CN113080783A

CN113080783A - Plugging control mechanism and cleaning robot

Info

Publication number: CN113080783A
Application number: CN202110414510.3A
Authority: CN
Inventors: 杨勇; 宫海涛; 唐卫东; 邓启波
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2021-04-16
Filing date: 2021-04-16
Publication date: 2021-07-09

Abstract

The application provides a shutoff control mechanism and cleaning machines people, this shutoff control mechanism is used for the shutoff opening, includes: a blocking structure for blocking the opening; a lever structure having a middle end, a first end located at one side of the middle end, and a second end located at the other side of the middle end opposite to the one side; the middle end is used for being rotationally connected with the plugging structure to drive the plugging structure to move; the elastic structure is connected with the lever structure and used for controlling the lever structure to move along the plugging direction of the plugging structure; the first trigger structure is connected to the first end and used for controlling the first end to move towards the direction opposite to the plugging direction under the action of external force; and the second trigger structure is connected to the second end and used for controlling the second end to move towards the direction opposite to the plugging direction under the action of external force. This shutoff control mechanism and cleaning machines people can solve the cleaning machines people who exists among the prior art and probably can't the shutoff opening and two different technical problem of action wheel atress under the state of slope.

Description

Plugging control mechanism and cleaning robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to a plugging control mechanism and a cleaning robot.

Background

Cleaning machines people generally have two action wheels and a leading wheel, and cleaning machines people is when carrying out cleaning operation, and two action wheels and a leading wheel all contact in the working face of treating clean, and cleaning machines people may take place to topple or be lifted up at the in-process of operation, and under this condition, two action wheels and a leading wheel all break away from with the working face, if keep the opening of cleaning machines people's box such as sewage case, dust case in the state of opening this moment, can lead to the filth in the box such as sewage case, dust case to reveal.

In the related art, one of the two driving wheels is usually used to control the blocking structure for the opening, and when the driving wheel is separated from the working surface, the blocking structure is controlled to block the opening, so as to prevent the leakage of the dirt in the tanks such as the sewage tank and the dust tank. However, the cleaning robot may incline during the working process, in this case, only one driving wheel contacts with the working surface, and the other driving wheel is separated from the working surface, and under the condition that the driving wheel for controlling the blocking structure to block the opening is the driving wheel contacting with the working surface, the blocking structure cannot block the opening, so that the leakage of dirt in the tanks such as a sewage tank and a dust tank may be caused; and because the structures of the two driving wheels are different, the two driving wheels are stressed differently, and the obstacle crossing capability of the cleaning robot is adversely affected.

Disclosure of Invention

An object of the embodiment of the application is to provide a shutoff control mechanism and cleaning machines people to solve the technical problem that cleaning machines people who exist among the prior art probably can't shutoff opening and two action wheels atress are different under the state of slope.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

there is provided an occlusion control mechanism for occluding an opening, comprising: a blocking structure for blocking the opening; a lever structure having a middle end, a first end located at one side of the middle end, and a second end located at the other side of the middle end opposite to the one side; the middle end is used for being rotatably connected with the plugging structure so as to drive the plugging structure to move; the elastic structure is connected with the lever structure and used for controlling the lever structure to move along the plugging direction of the plugging structure; the first trigger structure is connected to the first end and used for controlling the first end to move towards the direction opposite to the plugging direction under the action of external force; and the second trigger structure is connected to the second end and used for controlling the second end to move towards the direction opposite to the plugging direction under the action of external force.

In one embodiment, the elastic structure comprises: the first elastic piece is connected to the first end and used for controlling the first end to move along the plugging direction; and the second elastic piece is connected to the second end and used for controlling the second end to move along the plugging direction.

In one embodiment, the opening comprises: the device comprises a first opening and second openings distributed at intervals in the first opening; the blocking structure comprises: the device comprises a connecting piece, a first plugging piece connected to one end of the connecting piece and a second plugging piece connected to the other end, opposite to one end, of the connecting piece; the connecting piece is rotatably connected to the middle end, the first plugging piece is used for plugging the first opening, and the second plugging piece is used for plugging the second opening.

In one embodiment, the first trigger structure comprises: a first road wheel rotatably connected to the first end.

In one embodiment, the second trigger structure comprises: and the second travelling wheel is rotatably connected to the second end.

In one embodiment, the first triggering structures are arranged in a plurality, and the plurality of first triggering structures are distributed at intervals in a direction perpendicular to a connecting line direction of the first end and the second end.

In one embodiment, the second triggering structures are arranged in a plurality, and the plurality of second triggering structures are distributed at intervals in a direction perpendicular to a connecting line direction of the first end and the second end.

There is also provided a cleaning robot including: a body having an opening; the plugging control mechanism is used for plugging the opening; one end of the elastic structure is connected to the lever structure, and the other end, opposite to the one end, of the elastic structure is connected to the body.

In one embodiment, further comprising: the body is provided with an accommodating cavity, the opening is communicated with the accommodating cavity, and the fan is used for providing negative pressure for the accommodating cavity.

In one embodiment, further comprising: and the control mechanism is connected with the plugging structure and the fan and used for controlling the fan to stop working under the state that the plugging structure plugs the opening.

The application provides a shutoff control mechanism and cleaning machines people's beneficial effect lies in: the application provides a shutoff control mechanism includes: the device comprises a blocking structure, a lever structure, an elastic structure, a first trigger structure and a second trigger structure, wherein the blocking structure is used for blocking an opening; the middle end of the lever structure is rotatably connected with the plugging structure and is used for driving the plugging structure to move; the elastic structure is connected with the lever structure and used for controlling the lever structure to move towards the plugging direction of the plugging structure, and under the action of the elastic structure, the lever structure moves along the plugging direction, so that the plugging structure can be driven to plug the opening in the process; the first trigger structure is connected to the first end of the lever structure and used for controlling the first end to move along the opposite direction of the plugging direction under the action of external force; the second trigger structure is connected to the second end of the lever structure and used for controlling the second end to move along the direction opposite to the plugging direction under the action of external force; the first triggering structure can be one of the two driving wheels, and the second triggering structure can be the other of the two driving wheels. Under the action of gravity, the first trigger structure and the second trigger structure can overcome the action of elastic force of the elastic structure and move relative to the opening along the opposite direction of the plugging direction, so that the lever structure can drive the plugging structure to open the opening; when the lifting mechanism overturns or is lifted, the two driving wheels are separated from the working surface, the first trigger structure and the second trigger structure cannot move in the opposite direction of the plugging direction relative to the opening under the action of gravity, and the lever structure drives the plugging structure to move in the plugging direction to plug the opening under the action of the elastic structure; under the condition of inclination, one driving wheel is in contact with the working surface, and the other driving wheel is separated from the working surface, under the action of gravity, the first triggering structure and the second triggering structure can overcome the action of elastic force of the elastic structure and move opposite to the opening along the plugging direction, but the other triggering structure moves along the plugging direction under the action of the elastic structure, and the middle end of the lever structure is rotatably connected with the plugging structure, so that the lever structure is only inclined and cannot drive the plugging structure to open the opening, and the opening is in the plugging state; and because two action wheels can the structure the same to the atress of two action wheels is the same, can not cause adverse effect to the ability of hindering more of whole structure.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a cleaning robot provided in an embodiment of the present application;

fig. 2 is an exploded view of a cleaning robot provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an occlusion control mechanism according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

100-a cleaning robot; 110-a robot body; 120-opening; 121 — a first opening; 122-a second opening; 200-a plugging control mechanism; 210-a blocking structure; 211-a connector; 212-a first closure; 213-a second closure; 220-lever structure; 221-middle end; 222-a first end; 223-a second end; 230-an elastic structure; 231-a first elastic member; 232-a second elastic member; 241-a first trigger structure; 242-second trigger configuration.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The cleaning robot provided in the embodiment of the present application will now be described.

As shown in fig. 1, the cleaning robot 100 provided in the embodiment of the present disclosure may be a floor washing robot, a floor sweeping robot, or the like, and the cleaning robot 100 includes a robot body 110 and a blocking control mechanism 200.

As shown in fig. 1 and 3, the robot body 110 may have a housing such as a sewage tank, a dust tank, etc., wherein the sewage tank may be used to contain sewage to collect the sewage collected by the cleaning robot 100 during operation for centralized treatment; the dust box may be used to contain dust to collect dust collected during the operation of the cleaning robot 100 for centralized disposal. Each of the tanks may have an opening 120, the opening 120 being for communicating the inside and the outside of the tank so that the filth is collected from the outside of the tank to the inside of the tank and also cleaned from the inside of the tank to the outside of the tank.

As shown in fig. 2 and 3, the occlusion control mechanism 200 is used to control the occlusion and the opening of the opening 120. Specifically, in a state where the robot body 110 is in a normal operation, the blocking control mechanism 200 is configured to control the opening 120 to be in an open state, so that the dirt is collected from the outside of the box body to the inside of the box body; the blocking control mechanism 200 is configured to control the opening 120 to be in a blocking state when the robot body 110 is in a tilted state or in a lifted state, so as to prevent dirt from leaking from the inside of the box to the outside of the box.

As shown in fig. 2 and 3, the occlusion control mechanism 200 includes: an occlusion structure 210, a lever structure 220, a resilient structure 230, a first triggering structure 241 and a second triggering structure 242.

As shown in fig. 2 and 3, the blocking structure 210 is used to block the opening 120. Specifically, the blocking structure 210 may be a plug-shaped structure with a shape matching the shape of the opening 120, in which case, the blocking structure 210 may move from a position far away from the opening 120 to a position close to the opening 120 along a direction opposite to the direction of the opening 120 until the side wall of the blocking structure 210 closely fits the inner wall of the opening 120, thereby completing the blocking of the opening 120; the blocking structure 210 can be moved along the orientation of the opening 120 from a position close to the opening 120 to a position away from the opening 120 until the side walls of the blocking structure 210 and the inner walls of the opening 120 disengage, thereby completing the opening 120. The blocking structure 210 may also be a structure having a face that can cover the opening 120, in which case the blocking structure 210 can be moved in any direction from a position away from the opening 120 to a position close to the opening 120 until the face on the blocking structure 210 is in close proximity to the opening 120 and the face on the blocking structure 210 completely covers the opening 120, thereby completing blocking the opening 120; the blocking structure 210 can be moved in any direction from a position close to the opening 120 to a position away from the opening 120 until the face of the blocking structure 210 does not completely fit the opening 120 or does not completely cover the opening 120, thereby completing the opening 120.

As shown in fig. 2 and 3, the lever structure 220 has a middle end 221, a first end 222, and a second end 223. The middle end 221 is disposed at a middle position of the lever structure 220, and the middle end 221 is used for being rotatably connected with the fulcrum to realize a lever function of the lever structure 220. Specifically, the middle end 221 may be disposed at the geometric center of the lever structure 220, or may be disposed at another position offset from the geometric center of the lever structure 220 by a certain distance, so long as the middle end 221 can be rotatably connected to the fulcrum. The first end 222 is disposed at one side of the middle end 221, and specifically, the first end 222 may be located at an end of the lever structure 220 or at a position between the end of the lever structure 220 and the middle end 221. The second end 223 is disposed on the other side of the middle end 221 opposite to the one side, that is, the second end 223 is located on the other side of the middle end 221 opposite to the first end 222, and when the position of the first end 222 is raised relative to the position of the middle end 221, the position of the second end 223 relative to the position of the middle end 221 is lowered; when the position of the second end 223 is lowered relative to the position of the middle end 221, the position of the first end 222 is raised relative to the position of the middle end 221.

As shown in fig. 2 and 3, the intermediate end 221 can be pivotally connected to the occluding structure 210, in which case the fulcrum is located on the occluding structure 210. Under the condition that the position of the first end 222 is raised relative to the robot body 110, the position of the second end 223 relative to the position of the robot body 110 may be raised synchronously, and at this time, the position of the middle end 221 relative to the position of the robot body 110 is raised under the driving of the first end 222 and the second end 223, so as to drive the position of the blocking structure 210 relative to the position of the robot body 110 to be raised; the position of the second end 223 relative to the robot body 110 may also be lowered, and the position of the middle end 221 relative to the robot body 110 may be kept unchanged, so that the position of the blocking structure 210 relative to the robot body 110 is kept unchanged. Under the condition that the position of the first end 222 is lowered relative to the position of the robot body 110, the position of the second end 223 relative to the position of the robot body 110 may be lowered synchronously, and at this time, the position of the middle end 221 relative to the position of the robot body 110 is lowered under the driving of the first end 222 and the second end 223, so as to drive the position of the blocking structure 210 relative to the position of the robot body 110 to be lowered; the position of the second end 223 relative to the robot body 110 may also be raised, and the position of the middle end 221 relative to the robot body 110 may be kept unchanged, so that the position of the blocking structure 210 relative to the robot body 110 is kept unchanged. In summary, when the first end 222 and the second end 223 both ascend or descend relative to the robot body 110, the middle end 221 can drive the blocking structure 210 to move; in case one of the first end 222 and the second end 223 is raised with respect to the robot body 110, while the other is lowered with respect to the robot body 110, the intermediate end 221 cannot bring the blocking structure 210 into motion.

As shown in fig. 2 and 3, the elastic structure 230 is connected to the lever structure 220, and the elastic structure 230 is used for providing an elastic force for the lever structure 220 to move towards the plugging direction of the plugging structure 210 so as to control the lever structure 220 to move towards the plugging direction of the plugging structure 210. Specifically, the plugging direction is a direction in which the plugging structure 210 can plug the opening 120. In the case where the blocking structure 210 is a plug-shaped structure having a shape that matches the shape of the opening 120, the blocking direction may be a direction along the opening 120 from a position distant from the opening 120 toward a position close to the opening 120; in the case where the blocking structure 210 has a structure having one surface that can cover the opening 120, the blocking direction may be a direction from a position distant from the opening 120 toward a position close to the opening 120 along the direction of the opening 120, or may be another direction; as long as the blocking structure 210 can block the opening 120 by moving in this direction.

As shown in fig. 2 and 3, one end of the elastic structure 230 may be connected to the robot body 110, and the other end of the elastic structure 230 opposite to the one end may be connected to the lever structure 220. The elastic structure 230 may have a certain elastic potential energy in an initial state to keep providing an elastic force to the lever structure 220 along the plugging direction of the plugging structure 210, even if the plugging structure 210 has plugged the opening 120 in this state, i.e. the lever structure 220 cannot move further along the plugging direction in this state, the elastic structure 230 further applies an elastic force to the lever structure 220 along the plugging direction to control the plugging structure 210 to tightly plug the opening 120.

As shown in fig. 2 and 3, a first trigger structure 241 is connected to the first end 222 for controlling the first end 222 to move in a direction opposite to the plugging direction under the action of an external force. Specifically, the external force may be gravity or other force. A second trigger structure 242 is connected to the second end 223 for controlling the movement of the second end 223 in a direction opposite to the occlusion direction under the influence of an external force. Specifically, the external force may be gravity or other force. Under the condition that the first triggering structure 241 and the second triggering structure 242 are triggered simultaneously, both the first end 222 and the second end 223 move along the opposite direction of the plugging direction relative to the robot body 110, and at this time, the middle end 221 of the lever structure 220 also moves along the opposite direction of the plugging direction relative to the robot body 110, so as to drive the plugging structure 210 to move along the opposite direction of the plugging direction, thereby opening the opening 120.

The present application provides an occlusion control mechanism 200 comprising: a blocking structure 210 for blocking the opening 120, a lever structure 220, a resilient structure 230, a first triggering structure 241 and a second triggering structure 242; the middle end 221 of the lever structure 220 is rotatably connected to the blocking structure 210 and is used for driving the blocking structure 210 to move; the elastic structure 230 is connected to the lever structure 220, and is used for controlling the lever structure 220 to move towards the plugging direction of the plugging structure 210, and under the action of the elastic structure 230, the lever structure 220 moves along the plugging direction, and in the process, the plugging structure 210 is driven to plug the opening 120; the first triggering structure 241 is connected to the first end 222 of the lever structure 220, and is used for controlling the first end 222 to move along the direction opposite to the plugging direction under the action of external force; the second trigger structure 242 is connected to the second end 223 of the lever structure 220, and is used for controlling the second end 223 to move along the opposite direction of the plugging direction under the action of external force; the first triggering mechanism 241 may be one of the two driving wheels, and the second triggering mechanism 242 may be the other of the two driving wheels. Under the normal working state, both the two driving wheels contact the working surface, and under the action of gravity, both the first triggering structure 241 and the second triggering structure 242 can overcome the action of the elastic force of the elastic structure 230 to move along the opposite direction of the plugging direction relative to the opening 120, so that the lever structure 220 can drive the plugging structure 210 to open the opening 120; when the two driving wheels are overturned or lifted, the two driving wheels are separated from the working surface, the first triggering structure 241 and the second triggering structure 242 cannot move along the opposite direction of the plugging direction relative to the opening 120 under the action of gravity, and under the action of the elastic structure 230, the lever structure 220 drives the plugging structure 210 to move along the plugging direction to plug the opening 120; under the condition of inclination, one driving wheel is in contact with the working surface, while the other driving wheel is separated from the working surface, under the action of gravity, the first triggering structure 241 and the second triggering structure 242 can overcome the action of the elastic force of the elastic structure 230 to move along the opposite direction of the blocking direction relative to the opening 120, but the other triggering structure 241 and the second triggering structure 242 moves along the blocking direction under the action of the elastic structure 230, and because the middle end 221 of the lever structure 220 is rotatably connected to the blocking structure 210, in this case, the lever structure 220 is only inclined and cannot drive the blocking structure 210 to open the opening 120, so the opening 120 is in the blocking state; and because two action wheels can the structure the same to the atress of two action wheels is the same, can not cause adverse effect to the ability of hindering more of whole structure.

As shown in fig. 2 and 3, in some embodiments of the present application, the elastic structure 230 may include: a first elastic member 231 and a second elastic member 232.

One end of the first elastic member 231 is connected to the first end 222, the other end of the first elastic member 231 opposite to the one end is connected to the robot body 110, and the first elastic member 231 is used for providing an elastic force for the first end 222 to move along the plugging direction so as to control the first end 222 to move along the plugging direction. Specifically, the first elastic member 231 may be a spring, and in the initial state, the first elastic member 231 may be in a compressed state to accumulate potential energy, so that the first end 222 always has a tendency to move in the plugging direction.

One end of the second elastic member 232 is connected to the second end 223, the other end of the second elastic member 232 opposite to the one end is connected to the robot body 110, and the second elastic member 232 is configured to provide an elastic force for the second end 223 to move along the plugging direction, so as to control the second end 223 to move along the plugging direction. Specifically, the second elastic member 232 may be a spring, and in the initial state, the second elastic member 232 may be in a compressed state to accumulate potential energy, so that the second end 223 always has a tendency to move in the plugging direction.

The first elastic member 231 is disposed at the first end 222, the second elastic member 232 is disposed at the second end 223, and the first elastic member 231 and the second elastic member 232 cooperate to uniformly apply force to different positions of the lever structure 220 and to maintain the positions of the first triggering structure 241 and the second triggering structure 242 to be stable.

As shown in fig. 2 and 3, in some embodiments of the present application, the opening 120 may include a first opening 121 and a second opening 122, and the first opening 121 and the second opening 122 may be spaced apart from each other to facilitate control of the first opening 121 and the second opening 122, respectively. Specifically, the first opening 121 may be a suction port, and the second opening 122 may be a dust suction port. The blocking structure 210 may include: a connecting member 211, a first blocking piece 212 and a second blocking piece 213. The first blocking piece 212 is disposed at one end of the connecting member 211, the first blocking piece 212 may be fixedly connected to the connecting member 211, and the first blocking piece 212 is used for blocking the first opening 121. The second blocking member 213 is disposed at the other end of the connection member 211 opposite to the one end, the second blocking member 213 may be fixedly connected to the connection member 211, and the second blocking member 213 is used for blocking the second opening 122. The connecting member 211 may be provided in a rod shape to connect the first and

second block pieces

212 and 213. The connecting member 211 can be rotatably connected to the middle end 221 of the lever structure 220 to move under the driving of the lever structure 220, so as to drive the first blocking member 212 and the second blocking member 213 to block the opening 120 along the blocking direction and drive the first blocking member 212 and the second blocking member 213 to open the opening 120 along the direction opposite to the blocking direction.

As shown in fig. 2 and 3, in some embodiments of the present application, the first trigger structure 241 can include a first travel wheel that can be rotatably coupled to the first end 222. In a state where the cleaning robot 100 is operating, the first traveling wheel contacts the work surface to travel on the work surface. Under the condition that the first walking is in contact with the working surface, the position of the first walking wheel is fixed in the vertical direction, and under the action of gravity, the robot body 110 overcomes the elastic force of the elastic structure 230 and moves towards the direction close to the first walking wheel (i.e. downwards), which may be the opposite direction of the plugging direction, in this case, the first walking wheel drives the first end 222 to move along the opposite direction of the plugging direction, and at this time, as long as the second triggering structure 242 drives the second end 223 to move along the opposite direction of the plugging direction, the plugging structure 210 can be driven to open the opening 120.

As shown in fig. 2 and 3, in some embodiments of the present application, the second triggering mechanism 242 may include a second traveling wheel that may be rotatably coupled to the second end 223. In a working state of the cleaning robot 100, the second traveling wheels contact the working surface to travel on the working surface. Under the condition that the second walking wheel contacts in the working face, the second walking wheel is fixed in the ascending position of vertical direction, under the effect of gravity, robot body 110 can overcome elastic force of elastic construction 230 and move towards the direction (be downwards) that is close to in the second walking wheel, this direction can be the opposite direction of shutoff direction, under this condition, the second walking wheel drives the opposite direction motion of second end 223 along the shutoff direction, at this moment, as long as first walking wheel also contacts in the working face, can drive the open opening 120 of shutoff structure 210.

As shown in fig. 2 and 3, in some embodiments of the present application, the first triggering structure 241 may be provided in a plurality, and the plurality of first triggering structures 241 may be spaced apart from each other. Specifically, the plurality of first trigger structures 241 may be arranged at intervals along a vertical direction of a connection line between the first end 222 and the second end 223, and a part of the first trigger structures 241 may be disposed on one side of the connection line between the first end 222 and the second end 223, and a part of the first trigger structures 241 may be disposed on the other side of the connection line between the first end 222 and the second end 223 opposite to the one side. Since the lever structure 220 is rotatably connected to the supporting structure, and the lever structure 220 and the supporting structure can be connected in a point manner, the first triggering structures 241 on two sides of the connecting line of the first end 222 and the second end 223 are required to move in the opposite direction of the plugging direction at the same time, so as to drive the first end 222 to move in the opposite direction of the plugging direction.

As shown in fig. 2 and 3, in some embodiments of the present application, the second triggering structure 242 may be provided in a plurality, and the plurality of second triggering structures 242 may be distributed at intervals. Specifically, the plurality of second trigger structures 242 may be arranged at intervals along a direction perpendicular to a direction of a line connecting the first end 222 and the second end 223, and a part of the second trigger structures 242 may be disposed on one side of the line connecting the first end 222 and the second end 223, and a part of the second trigger structures may be disposed on the other side of the line connecting the first end 222 and the second end 223 opposite to the one side. Since the lever structure 220 is rotatably connected to the supporting structure, and the lever structure 220 and the supporting structure can be connected in a point manner, the second triggering structures 242 located at two sides of the connecting line of the first end 222 and the second end 223 are required to move in the opposite direction of the plugging direction at the same time, so as to drive the second end 223 to move in the opposite direction of the plugging direction.

As shown in fig. 2 and 3, in some embodiments of the present application, the cleaning robot 100 may further include: a fan.

The body has and holds the chamber, should hold the chamber and can be located box such as sewage case, dust case, and opening 120 communicates in holding the chamber, and the fan is used for providing the negative pressure for holding the chamber. Specifically, the fan can take out the gas that holds the intracavity to external environment to the messenger holds the intracavity and is the negative pressure environment. Under the condition that the holding cavity is the dust box, the dust box with the interior being in a negative pressure environment can adsorb dust to enter the dust box so as to collect the dust.

As shown in fig. 2 and 3, in some embodiments of the present application, the cleaning robot 100 may further include: and a control mechanism.

The control mechanism is connected to the blocking structure 210 and the fan, and the control mechanism is used for controlling the fan to stop working under the state that the blocking structure 210 blocks the opening 120. Specifically, the control mechanism may be electrically connected to the contact opening 120, the contact opening 120 may be fixedly installed on the blocking structure 210, and when the blocking structure 210 blocks the opening 120, the control mechanism receives a signal from the contact switch, and then controls the fan to stop working. Specifically, the control mechanism may be electrically connected to the fan to transmit a command to the fan to control the fan to stop working.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An occlusion control mechanism for occluding an opening, comprising:

a blocking structure for blocking the opening;

a lever structure having a middle end, a first end located at one side of the middle end, and a second end located at the other side of the middle end opposite to the one side; the middle end is used for being rotatably connected with the plugging structure so as to drive the plugging structure to move;

the elastic structure is connected with the lever structure and used for controlling the lever structure to move along the plugging direction of the plugging structure;

the first trigger structure is connected to the first end and used for controlling the first end to move towards the direction opposite to the plugging direction under the action of external force;

and the second trigger structure is connected to the second end and used for controlling the second end to move towards the direction opposite to the plugging direction under the action of external force.

2. The occlusion control mechanism of claim 1, wherein the resilient structure comprises:

the first elastic piece is connected to the first end and used for controlling the first end to move along the plugging direction;

and the second elastic piece is connected to the second end and used for controlling the second end to move along the plugging direction.

3. The occlusion control mechanism of claim 1,

the opening includes: the device comprises a first opening and second openings distributed at intervals in the first opening;

the blocking structure comprises: the device comprises a connecting piece, a first plugging piece connected to one end of the connecting piece and a second plugging piece connected to the other end, opposite to one end, of the connecting piece;

the connecting piece is rotatably connected to the middle end, the first plugging piece is used for plugging the first opening, and the second plugging piece is used for plugging the second opening.

4. The occlusion control mechanism of claim 1, wherein the first trigger structure comprises: a first road wheel rotatably connected to the first end.

5. The occlusion control mechanism of claim 1 or 4, wherein the second trigger structure comprises: and the second travelling wheel is rotatably connected to the second end.

6. The occlusion control mechanism of claim 1, wherein the first trigger structure is provided in a plurality of first trigger structures spaced apart from one another in a direction perpendicular to a direction of a line connecting the first end and the second end.

7. The occlusion control mechanism of claim 1 or 6, wherein the second trigger structure is provided in plurality, and the plurality of second trigger structures are spaced apart from each other in a direction perpendicular to a direction of a line connecting the first end and the second end.

8. A cleaning robot, characterized by comprising:

a body having the opening;

the occlusion control mechanism of any of claims 1-7, said occlusion structure for occluding said opening; one end of the elastic structure is connected to the lever structure, and the other end, opposite to the one end, of the elastic structure is connected to the body.

9. The cleaning robot of claim 1, further comprising:

the body is provided with an accommodating cavity, the opening is communicated with the accommodating cavity, and the fan is used for providing negative pressure for the accommodating cavity.

10. The cleaning robot of claim 9, further comprising:

and the control mechanism is connected with the plugging structure and the fan and used for controlling the fan to stop working under the state that the plugging structure plugs the opening.