by the sealing member 26 and the lifting bases 242 on both sides.

In an embodiment of the present application, referring to fig. 9 to 18, the autonomous cleaning apparatus 1 further includes a cover plate 14 for selectively opening or closing the dust discharge port 111. The cover plate 14 is rotatably connected with the dust box 11. The cover plate 14 is rotatably connected to the bottom end of the dust box 11.

The cleaning system further comprises a target mechanism for driving the cover plate 14 to move so as to open or close the dust discharge opening 111 and an actuating mechanism for driving the target mechanism to move so as to drive the cover plate 14 to move, wherein the target mechanism is fixed on the cover plate 14. The position of the actuator is not particularly limited, and the actuator may be set to a plurality of different positions according to actual circumstances, which will be described in detail later according to different embodiments.

The target mechanism fixed on the cover plate 14 is driven by the actuating mechanism to move so that the target mechanism drives the cover plate 14 to move to a position for opening or closing the dust discharge opening 111, thereby correspondingly opening or closing the dust discharge opening 111, realizing automatic opening or closing of the dust discharge opening 111, improving the working efficiency and avoiding unnecessary manual intervention.

In one embodiment of the application, the actuator comprises a transmission member for driving the rotation of the target mechanism and a driving member 41 for driving the rotation of the transmission member to rotate the target mechanism connected to the transmission member. The transmission member can be coupled to the target mechanism and the drive member 41 is drivingly coupled to the transmission member. The driving part 41 drives the transmission part to rotate, and the rotating transmission part drives the target mechanism to rotate, so that the target mechanism rotates to drive the cover plate 14 fixedly connected with the target mechanism to rotate to a position for opening or closing the dust discharge port 111, and the cover plate 14 is enabled to open or close the dust discharge port 111. The driving part 41 may be a motor or other devices capable of providing driving power. The motor as the driving part 41 adopts a mute technology, and the mute effect is good. The driving part 41 drives the transmission part to correspondingly rotate forward or backward through forward or backward rotation, so that the cover plate 14 can open or close the dust discharge opening 111, and the opening degree of the dust discharge opening 111 can be correspondingly adjusted by controlling the forward or backward rotation stroke of the cover plate 14. In such a structure, the cover plate 14 can accurately open or close the dust discharge opening 111, the reliability is high, and the opening degree of the dust discharge opening 111 is adjustable.

The execution mechanism adopts a form of driving connection of the transmission part and the driving part 41, so that the driving part 41 can actively open or close the dust discharging opening 111, the positioning requirement of the structure form on the dust discharging opening 111 and the dust collecting suction opening 211 is relatively low, and even if the dust discharging opening 111 is slightly deviated from the position of the dust collecting suction opening 211 in the running process of the autonomous cleaning device 1, the driving part 41 is not influenced to drive the transmission part to open or close the dust discharging opening 111. Therefore, this structure has a high degree of error tolerance for the position of the autonomous cleaning device 1 at the time of sweeping the foreign matter discharge.

The target mechanism, the driving part 41 and the transmission part are all positioned outside the dust box 11, the cover plate 14 is provided with a rotating shaft which is rotationally connected with the dust box 11, and one end of the rotating shaft is positioned outside the dust box 11 and fixedly connected with the target mechanism. In this way, the target mechanism, the driving part and the transmission part can be arranged outside the dust box 11, so that the driving part 41 and the transmission part are more convenient to install, and meanwhile, the interference of cleaning impurities in the dust box 11 on the moving parts such as the driving part 41 and the transmission part in the running process is avoided.

The following describes in detail the target mechanism and the actuator mechanism of the cleaning system according to various embodiments of the present application with reference to the accompanying drawings.

First embodiment

Specifically, referring to fig. 9 and 10, in the first embodiment of the present application, the target mechanism is a dial 31, the transmission member is a cam 42, the cam 42 can rotate to abut against the dial 31, and the driving member 41 can drive the cam 42 to rotate so as to rotate the dial 31 abutting against the cam 42. Based on fig. 9, the driving part 41 drives the cam 42 to rotate clockwise, in this process, the cam 42 may not be in contact with the dial 31, and the cam 42 continues to rotate clockwise after rotating clockwise until in contact with the dial 31, so as to drive the dial 31 to drive the cover 14 to rotate counterclockwise to open the cover 14.

The autonomous cleaning device 1 further comprises a third elastic member 17 for driving the cover plate 14 to close the dust discharge opening 111 (the third elastic member 17 is not shown in fig. 9 and 10, and the schematic view of the third elastic member 17 is shown in fig. 12), and the third elastic member 17 is connected to the cover plate 14 and the dust box 11, respectively, so that the cover plate 14 has a tendency to close the dust discharge opening 111. In this configuration, the cover plate 14 has a function of automatically closing the dust discharge port 111. It will be appreciated that the third resilient member 17 may be a torsion spring, a spring or other resilient device.

Based on fig. 9, when the dust exhaust port 111 needs to be closed, the driving part 41 drives the cam 42 to rotate in the counterclockwise direction, and during the counterclockwise rotation, the cam 42 can always keep abutting against the dial 31, and the cam 42 can also rotate to a position that is finally separated from the dial 31. During the anticlockwise rotation of the cam 42, the acting force of the cam 42 on the shifting block 31 is reduced, and the cover plate 14 moves to a position for closing the dust discharge port 111 under the action of the third elastic member 17, so that the dust discharge port 111 is closed.

The shifting block 31, the cam 42 and the driving part 41 are all positioned outside the dust box 11, the shifting block 31 is fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotationally connected with the dust box 11. The driving member 41 may be provided on the dust box 11 or the main body 15. The drive member 41 may also be provided on the carrier 21, as space conditions allow.

The dial 31, the drive member 41 and the cam 42 are all located outside the dust box 11. The cover plate 14 is provided with a rotating shaft which is rotatably connected with the dust box 11, and one end of the rotating shaft is positioned outside the dust box 11 and fixedly connected with the shifting block 31. In this way, the corresponding cam 42 and the driving part 41 for driving the cam 42 to rotate can be installed outside the dust box 11, so that the installation of the cam 42 and the driving part 41 for driving the cam 42 to rotate is facilitated. The drive member 41 may be fixed to the main body 15 or to the dust box 11, such that the drive member 41, the cam 42 in driving connection with the drive member 41 and the dial 31 fixed to the cover plate 14 are all arranged on the autonomous cleaning device 1 to move together with the autonomous cleaning device 1. The driving member 41 may also be fixed to the carrying device 21, such as in a negative pressure dust collecting channel of the carrying device 21, in case the space is sufficient.

In one embodiment of the present application, the transmission member drivingly connected to the driving member 41 may be a driving gear, and the target mechanism may be a driven gear, the driving gear being meshed with the driven gear. The driven gear as the target mechanism is fixed to the cover plate 14, and for example, the driven gear may be fixed to a rotation shaft of the cover plate 14, and the rotation shaft of the cover plate 14 is rotatably connected to the dust box 11. The driving part 41 drives the driving gear to rotate, and the driving gear rotates to drive the driven gear meshed with the driving gear to rotate, so that the cover plate 14 is driven to rotate to a position for opening or closing the dust discharge port. In this configuration, the third elastic member 17 may not be provided, and the driving gear may be driven to rotate forward or backward by the driving member 41 to open or close the cover 14.

In an embodiment of the present application, the transmission part in driving connection with the driving part 41 may include a driving pulley and a traction belt, the target mechanism is a driven pulley, the traction belt is wound on the driving pulley and the driven pulley, and the driving pulley is in driving connection with the driving part 41. The driven pulley as the target mechanism is fixed to the cover plate 14, and for example, the driven gear may be fixed to a rotation shaft of the cover plate 14, and the rotation shaft of the cover plate 14 is rotatably connected to the dust box 11. The driving part 41 drives the driving pulley to rotate, the rotating driving pulley drives the traction belt to move, the moving traction belt drives the driven pulley to rotate, and the rotating driven pulley fixed on the cover plate 14 drives the cover plate 14 to rotate, so that the cover plate 14 opens or closes the dust discharge port 111. In this configuration, the third elastic member 17 may not be provided, and the driving pulley may be driven to rotate forward or backward by the driving member 41 to open or close the cover 14.

Second embodiment

In an embodiment of the present application, referring to fig. 11 and 12, the target mechanism is a ferrous device 32, and the actuator includes a first electromagnet 43 for attracting the ferrous device 32 to move the ferrous device 32, the first electromagnet 43 is disposed in the negative pressure dust collecting channel, and the first electromagnet 43 is located at a position corresponding to the dust collecting suction port 211.

The first electromagnet 43 is provided in the negative pressure dust collection passage, and the first electromagnet 43 is energized to attract the iron-containing device 32 to move toward the dust collection suction opening 211, thereby opening the dust discharge opening 111. When the cover plate 14 needs to be closed, the first electromagnet 43 is powered off and does not attract the iron-containing device 32 any more, and the cover plate 14 moves to a position for closing the dust discharge opening 111 under the drive of the third elastic member 17.

When the dust discharge port 111 moves to a position where it can communicate with the dust collection suction port 211, the first electromagnet 43 is energized, and the energized first electromagnet 43 generates a magnetic force to attract the iron-containing device 32, and the iron-containing device 32 may be an iron sheet, and the iron-containing device 32 fixed to the cover 14 is attracted by the first electromagnet 43 to move, thereby driving the cover 14 to move. Since the first electromagnet 43 is located in the negative pressure dust collection passage at a position corresponding to the dust collection suction port 211, the iron-containing device 32 attracted by the first electromagnet will drive the cover plate 14 to move toward the dust collection suction port 211 against the urging force of the third elastic member 17, thereby opening the cover plate 14.

When the open state of the dust discharge port 111 needs to be maintained, the first electromagnet 43 may be continuously energized to continuously attract the iron-containing device 32, thereby achieving the purpose of maintaining the open state of the dust discharge port 111.

When the dust discharge opening 111 needs to be closed, the first electromagnet 43 can be powered off, and the cover plate 14 moves to a position for closing the dust discharge opening 111 under the action of the third elastic member 17 to close the dust discharge opening 111.

The cover plate 14 is configured with a rotational connection 141, the cover plate 14 comprising a first cover plate 142 and a second cover plate 143. The first cover plate 142 is located at one side of the rotational connection position 141, the second cover plate 143 is located at the other side of the rotational connection position 141, the area of the second cover plate 143 is larger than that of the first cover plate 142, and the iron-containing device 32 is disposed on the second cover plate 143. The second cover plate 143 with larger area moves towards the dust collecting suction opening 211 along with the iron-containing device 32, and the first cover plate 142 with smaller area moves towards the dust box 11, so that the influence on the discharge of cleaning impurities in the dust box 11 is relatively smaller, and the cleaning of impurities is facilitated to be discharged out of the dust box 11.

The actuating mechanism further comprises a clamping piece 45 and a buckle 44, wherein the clamping piece 45 is connected with the cover plate 14; the buckle 44 is used for positioning the clamping piece 45, the buckle 44 is arranged on the dust box 11, and the buckle 44 can be clamped with the clamping piece 45 so that the cover plate 14 is positioned at a position for opening the dust discharge opening 111. In this way, when the cover plate 14 needs to keep the dust exhaust opening 111 open, the clamping piece 45 can be positioned by clamping the clamping piece 45 with the clamping buckle 44, so that the cover plate 14 connected with the clamping piece 45 is kept at the position of opening the dust exhaust opening 111. The cover plate 14 is influenced by the first electromagnet 43 to rotate along with the iron-containing device 32, and the clamping piece 45 is extruded into the clamping buckle 44 to be clamped with the clamping buckle 44 along with the rotation of the cover plate 14. Because the first electromagnet 43 is not required to be continuously electrified to keep the cover plate 14 in a state of opening the dust discharging port, after the clamping buckle 44 is clamped with the clamping piece 45 in the continuously opened state of the cover plate 14, the first electromagnet 43 can be powered off, and during the process of discharging cleaning impurities from the dust discharging port 111 into the negative pressure dust collecting channel through the dust collecting suction port 211, metal garbage is not interfered by the attraction of the first electromagnet 43, so that the cleaning impurities can be collected through the negative pressure dust collecting channel.

The buckle 44 of this embodiment is a push-type buckle, in the state of the clamping piece 45 and the buckle 44, when the dust exhaust port 111 needs to be closed, the first electromagnet 43 is electrified, the cover plate 14 continues to rotate under the influence of the first electromagnet 43 so that the clamping piece 45 fixed on the cover plate 14 extrudes the buckle 44, thereby opening the buckle 44, the clamping piece 45 fixed on the cover plate 14 is separated from the buckle 44, at this time, the first electromagnet 43 is powered off again, and the cover plate 14 moves to the position for closing the dust exhaust port 111 under the effect of the third elastic piece 17 so as to close the dust exhaust port 111.

Both the clamping piece 45 and the clamping buckle 44 are positioned outside the dust box 11; one end of the rotating shaft of the cover plate 14 is positioned outside the dust box 11 and fixedly connected with the clamping piece 45. The clamping piece 45 and the buckle 44 are both positioned outside the dust box 11, so that cleaning impurities can be prevented from being scattered on the clamping piece 45 and the buckle 44, and the clamping piece 45 and the buckle 44 can be prevented from being accumulated with dust to influence the normal clamping of the clamping piece 45 and the buckle 44.

Third embodiment

In a third embodiment of the present application, referring to fig. 13-18, the target mechanism is a hitching section 34; the actuator comprises a hook 46, a mounting seat 47 and a reset mechanism 48. The hook 46 is used for driving the hooking portion 34 to move, and one end of the hook 46 can be connected with or disconnected from the hooking portion 34. The mount 47 is disposed in the negative pressure dust collecting passage, and the other end of the hook 46 is rotatably connected with the mount 47. The reset mechanism 48 is used for enabling the hook 46 to move towards the preset position in a state that the hook 46 deviates from the preset position, the reset mechanism 48 is connected with the hook 46, and the reset mechanism 48 connected with the hook 46 is also connected with the mounting seat or the bearing device 21.

In the process that the autonomous cleaning device 1 moves on the dust collecting station 2 along the advancing direction of the autonomous cleaning device 1 to enable the dust discharging opening 111 to be communicated with the dust collecting suction opening 211, the hook 46 can be connected with the hanging portion 34, after the hook 46 is connected with the hanging portion 34, the autonomous cleaning device 1 continues to move on the advancing direction of the autonomous cleaning device 1, the hook 46 pulls the hanging portion 34 to drive the cover plate 14 to move, and the cover plate 14 is driven by the hanging portion 34 to overcome the acting force of the third elastic piece 17 to move to a position for opening the dust discharging opening 111.

When the dust discharge opening 111 needs to be closed, the autonomous cleaning device 1 moves back out of the dust collecting station 2 along the traveling direction of the autonomous cleaning device 1, the force exerted by the hook 46 on the hooking portion 34 gradually decreases until the hook 46 is out of contact with the hooking portion 34, and the cover plate 14 is moved to a position closing the dust discharge opening 111 by the driving of the third elastic member 17, so that the dust discharge opening 111 is closed.

A reset mechanism 48 is coupled to the hook 46 for resetting the hook 46 to enable the hook 46 to move toward a predetermined position. In this way, when the hook 46 rotatably connected to the mount 47 is rotated away from the preset position in any one of the two opposite rotation directions, the hook 46 can be driven by the reset mechanism 48 to move toward the preset position, so that the hook 46 rotatably connected to the mount 47 can rotationally swing in the two opposite rotation directions, which is advantageous for moving in or out the autonomous cleaning apparatus 1, and the hook 46 can be prevented from being blocked by other parts of the autonomous cleaning apparatus 1. Specifically, for example, a portion of the structure of the autonomous cleaning device 1 may touch the hook 46, but the portion of the structure is not connected to the hook 46 like the hooking portion 34, so that when the portion of the structure protruding on the autonomous cleaning device 1 moves past the hook 46, the hook 46 can be pressed down to deviate from the preset position so as to avoid the portion of the structure protruding on the autonomous cleaning device 1 from being caught by the hook 46, when the portion of the structure protruding on the autonomous cleaning device 1 completely passes through the hook 46, the hook 46 can be moved toward the preset position, such as moved back to the preset position, by the driving of the reset mechanism 48, and when the hooking portion 34 moves to the position corresponding to the hook 46, the hook 46 can still be connected to the hooking portion 34. Thus, this configuration prevents other parts of the autonomous cleaning device 1 than the hooking portion 34 from being caught by the hooking portion 46 while ensuring that the hooking portion 34 can be connected to the hooking portion 46.

The reset mechanism 48 can be constructed in a variety of ways.

In an embodiment of the present application, the restoring mechanism 48 may include a first elastic member 481 capable of applying a force to the hook 46, one end of the first elastic member 481 is fixed to the hook 46, and the other end of the first elastic member 481 is fixed to the mounting seat 47 or the carrying device 21; when the hook 46 deviates from the preset position, the force exerted on the hook 46 by the first elastic member 481 causes the hook 46 to have a tendency to rotate toward the preset position. In this way, the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position along any one of the two opposite rotation directions, and after the hook 46 deviates from the preset position, when the interference of the external force is removed, the acting force exerted on the hook 46 by the first elastic member 481 can drive the hook 46 to move towards the preset position. Since both ends of the first elastic member 481 are fixed, the first elastic member 481 can be in a stretched state or a compressed state to apply different forces to the hook 46 according to the direction in which the hook 46 deviates from a preset position.

In an embodiment of the present application, referring to fig. 14, the return mechanism 48 may include a first resilient member 481 and a second resilient member 482 that are capable of applying a force to the hook 46. One end of the first elastic member 481 is connected to the hook 46, and the other end of the first elastic member 481 is connected to the mount 47 or the carrier 21. One end of the second elastic member 482 is connected to the hook 46, and the other end of the second elastic member 482 is connected to the mount 47 or the carrying device 21. When the hook 46 deviates from the preset position, the hook 46 has a tendency to rotate toward the preset position due to the resultant force of the force exerted on the hook 46 by the first elastic member 481 and the force exerted on the hook 46 by the second elastic member 482. In this way, the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position along any one of the two opposite rotation directions, and after the hook 46 deviates from the preset position, when the interference of the external force is removed, the resultant force formed by the acting force exerted on the hook 46 by the first elastic member 481 and the acting force exerted on the hook 46 by the second elastic member 482 can drive the hook 46 to move towards the preset position.

In an embodiment of the present application, referring to fig. 14, the first elastic member 481 may be a first torsion spring, one end of the first torsion spring abuts against the hook 46, and the other end of the first torsion spring is fixedly connected with the mounting seat 47 or the bearing device 21. The second elastic member 482 is a second torsion spring, one end of the second torsion spring is abutted against the hook 46, and the other end of the second torsion spring is fixedly connected with the mounting seat 47 or the bearing device 21. One end of the first torsion spring, which is abutted with the hook 46, is positioned on one side of the hook 46, and one end of the second torsion spring, which is abutted with the hook 46, is positioned on the other side of the hook 46; one end of the first torsion spring fixedly connected with the mounting seat 47 or the bearing device 21 is positioned on one side of the hook 46, and one end of the second torsion spring fixedly connected with the mounting seat 47 or the bearing device 21 is positioned on the other side of the hook. In this way, the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position in any one of the two opposite rotation directions, and after the external force is removed, the hook 46 moves to the preset position under the action of the first torsion spring and the second torsion spring.

The positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring may be various, and besides the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring, the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring may also be in the following forms.

One end of the first torsion spring and one end of the second torsion spring are fixed with the hook 46; the other end of the first torsion spring and the other end of the second torsion spring are both fixed with the mounting seat 47, or the other end of the first torsion spring and the other end of the second torsion spring are both fixed with the bearing device 21.

It may be that one end of the first torsion spring abutting against the hook 46 and one end of the first torsion spring abutting against the mounting seat 47 or the bearing device 21 are both located at one side of the hook 46, and one end of the second torsion spring abutting against the hook 46 and one end of the second torsion spring abutting against the mounting seat 47 or the bearing device 21 are both located at the other side of the hook.

In an embodiment of the present application, the reset mechanism 48 may also be in the form of an elastic member, specifically, for example, the hook 46 is configured with a rotating connection shaft rotationally connected with the mounting seat 47, the reset mechanism 48 may be a power component, such as a motor, which is drivingly connected with the rotating connection shaft and is capable of driving the rotating connection shaft to rotate, and the hook 46 is driven to swing in opposite directions of rotation by forward and reverse rotation of the motor so as to avoid that other parts of the autonomous cleaning device 1 except the hooking portion 34 are caught by the hook 46.

In an embodiment of the present application, referring to fig. 14 and 15, the hook 46 includes a working portion 461 and a connecting portion 462. The working portion 461 is configured to drive the hooking portion 34 to move, and the working portion 461 can be connected to or disconnected from the hooking portion 34. One end of the connecting portion 462 is connected to the working portion 461, and the other end of the connecting portion 462 is rotatably connected to the mount 47. In this configuration, the hook 46 is connected to the hitching part 34 through the working part 461, and the working part 461 pulls the hitching part 34 so that the cover plate 14 fixed to the hitching part 34 opens the dust discharge port 111 in the process that the autonomous cleaning device 1 moves forward in the traveling direction of the autonomous cleaning device 1 to the dust collecting station 2 so that the dust discharge port 111 communicates with the dust collecting suction port 211. Is rotatably connected with the mounting seat 47 through a connecting part 462.

The connection portion 462 may include a connection plate 4623, the connection plate 4623 being connected with the first elastic member 481 and/or the second elastic member 482. For example, the first elastic member 481 is a first torsion spring, one end of which abuts against the connection plate 4623, and the second elastic member 482 is a second torsion spring, one end of which abuts against the connection plate 4623.

The working portion 461 may be a first lever, and the connecting portion 462 may include a second lever 4621 and a third lever 4622. The second rod 4621 is parallel to the first rod, one end of the third rod 4622 is connected to a middle position in the length direction of the first rod, and the other end of the third rod 4622 is connected to a middle position in the length direction of the second rod 4621. The hook 46 of this construction is actually an i-shaped hook 46. The connection plate 4623 may be disposed on the third lever 4622.

In an embodiment of the present application, referring to fig. 16, the working portion 461 may be a first rod, the connecting portion 462 may be a mounting plate, and a protruding connecting ear 4624 is configured on the mounting plate, and the first rod is fixedly connected with the connecting ear 4624.

In one embodiment of the application, the hook 46 may be configured in the shape of a hook.

In an embodiment of the present application, referring to fig. 17 and 18, two actuating mechanisms may be provided, where each actuating mechanism includes a hook 46, a mounting seat 47 and a reset mechanism 48, and correspondingly, two hitching portions 34 are fixedly connected to the cover plate 14, and the two hooks 46 and the two hitching portions 34 are in one-to-one correspondence.

In an embodiment of the present application, the shape of the hooking portion 34 may be configured in the shape of a hook, and the hook 46 may be hooked by the hooking portion 34 in the shape of a hook.

In an embodiment of the present application, referring to fig. 18, the hooking portion 34 includes a hooking body and a baffle 342. The hooking body is fixed to the cover 14, and the hooking body is configured with a hooking groove 3411 and a first notch 3412 communicating with the hooking groove 3411, and the working part 461 can be moved into or out of the hooking groove 3411 through the first notch 3412. Baffle 432 is used to prevent working portion 461 from exiting hook slot 3411, baffle 342 is disposed on the hooking body, baffle 342 is located at the bottom of hook slot 3411, baffle 342 is configured with second notch 3421 for avoiding connecting portion 462, and second notch 3421 communicates with first notch 3412 and hook slot 3411, respectively. In such a structural form, in the process that the autonomous cleaning device 1 moves forward in the traveling direction of the autonomous cleaning device 1 to the dust collecting station 2 so that the dust discharging port 111 communicates with the dust collecting suction port 211, the working portion 461 moves into the hooking groove 3411 through the first notch 3412, the autonomous cleaning device 1 continues to move forward in the traveling direction of the autonomous cleaning device 1 so that the connecting portion 462 connected to the working portion 461 protrudes out of the hooking groove 3411 through the second notch 3421, and the working portion 461 is held in the hooking groove 3411 by the blocking of the blocking plate 342, in such a manner that the working portion 461 of the hooking 46 is connected to the hooking portion 34. After the dust discharge is finished, in the process that the autonomous cleaning device 1 moves backward along the traveling direction of the autonomous cleaning device 1 to gradually move the autonomous cleaning device 1 out of the dust collecting station 2, the working portion 461 in the hooking groove 3411 gradually moves toward the first notch 3412, and finally moves out of the hooking groove 3411 from the first notch 3412, so that the hooks 46 are disengaged from the hooking portion 34.

In an embodiment of the present application, referring to fig. 13 and 14, the mounting seat 47 can move relative to the carrying device 21; the actuating mechanism further comprises a limiting piece 49 for limiting the mounting seat 47, and the limiting piece 49 is fixedly connected with the bearing device 21. In such a structural form, in the process that the autonomous cleaning device 1 moves forward on the autonomous cleaning device 1 along the travelling direction of the autonomous cleaning device 1 to enable the dust discharge opening 111 to be communicated with the dust collection suction opening 211, the hook 46 is pulled by the hanging portion 34 fixed with the cover plate 14 to drive the mounting seat 47 to move, and the limiting piece 49 is used for preventing the problem that the hook 46 cannot pull the cover plate 14 to open the dust discharge opening 111 due to the fact that the mounting seat 47 is driven by the hook 46 to always follow the movement of the hanging portion 34 by limiting the travel of the mounting seat 47.

The actuator further includes a buffer member 40, one end of the buffer member 40 is connected to a stopper 49, and the other end of the buffer member 40 is connected to a mount 47. The buffer member 40 is arranged, so that on one hand, the mounting seat 47 can be prevented from being directly collided with the limiting member 49; on the other hand, the mounting seat 47 moves along with the hook 46 and the hanging part 34, so that the acting force of the hook 46 for pulling the hanging part 34 is small at first, along with the gradual rotation of the cover plate 14 towards the direction of opening the dust discharge port 111 and the gradual approach of the mounting seat 47 to the limiting piece 49 for compressing the buffer piece 40, the acting force of the limiting piece 49 applied to the mounting seat 47 by the buffer piece 40 is continuously increased, and correspondingly the acting force of the hook 46 connected to the mounting seat 47 for pulling the hanging part 34 is also continuously increased, in the process, the acting force of the hook 46 for pulling the hanging part 34 is gradually increased from small to large, so that the hanging part 34 drives the cover plate 14 to move to the position of opening the dust discharge port 111, that is, the buffer piece 40 and the mounting seat 47 capable of moving relative to the bearing device 21 cooperate to play a certain role in buffering the movement of the hook 46 for pulling the hanging part 34. The problem of hard impact between the hook 46 and the hanging part 34 caused by abrupt change of the acting force of the hook 46 pulling the hanging part 34 to the maximum value after the hook 46 is connected with the hanging part 34 under the condition that the mounting seat 47 is fixed is avoided.

The various embodiments/implementations provided by the application may be combined with one another without contradiction. The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A dust collection station for collecting cleaning impurities of an autonomous cleaning device (1), the autonomous cleaning device (1) comprising a main body portion (15) and a drive wheel (12) mounted at the bottom of the main body portion (15); it is characterized in that the method comprises the steps of,

A negative pressure dust collection channel is formed in the dust collection station (2), and the dust collection station (2) comprises:

A carrying device (21) for carrying the driving wheel (12), wherein a dust collecting suction port (211) communicated with the negative pressure dust collecting channel is formed on the carrying device (21);

a lifting mechanism (24), at least one side of the dust collecting suction opening (211) is provided with the lifting mechanism (24), and the lifting mechanism (24) protrudes out of the top surface (212) of the bearing device (21) for supporting the main body part (15);

The autonomous cleaning device (1) further comprises universal wheels (13), the universal wheels (13) are mounted at the bottom of the main body (15), the dust collecting suction opening (211) is provided with a lifting mechanism (24) along at least one side perpendicular to the advancing direction of the autonomous cleaning device (1), the lifting mechanism (24) is located between two driving wheels (12) in the advancing track of the driving wheels (12) on the bearing device (21), and the universal wheels (13) pass through the dust collecting suction opening (211) and cannot fall into the dust collecting suction opening (211) of the bearing device (21) to be clamped.

2. The dust collection station according to claim 1, wherein the lifting mechanism (24) comprises:

-a lifting base (242), the lifting base (242) being arranged on top of the carrying device (21);

The movable piece (241) is at least partially protruded out of the top surface (212) of the lifting base (242) and used for supporting the main body (15), and the movable piece (241) is movably connected with the lifting base (242) so that friction between the movable piece (241) and the main body (15) is rolling friction or static friction.

3. A dust collecting station according to claim 2, characterized in that the movable member (241) is movable relative to the lifting base (242) under the drive of the main body (15); or the dust collecting station (2) comprises a driving mechanism which is in driving connection with the movable piece (241) to drive the movable piece (241) to move relative to the lifting base (242).

4. A dust collecting station according to claim 2, characterized in that the movable member (241) is a roller, which roller is in rotational connection with the lifting base (242), the axis of rotation of which roller is perpendicular to the direction of travel of the autonomous cleaning device (1).

5. A dust collecting station according to claim 4, characterized in that the number of rollers is plural, a plurality of the rollers being arranged in the travelling direction of the autonomous cleaning device (1).

6. The dust collecting station according to claim 2, wherein the movable member (241) is a ball, and the lifting base (242) is formed with a groove, and the ball is movably disposed in the groove; or the movable member (241) is a belt arranged along the travelling direction of the autonomous cleaning device (1).

7. A dust collection station according to any one of claims 1-6, characterized in that the dust collection station (2) further comprises a charging terminal (22) for charging the autonomous cleaning device (1), the charging terminal (22) being arranged on the carrying means (21).

8. A dust collecting station according to any one of claims 1-6, characterized in that the top surface (212) is beveled, the top surface (212) being gradually raised in the direction of travel of the autonomous cleaning device (1).

9. A dust collecting station according to any one of claims 1-6, characterized in that the dust collecting station (2) further comprises a positioning portion (23) for stop positioning of the drive wheel (12), which positioning portion (23) is arranged on top of the carrying means (21), which positioning portion is configured to:

When the driving wheel (12) is positioned at the target position, the positioning part (23) is in stop fit with the driving wheel (12).

10. A dust collecting station according to claim 9, characterized in that the dust collecting suction opening (211) is provided with the positioning parts (23) on opposite sides in a direction perpendicular to the travelling direction of the autonomous cleaning device (1), the dust collecting suction opening (211) is provided with the lifting means (24) on opposite sides in a direction perpendicular to the travelling direction of the autonomous cleaning device (1), and the minimum distance between the positioning parts (23) is larger than the maximum distance between the lifting means (24).

11. A dust collecting station according to claim 9, characterized in that the positioning part (23) has an arc-shaped stop surface (231) adapted to the driving wheel (12), which arc-shaped stop surface (231) is intended for a stop fit with the driving wheel (12).

12. A dust collecting station according to claim 11, characterized in that the positioning part (23) has an anti-slip structure (232) at the moving-in end of the arc-shaped stop surface (231).

13. A dust collecting station according to any one of claims 1-6, characterized in that the dust collecting suction opening (211) is provided with the lifting mechanism (24) on opposite sides in a direction perpendicular to the travelling direction of the autonomous cleaning device (1).

14. A cleaning system, characterized by comprising an autonomous cleaning device (1) and a dust collecting station according to any one of claims 1-12;

The autonomous cleaning device (1) further comprises a dust box (11) for accommodating cleaning impurities, the dust box (11) is positioned in the main body part (15), a dust discharge port (111) is formed at the bottom end of the dust box (11), the dust discharge port (111) can be selectively opened or closed, and when the dust discharge port (111) is communicated with the dust collection suction port (211), the cleaning impurities in the dust box (11) can sequentially enter the negative pressure dust collection channel through the dust discharge port (111) and the dust collection suction port (211);

The body part (15) is supported on the lifting mechanism (24) during the travel of the drive wheel (12) on the carrier (21).

15. Cleaning system according to claim 14, characterized in that the dust collecting suction opening (211) is provided with the lifting means (24) on opposite sides in a direction perpendicular to the travelling direction of the autonomous cleaning device (1), two of the lifting means (24) being located between two of the driving wheels (12) in the travelling path of the driving wheels (12) on the carrying means (21).