CN114468847B

CN114468847B - Combined cleaning system

Info

Publication number: CN114468847B
Application number: CN202011171126.7A
Authority: CN
Inventors: 颜灵智; 王开明; 谢红伟
Original assignee: Foshan Haier Drum Washing Machine Co Ltd; Haier Smart Home Co Ltd
Current assignee: Foshan Haier Drum Washing Machine Co Ltd; Haier Smart Home Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2024-06-21
Anticipated expiration: 2040-10-28
Also published as: CN114468847A

Abstract

The invention relates to the technical field of household appliances, in particular to a combined cleaning system. The combined cleaning system comprises: the cleaning device comprises a drainage assembly and a dust exhaust connecting assembly, and the dust exhaust connecting assembly is communicated with the drainage assembly; the robot sweeps floor, including the robot body, the robot body includes dust collection subassembly and dust collection box, the dust collection box can with the dust exhaust coupling assembling intercommunication, so that pass through dust collection subassembly will dirt in the dust collection box is sent into in the drainage subassembly. In this combination formula clean system, the dust-collecting box can with arrange dirt coupling assembling intercommunication to under dust collection assembly's effect, send into drainage subassembly with dirt such as dust in the dust-collecting box, treat when the cleaning equipment drainage, with dirt such as dust in the automatic clearance drainage subassembly, need not the manual clearance of user, improve user's use experience.

Description

Combined cleaning system

Technical Field

The invention relates to the technical field of household appliances, in particular to a combined cleaning system.

Background

The floor sweeping robot is dust collection equipment capable of automatically sweeping the floor, and solves the problem that a user does not have time to sweep the floor. In the existing sweeping robot, dust is accumulated in a dust box, and the dust box needs to be manually cleaned after a user dismantles the dust box, so that inconvenience is brought to the user. This process of manually cleaning the dust box after removal is a nuisance to people suffering from allergic rhinitis and asthma. If the problem of automatic cleaning of dust box of robot of sweeping floor has been solved, people's work can be alleviateed greatly, the level of automation is promoted, more has the science and technology sense, promotes user's happiness and sense of spontaneous emission.

Accordingly, a combination cleaning system is needed to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a combined cleaning system which can realize automatic cleaning and ash pouring of a sweeping robot.

To achieve the purpose, the invention adopts the following technical scheme:

A combination cleaning system comprising:

the cleaning device comprises a drainage assembly and a dust exhaust connecting assembly, and the dust exhaust connecting assembly is communicated with the drainage assembly;

the robot sweeps floor, including the robot body, the robot body includes dust collection subassembly and dust collection box, the dust collection box can with the dust exhaust coupling assembling intercommunication, so that pass through dust collection subassembly will dirt in the dust collection box is sent into in the drainage subassembly.

The dust removal connecting assembly is arranged in the communication hole in a penetrating mode and can slide relative to the communication hole so as to be selectively communicated with or disconnected from the dust collection box.

The cabin further comprises a docking mechanism with a reset function, and the robot body can drive the docking mechanism to move after entering the cabin body so as to enable the dust discharging connecting assembly to be communicated with the dust collecting box; when the robot body is driven out of the cabin body, the docking mechanism is reset, so that the dust discharging connecting assembly is separated from the dust collecting box.

Wherein, docking mechanism includes:

The pressing piece is arranged at the bottom of the cabin body and extends obliquely upwards along the direction of the robot body entering the cabin body;

the transmission assembly is respectively connected with the pressing piece and the dust exhaust connecting assembly;

When the robot body enters the cabin body, the robot body presses down the pressing piece, and the pressing piece drives the dust discharging connecting assembly to move downwards through the transmission assembly so as to be communicated with the dust collecting box.

Wherein, the transmission assembly includes:

The deflector rod is hinged with the inner wall of the cabin body, the deflector rod is rotationally and slidingly connected with the dust exhaust connecting component, and the hinged point of the deflector rod and the inner wall of the cabin body and the connecting point of the deflector rod and the dust exhaust connecting component are arranged at intervals in the length direction of the deflector rod;

The first end of the first dragging flexible piece is connected with the deflector rod, and the second end of the first dragging flexible piece is connected with the pressing piece.

Wherein, the drainage assembly includes:

the drain pipe comprises a first section and a second section which are arranged at intervals;

A three-way joint, the three-way joint comprising:

The cavity comprises a main body part and a bypass part, the main body part comprises a first inlet and a second outlet, the first inlet and the second inlet are respectively communicated with the first section and the second section, one end of the bypass part is connected with the dust discharging connecting assembly, and the other end of the bypass part is communicated with the side wall of the main body part to form a junction;

The first baffle door is arranged in the cavity, can open the junction under the drive of fluid in the bypass part and simultaneously close the first inlet and the first outlet, and can reset to close the junction when no fluid is flushed in the bypass part;

The second baffle door is arranged in the cavity, and can press the first baffle door under the driving of fluid when the fluid flows from the second inlet and the second outlet to the first inlet and the second outlet after the first baffle door is closed so as to maintain the state that the first baffle door closes the junction.

The first end of the first shutter and the first end of the second shutter are hinged to the inner wall of the main body portion, the first end of the first shutter is located between the intersection and the first inlet and outlet, and the first ends of the second shutter and the first shutter are located on two opposite sides of the intersection respectively.

Wherein, the three-way connection still includes:

The third shutter is movably arranged on the bypass part, can block the bypass part when no fluid exists in the bypass part, and can be driven by the fluid entering the dust exhaust connecting assembly to conduct the bypass part.

Wherein, the dust box includes:

The box body is provided with a dust collection port, an air outlet and a dust discharge port, and the dust discharge port can be communicated with the dust discharge connecting assembly;

the air outlet flashboard can selectively open or close the air outlet;

The dust exhaust flashboard can selectively open or close the dust exhaust port;

The air outlet flashboard and the dust exhaust flashboard are linked, so that when one of the air outlet flashboard and the dust exhaust flashboard is opened, the other is closed.

The dust collecting box further comprises a linkage assembly, and the linkage assembly is connected with the air outlet flashboard and the dust exhaust flashboard;

when the dust exhaust connecting component is in butt joint with the dust exhaust port, the dust exhaust connecting component can drive the dust exhaust gate to open the dust exhaust port, and the dust exhaust gate can drive the air outlet gate to close the air outlet;

When the dust exhaust connecting assembly is separated from the dust exhaust port, the air outlet flashboard can be reset to open the air outlet and drive the dust exhaust flashboard to close the dust exhaust port.

The air outlet flashboard and the dust exhaust flashboard are both hinged to the inner wall of the box body, the linkage assembly comprises a second dragging flexible piece, the second dragging flexible piece is connected with the air outlet flashboard and the dust exhaust flashboard, the air outlet is arranged at the top end of the box body, so that the air outlet flashboard can be opened under the action of gravity, and the dust exhaust flashboard is driven by the second dragging flexible piece to close the dust exhaust opening.

The cabin further comprises a cabin door, an abutting piece and a driving assembly, wherein an access port is formed in one side of the cabin body, one end of the cabin door is hinged with the cabin body, the abutting piece is arranged in the cabin body and located at the inner side of the cabin door, and the abutting piece can be abutted with the cabin door;

the driving assembly can drive the cabin door to rotate outwards relative to the cabin so as to open the access opening.

The cabin door comprises a first door plate and a second door plate, wherein the top end of the first door plate is hinged with the cabin, and the bottom end of the first door plate is hinged with the top end of the second door plate;

The driving assembly can drive the first door plate to rotate towards the outer side of the cabin body, so that the second door plate lifts up to open the access opening, and the first door plate can fall under the action of gravity after the driving assembly stops driving so as to close the access opening.

The cabin further comprises a trigger assembly, the trigger assembly comprises a first trigger piece and a second trigger piece, the first trigger piece is arranged on the cabin door, and the second trigger piece is arranged on the cabin body and located on the outer side of the cabin door;

The driving assembly can drive the first door plate to rotate towards the outer side of the cabin body when the robot body triggers the first trigger piece, and can stop driving the first door plate after the first door plate triggers the second trigger piece.

The beneficial effects are that: the invention provides a combined cleaning system. In this combination formula clean system, the dust-collecting box can with arrange dirt coupling assembling intercommunication to under dust collection assembly's effect, send into drainage subassembly with dirt such as dust in the dust-collecting box, treat after the cleaning equipment drainage, with dirt such as dust in the automatic clearance drainage subassembly, need not the manual clearance of user, improve user's use experience.

Drawings

FIG. 1 is a schematic view of a combined cleaning system when a robot body is not in a cabin;

FIG. 2 is a schematic view of a combined cleaning system according to the present invention;

FIG. 3 is a schematic top view of a combined cleaning system provided by the present invention;

fig. 4 is a schematic structural view of the three-way joint provided by the invention in a first conducting state;

fig. 5 is a schematic structural view of the three-way joint in the second conducting state;

fig. 6 is a schematic structural view of the three-way joint in a third conducting state;

fig. 7 is a schematic view of the dust box in a natural state;

fig. 8 is a schematic structural view of the dust collecting box provided by the invention in a dust collection state;

fig. 9 is a schematic view of the dust collecting box in the dust discharging state;

FIG. 10 is a front view of a nacelle provided by the present invention;

FIG. 11 is a side view of the robot body provided by the present invention without entering the nacelle;

FIG. 12 is a side view of the robot body provided by the present invention as it begins to enter the nacelle;

FIG. 13 is a side view of the robot body provided by the present invention fully into the cabin;

Fig. 14 is a side view of the robot body according to the present invention as it exits the nacelle.

Wherein:

1. A robot body; 10. a dust collection box; 11. a case body; 111. a dust collection port; 112. an air outlet; 113. a dust discharge port; 12. an air outlet flashboard; 13. dust exhaust flashboard; 14. a dust collection flashboard; 15. a linkage assembly; 151. a second trailing pliable member; 152. a third guide wheel; 16. a filter assembly;

2. A cleaning device; 21. a dust exhaust connection assembly; 211. a conical tube section; 212. a straight tube portion; 213. a mounting shaft; 214. a hose; 221. a drain pipe; 222. a three-way joint; 2221. a cavity; 22211. a main body portion; 22212. a bypass portion; 2222. a first shutter; 2223. a second shutter; 2224. a third shutter;

3. A nacelle; 31. a cabin body; 311. an abutment; 3111. an elastic vibration-proof layer; 32. a cabin door; 321. a first door panel; 322. a second door panel; 323. a transparent viewing window; 324. a roller; 33. a trigger assembly; 331. a first trigger; 332. a second trigger; 34. a docking mechanism; 341. a pressing member; 342. a transmission assembly; 3421. a first trailing pliable member; 3422. a deflector rod; 3423. a first guide wheel; 3424. a second guide wheel; 343. an elastic reset piece; 344. a sliding block.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, and may be, for example, either fixed or removable; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

Unless expressly stated or limited otherwise, a first feature being "above" or "below" a second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 3, the present embodiment provides a combined cleaning system including a cleaning apparatus 2 and a sweeping robot. The cleaning apparatus 2 comprises a drain assembly and a dust drain connection assembly 21, the dust drain connection assembly 21 being in communication with the drain assembly. The floor sweeping robot comprises a robot body 1, wherein the robot body 1 comprises a dust collection assembly and a dust collection box 10, the robot body 1 can move in a room to be cleaned, and dirt such as dust on the ground is sucked into the dust collection box 10 for storage under the action of vacuum suction force generated by the dust collection assembly. The dust box 10 can communicate with the dust discharge connection assembly 21 so as to feed dirt in the dust box 10 into the drain assembly upon activation of the dust collection assembly.

In this embodiment, through the cooperation of robot and cleaning equipment 2 sweep floor, can send dirt such as dust in the dust collection box 10 into drainage subassembly, treat when cleaning equipment 2 drainage, the dirt in the automatic clearance drainage subassembly need not the manual clearance of user, improves user's use experience.

Alternatively, the cleaning apparatus 2 may be a washing machine or a dishwasher, and the drain assembly includes a drain pipe 221, and the dust-discharging connection assembly 21 communicates with the drain pipe 221.

In this embodiment, the sweeping robot further includes a cabin 3, and the robot body 1 may enter the cabin 3 after the sweeping is completed. To save the floor space of the combined cleaning system, the washing apparatus 2 is preferably arranged on the nacelle 3 to make rational use of the indoor space.

Specifically, the nacelle 3 includes a nacelle body 31, a charging station and a charging module therein, the charging station is disposed on a bottom side of the nacelle body 31, and an entrance and exit allowing the robot body 1 to enter and exit is provided on the nacelle body 31. When the robot body 1 is cleaned or the electric quantity is insufficient, the robot body 1 moves to a charging station in the engine room 3 for charging. After entering the cabin 3, the robot body 1 is in butt joint with the charging module so as to charge the robot body 1. In this embodiment, the charging module may adopt any charging structure or charging principle in the prior art, and this embodiment will not be described in detail.

To further facilitate the automatic dust removal of the robot body 1, the robot body 1 communicates with the dust removal connection assembly 21 of the cleaning apparatus 2 after entering the cabin 3, so as to realize the automatic dust removal function when the robot body 1 is in a charged state.

It should be noted that, when the robot body 1 is in the charging state, the charging operation is not necessarily performed, that is, when the robot body 1 is in the charging state, the robot body 1 moves to a specified position in the nacelle 3, and at the specified position, the robot body 1 is docked with the charging module and is docked with the dust discharging connection assembly 21.

In this embodiment, the robot body 1 can be docked with the cleaning device 2 to automatically remove dust after cleaning each time, so that compared with a sweeping robot in which the dust collection box 10 is designed with a large capacity to reduce the number of manual dust removal times in the prior art, the volume of the dust collection box 10 in this embodiment can be designed smaller, the battery capacity of the robot body 1 can be increased on the basis of ensuring the whole volume of the robot body 1 unchanged, the power and the rotating speed of a motor in the robot body 1 are increased, thereby increasing the suction force, solving the defect that the suction force of the existing sweeping robot is small compared with that of a dust collector (the suction force of the existing sweeping robot is about 1/5 of that of a common wireless dust collector), and improving the cleaning effect of the sweeping robot.

To realize the communication between the dust discharging connection assembly 21 and the dust collecting box 10, a communication hole is arranged on the cabin 3, and the dust discharging connection assembly 21 is penetrated in the communication hole and can slide in the communication hole so as to be selectively communicated with or disconnected from the dust collecting box 10.

In this embodiment, the dust-discharging connection assembly 21 includes a rigid tube and a hose 214, the rigid tube is communicated with the hose 214, and the rigid tube is used for docking with the dust collecting box 10, so as to facilitate improving docking accuracy of the rigid tube and the dust collecting box 10 and air tightness when the rigid tube and the dust collecting box 10 are connected, thereby avoiding leakage of dust from a fit gap between the rigid tube and the dust collecting box 10; the hose 214 is connected to the drain pipe 221 so that the hose 214 can be deformed adaptively when the rigid pipe is moved, ensuring connection with the drain pipe 221 and avoiding pulling the drain pipe 221.

In order to facilitate the communication between the dust discharging connection assembly 21 and the dust collecting box 10, the dust collecting box 10 is provided with a dust discharging opening 113, and the rigid pipe extends into the dust discharging opening 113 to realize the communication between the dust collecting box 10 and the drain pipe 221.

In order to realize the automatic docking of the dust discharging connecting assembly 21 and the dust discharging port 113, the cabin 3 further comprises a docking mechanism 34 with a reset function, and the docking mechanism 34 is connected with the dust discharging connecting assembly 21. After the robot body 1 enters the cabin 3, the docking mechanism 34 is triggered, so that the docking mechanism 34 is driven to move, and the rigid pipe in the dust discharging connecting assembly 21 is driven to extend into the dust discharging port 113, so that the dust discharging connecting assembly 21 is communicated with the dust collecting box 10; when the robot body 1 is driven out of the cabin 3, the docking mechanism 34 will automatically reset and drive the dust discharging connecting assembly 21 to reset, so that the dust discharging connecting assembly 21 is separated from the dust collecting box 10, i.e. the rigid pipe is moved out of the dust discharging opening 113.

Specifically, the docking mechanism 34 includes a pressing member 341 provided in the nacelle 3, and a transmission assembly 342 connected between the pressing member 341 and the dust discharge connection assembly 21. The docking mechanism 34 is configured to press the pressing member 341 when the robot body 1 enters the nacelle 3, so that the pressing member 341 drives the dust exhaust connection assembly 21 to move into the rigid pipe insertion dust exhaust port 113 through the transmission assembly 342. The arrangement of the docking mechanism 34 does not need to additionally arrange driving equipment for driving the dust discharging connecting assembly 21 to move, the structure of the docking mechanism 34 can be well simplified, the occupied space of the docking mechanism 34 is reduced, the cost is reduced, the reliability is improved, the automatic docking of the dust collecting box 10 and the rigid tube can be realized, and the docking and the detachment are smooth and the sealing effect is good.

In the present embodiment, the pressing member 341 is disposed at the bottom of the nacelle 3, and the pressing member 341 is disposed obliquely downward in a direction toward the doorway in an initial state (i.e., when the robot body 1 does not enter the nacelle 3), and the pressing member 341 has a first end toward the doorway and a second end opposite to the first end, and the transmission assembly 342 is connected between the dust exhaust connection assembly 21 and the second end of the pressing member 341. When the robot body 1 gradually enters the cabin 3 from the entrance and exit, the bottom of the robot body 1 presses down the pressing member 341, so that the second end of the pressing member 341 can gradually press down along with the inward movement of the robot body 1, and the dust discharging connecting assembly 21 is driven to move downwards through the transmission assembly 342 and is inserted into the dust discharging opening 113 of the dust collecting box 10.

In other embodiments, the pressing member 341 may be disposed on a side wall of the nacelle 3 facing the doorway, and the first end is rotatably connected to an inner wall of the nacelle 3, and the second end is inclined with respect to a corresponding inner wall of the nacelle 3 in a direction toward the center of the nacelle 3; when the robot body 1 enters the nacelle 3, the second end of the presser 341 may be pressed by the head of the robot body 1, and the presser 341 may be operated.

In another embodiment, the pressing members 341 may be further disposed on two other sidewalls of the nacelle 3, and the first end near the doorway is hinged to the inner wall of the nacelle 3, and the second end far from the doorway extends in a direction toward the center of the nacelle 3, so that when the robot body 1 enters the nacelle 3, the head or side of the robot body 1 presses against the second end of the pressing members 341 to drive the pressing members 341 to operate.

In still another embodiment, the pressing member 341 may be disposed at the top of the nacelle 3, where an end near the doorway is hinged to the top wall of the nacelle 3, and an end far away from the doorway extends obliquely downward, so that after the robot body 1 enters the nacelle 3, the top of the robot body 1 may abut against the pressing member 341, and the second end of the pressing member 341 moves upward to drive the dust exhaust connection assembly 21 to move.

Further, in order to improve the reliability and the stability of the docking between the dust-discharging connection assembly 21 and the dust-collecting box 10, the dust-discharging connection assembly 21 moves downward and synchronously moves horizontally with the robot body 1 in the process from the robot body 1 entering the cabin 3 and starting to press the pressing member 341 to the robot body 1 stopping movement, so as to increase the depth of the dust-discharging connection assembly 21 inserted into the dust-collecting box 10, and meanwhile, avoid the obstruction to the operation of the robot body 1 after the dust-discharging connection assembly 21 contacts with the dust-collecting box 10.

Preferably, the presser 341 is a presser plate, which is arranged inclined with respect to the floor of the nacelle 3, and which abuts against the floor of the nacelle 3 towards the first end of the doorway. By means of the arrangement, the contact area between the pressing piece 341 and the bottom of the robot body 1 can be increased, and the fact that the second end of the pressing piece 341 can be pressed down is effectively guaranteed.

In other embodiments, the pressing member 341 may be a rod-shaped structure disposed obliquely, and a plurality of pressing members 341 may be disposed at intervals along a horizontal direction perpendicular to the pressing member 341.

Optionally, the projection area of the pressing member 341 on the bottom plate of the cabin 3 is larger than the projection area of the robot body 1 on the bottom plate of the cabin 3, and when the robot body 1 enters the cabin 3, the whole robot body 1 is located on the pressing member 341, so that the second end of the pressing member 341 moves downward under the action of gravity of the robot body 1, and abrasion of the pressing member 341 to the bottom shell of the robot body 1 can be reduced. In other embodiments, after the robot body 1 enters the cabin 3, the pressing member 341 may be located between the rollers 324 on both sides of the robot body 1, and the second end of the pressing member 341 moves downward by pressing the pressing member 341 through the bottom housing of the robot body 1 during the movement of the robot body 1 into the cabin 3.

To facilitate connection of the rigid pipe to the drain pipe 221, the rigid pipe is preferably disposed vertically at the top of the nacelle 3, and the dust discharge port 113 is opened at the top of the dust box 10 such that the lower end of the rigid pipe is butted with the dust discharge port 113. It will be appreciated that the rigid tube may be provided at other locations in the nacelle 3 as well, provided that the position of the dust discharge opening 113 on the dust box 10 is guaranteed to correspond to the position of the rigid tube.

Further, in order to improve the reliability of the butt joint of the dust discharge connection assembly 21 and the dust discharge port 113 of the dust box 10, the rigid tube in the dust discharge connection assembly 21 includes a tapered tube portion 211, and the tapered tube portion 211 is in the form of a large upper end and a small lower end. The dust discharge port 113 is a conical port with a large upper end and a small lower end, the largest caliber of the conical port is larger than the smallest outer diameter of the conical tube part 211, the largest caliber of the conical port is smaller than the largest outer diameter of the conical tube part 211, and when the dust discharge connecting assembly 21 and the dust discharge port 113 are inserted in place, the conical port is tightly matched with the conical tube part 211. With this arrangement, the tightness of the connection between the dust discharge connection assembly 21 and the dust discharge port 113 can be increased as the insertion depth of the tapered tube portion 211 increases during the downward insertion of the tapered tube portion 211.

In this embodiment, the dust collecting box 10 is located inside the robot body 1, and for the dust exhaust connection assembly 21 to insert into the dust exhaust port 113, the housing of the robot body 1 is provided with an avoidance hole corresponding to the position of the dust exhaust port 113, the avoidance hole is opposite to the dust exhaust port 113 to communicate the dust collecting box 10 with the outside of the robot body 1, and the dust exhaust connection assembly 21 can be inserted into the dust exhaust port 113 through the avoidance hole. Optionally, the avoidance hole is in a conical structure with a large upper part and a small lower part, and the minimum caliber of the avoidance hole is larger than the maximum caliber of the dust exhaust port 113. When the dust discharging connecting component 21 and the dust discharging port 113 are plugged in place, a tiny gap exists between the hole wall of the avoidance hole and the outer wall of the dust discharging connecting component 21, so that the smoothness of the dust discharging connecting component 21 inserted into the dust discharging port 113 is reduced. It can be understood that, when the dust outlet 113 of the dust collecting box 10 is exposed to the housing of the robot body 1, the housing does not need to be provided with a vent hole.

The transmission assembly 342 comprises a first dragging flexible piece 3421 and a deflector rod 3422, the deflector rod 3422 is hinged with the inner wall of the engine room 3, the deflector rod 3422 is rotatably and slidingly connected with the dust exhaust connection assembly 21, and the hinged point of the deflector rod 3422 and the engine room 3 and the connecting point of the deflector rod 3422 and the dust exhaust butt joint assembly 21 are arranged at intervals in the length direction of the deflector rod 3422. The first end of the first drag flexible member 3421 is connected to the shift lever 3422, and the second end of the first drag flexible member 3421 is connected to the pressing member 341.

The above-mentioned transmission component 342's setting mode, simple structure, occupation of land space is little, and need not extra drive setting drive, can realize the removal of dust removal docking assembly 21, and motion reliability is good.

The lever 3422 has a first end remote from the doorway and a second end (the second end being disposed opposite the first end) facing the doorway. The first end of the deflector rod 3422 is hinged to the inner wall of the nacelle 3, the second end of the deflector rod 3422 is connected to the first end of the first dragging flexible member 3421, and the second end of the first dragging flexible member 3421 is connected to the second end of the pressing member 341. In this arrangement, the rigid tube is located between the first end and the second end of the deflector rod 3422, so that the deflector rod 3422 is connected with the rigid tube to form a lever structure, which can effectively reduce the acting force required by the second end of the deflector rod 3422 to descend, and reduce the resistance of the robot body 1 when the second end of the pressing piece 341 is pressed down after entering the cabin 3; at the same time, this arrangement can reduce the overall length of the lever 3422.

In other embodiments, the hinge location of the lever 3422 to the inner wall and/or the connection location of the lever 3422 to the first pulling flexible member 3321 may not be located at the end of the lever 3422.

In the above arrangement, when the pressing member 341 moves downward under the pressure of the robot body 1, the second end of the pressing member 341 descends and drives the second end of the lever 3422 to move downward under the action of the first dragging flexible member 3421; because the dust exhaust connecting assembly 21 is positioned between the first end and the second end of the deflector rod 3422, the first end of the deflector rod 3422 is hinged with the inner side wall of the engine room 3, and the deflector rod 3422 drives the dust exhaust connecting assembly 21 to move downwards and be inserted into the avoidance hole; and when the dust exhaust connecting assembly 21 is inserted into the avoiding hole, the hole wall of the avoiding hole drives the dust exhaust connecting assembly 21 to synchronously move along the length direction of the deflector 3422, so that the dust exhaust connecting assembly 21 can be continuously inserted into the dust exhaust port 113 through the avoiding hole while horizontally moving.

The above-mentioned transmission component 342's setting mode, simple structure, occupation of land space is little, and need not the drive of extra actuating device, can realize the synchronous horizontal movement of robot body 1 when dust removal coupling assembling 21 downward movement, motion reliability is good.

Alternatively, the first trailing flexible member 3421 may be a steel rope, a string, a belt, a chain, or the like.

Further, in order to improve the relative sliding stability between the dust-discharging connection assembly 21 and the deflector 3422, the deflector 3422 is provided with a long sliding groove along the length direction thereof, the outer wall of the dust-discharging connection assembly 21 is convexly provided with a mounting shaft 213 along the direction towards the deflector 3422, the mounting shaft 213 is inserted into the sliding groove and is slidably connected with the wall of the sliding groove, and the mounting shaft 213 can rotate in the sliding groove. Further, the mounting shaft 213 has a cylindrical structure, so that the rotation and sliding of the mounting shaft 213 with respect to the lever 3422 can be facilitated. In other embodiments, when the mounting shaft 213 is non-cylindrical, the relative rotation of the mounting shaft 213 in the slip groove may be achieved by increasing the width of the slip groove.

Further, the two shift levers 3422 are opposite and spaced apart, and the two shift levers 3422 are respectively located at opposite sides of the rigid tube. Correspondingly, the two sides of the dust discharging connecting assembly 21 opposite to the deflector 3422 are outwards provided with mounting shafts 213 in a protruding mode, and the mounting shafts 213 are inserted into sliding grooves of the corresponding deflector 3422. Optionally, to avoid the shift lever 3422 from disengaging from the dust exhaust connection assembly 21, a limiting portion is disposed at an end of the mounting shaft 213 away from the dust exhaust connection assembly 21, and the limiting portion can limit the mounting shaft 213 from disengaging from the sliding groove. The limiting portion may be, but not limited to, disc-shaped, as long as the size setting of the limiting portion can be satisfied, so that the limiting portion cannot pass through the sliding groove.

In order to improve the reliability and stability of the horizontal movement of the dust exhaust connection assembly 21, the docking mechanism 34 further comprises a guide assembly for guiding the movement of the dust exhaust connection assembly 21, the guide assembly comprises a guide rail arranged on the top wall of the nacelle 3 along the in-out direction of the robot body 1 and a slide block 344 in sliding fit with the guide rail, and the slide block 344 is vertically provided with a guide hole. The rigid tube in the dust discharging connection assembly 21 further comprises a straight tube portion 212, the outer diameter of the straight tube portion 212 is equal to the aperture of the guide hole, and the straight tube portion 212 is in sliding connection with the wall of the guide hole. The arrangement mode can guide the vertical movement of the dust exhaust connecting assembly 21 on one hand, and improves the reliability of the vertical movement of the dust exhaust connecting assembly 21; on the other hand, the arrangement of the slider 344 may also provide support for the dust exhaust connection assembly 21.

Since the upper end of the dust discharging connection assembly 21 is required to be connected with the drain pipe 221 above the nacelle 3, the communication hole on the nacelle 3 extends in the in-out direction of the robot body 1, and the width of the communication hole is greater than the maximum aperture of the guide hole. The upper end of the dust discharging connection assembly 21 protrudes into the nacelle 3 through the communication hole. And in order to improve the guiding stability, the two opposite sides of the communicating hole along the width direction are provided with guide rails, and the sliding block 344 is spanned on the two guide rails.

In another embodiment, the slide block 344 may be provided in a T-shaped structure, so that the portion constituting the vertical side of the T-shaped structure is inserted into the communication hole, and the portion constituting the horizontal side of the T-shaped structure is located above the nacelle 3 and slidably connected to the upper surface of the nacelle 3, and the dust discharge connection assembly 21 can be guided in the in-out direction of the robot body 1.

In yet another embodiment, it is also possible that the rigid pipe is integrally located in the nacelle 3, the hose 214 is provided at a communication hole of the nacelle 3, and the guide assembly is provided at a lower surface of a ceiling of the nacelle 3 and connected with the rigid pipe. When the dust discharging connection assembly 21 moves along the horizontal direction, the rigid pipe and the drain pipe 221 are always in a connected state through the telescopic deformation of the hose 214, and the arrangement does not need to set the communication hole to be long, so that the sound insulation sealing design of the engine room 3 is facilitated. It will be appreciated that when the upper end of the rigid pipe does not extend into the nacelle 3, the upper end of the rigid pipe also requires a hose 214 to ensure that horizontal movement of the rigid pipe does not interfere with its docking with the drain pipe 221.

Further, the transmission assembly 342 further includes a guide wheel, and the first dragging flexible member 3421 is wound around the guide wheel 3323. The arrangement of the guide wheels is beneficial to guiding the moving direction of the first dragging flexible piece 3421 and reducing friction, also avoids the interference between the arrangement of the first dragging flexible piece 3421 and the robot body 1, and can reduce the position requirement on the deflector rod 3422.

The guide wheels comprise at least a first guide wheel 3423 arranged above the second end of the pressing member 341, the first guide wheel 3423 being located above the robot body 1 or at a side remote from the opening in the nacelle 3 when the robot body 1 is fully inside the nacelle 3, and a first dragging flexible member 3421 located between the first guide wheel 3423 and the second end of the pressing member 341 being located at the front side of the robot body 1, and a first dragging flexible member 3421 located between the first guide wheel 3423 and the deflector rod 3422 being located above the robot body 1. The arrangement of the first guide wheels 3423 can prevent the first dragging flexible member 3421 from obstructing the robot body 1 from entering the nacelle 3, and reduce interference between the transmission assembly 342 and the robot body 1.

In this embodiment, the second end of the lever 3422 faces the doorway of the nacelle 3, the first end of the lever 3422 is far away from the doorway of the nacelle 3, the guide wheel further includes a second guide wheel 3424 disposed near the doorway, and the second end of the first dragging flexible member 3421 sequentially bypasses the second guide wheel 3424 and the first guide wheel 3423 and is connected to the second end of the pressing member 341. The first guide wheel 3423 has a height from the bottom surface of the nacelle 3 greater than the sum of the height of the robot body 1 and the height of the presser 341 so that the first trailing flexible member 3421 located between the first guide wheel 3423 and the second guide wheel 3424 is located above the robot body 1 when the robot body 1 is completely inside the nacelle 3. The second guide wheels 3424 are arranged, so that the pulling force direction can be changed, friction can be reduced, meanwhile, under the condition that the height of the engine room 3 is unchanged, the effective length of the first dragging flexible piece 3421 is increased, the stress stability of the first dragging flexible piece 3421 and the motion stability of the deflector rod 3422 are improved, and meanwhile, impact can be well relieved.

Further, the first guide wheel 3423 and the second guide wheel 3324 are positioned at the same height, so that the installation and adjustment are convenient. More preferably, when the robot body 1 does not enter the nacelle 3, i.e., when the docking mechanism 34 is in the initial state, the first dragging flexible piece 3421 located between the second guide wheel 3424 and the deflector rod 3422 is partially disposed vertically. It is further preferred that the height of the first end of the lever 3422 is lower than the height of the second end of the lever 3422 in the initial state of the docking mechanism 34, facilitating the entry of the robot body 1 into the nacelle 3 while increasing the distance the dust exhaust connection assembly 21 moves downward, so as to more facilitate the insertion of the dust exhaust connection assembly 21 into the dust exhaust port 113. When the robot body 1 is completely inside the nacelle 3, the deflector rod 3422 is disposed horizontally to reduce the space occupied by the docking mechanism 34 in the vertical direction.

In order to enable the docking mechanism 34 to effectively return to the initial state after the robot body 1 is withdrawn from the nacelle 3, the docking mechanism 34 further includes an elastic reset member 343, and the elastic reset member 343 is used for resetting the docking mechanism 34 to the initial state.

In this embodiment, the elastic restoring member 343 includes an extension spring, one end of which is connected to the top inner wall of the nacelle 3, and the other end of which is connected to the lever 3422. When the docking mechanism 34 is in the initial state, the extension spring is in a first extended state; when the robot body 1 enters the cabin 3, the extension spring is in a second extension state, and the extension length of the extension spring in the first extension state is smaller than that of the extension spring in the second extension state.

By the arrangement mode, when the docking mechanism 34 is in the initial state, the tension spring can provide upward tension for the deflector rod 3422, so that the state stability of the deflector rod 3422 is ensured, and the initial state stability of the docking mechanism 34 is kept; when the robot body 1 enters the cabin 3, the tension spring provides a force for turning over and resetting the deflector 3422 upwards, so that the deflector 3422 drives the dust discharging connecting assembly 21, the first dragging flexible piece 3421 and the pressing piece 341 to restore to the initial state.

Further, the distance between the rigid tube and the second end of the driving lever 3422 is smaller than the distance between the rigid tube and the first end of the driving lever 3422, and the elastic restoring member 343 is connected between the first end of the driving lever 3422 and the rigid tube. This kind of setting can reduce the required force of pull-down driving lever 3422 second end, makes when robot body 1 gets into cabin 3 and pushes down and presses down movable part 341, and the elastic force that needs the elastic restoring piece 343 that overcomes is less to effectively reduce the required resistance of robot body 1 pushing down movable part 341, improve the operational reliability and the smoothness of docking mechanism 34.

In other embodiments, the elastic restoring member 343 may further comprise a compression spring acting on the second end of the pressing member 341, which may be arranged between the second end and the bottom inner wall of the nacelle 3. In still another embodiment, the elastic restoring member 343 may further include a torsion spring sleeved on the mounting shaft 213, one end of the torsion spring being connected to the deflector 3422, and the other end of the torsion spring being connected to the dust exhaust connection assembly 21. The present invention is not limited to the specific structure of the restoring member and the structure to be applied, as long as the docking mechanism 34 can be restored to the original state by the elastic restoring force of the restoring member.

Fig. 3 is a schematic top view of the combined cleaning system according to the present embodiment after the robot body 1 is docked with the cleaning device 2, fig. 4 is a schematic structural view of the three-way joint 222 according to the present embodiment in the first conductive state, fig. 5 is a schematic structural view of the three-way joint 222 according to the present embodiment in the second conductive state, and fig. 6 is a schematic structural view of the three-way joint 222 according to the present embodiment in the third conductive state. As shown in fig. 3-6, to ensure selective communication between the rigid tube and the drain tube 221, the drain assembly further includes a three-way connection 222, with the hose 214 and drain tube 221 being connected by the three-way connection 222. The three-way joint 222 includes a cavity 2221 and a shutter disposed within the cavity 2221. The cavity 2221 includes a main body portion 22211 and a bypass portion 22212 that are disposed in intersecting communication, the main body portion 22211 being connected to the drain pipe 221, and having a first inlet and a second inlet and outlet; one end of the bypass portion 22212 is connected to the side wall of the main body portion 22211, and a junction of the bypass portion 22212 and the main body portion 22211 forms a junction that connects the main body portion 22211 and the bypass portion 22212, and the other end of the bypass portion 22212 forms a third inlet and outlet that is connected to the hose 214.

The shutter includes a first shutter 2222 and a second shutter 2223, the first shutter 2222 is disposed in the main body 22211, and a first end of the first shutter 2222 is hinged to an inner wall of the main body 22211, and a second end of the first shutter 2222 is in a free state. The first shutter 2222 is configured to close the junction when no fluid pressure is applied to the bypass portion 22212, open the junction and close the first inlet and outlet when fluid pressure is applied to the bypass portion 22212; the second shutter 2223 is disposed in the main body 22211, and the second shutter 2223 is configured to press the second end of the first shutter 2222 against the inner wall of the main body 22211 when fluid flows from the second inlet to the first inlet, so that the first shutter 2222 is maintained in a state of closing the junction.

The three-way joint 222 is configured to switch the three-way joint 222 between the first conductive state and the second conductive state: when the three-way joint 222 is in the first conduction state, fluid flows into the bypass portion 22212 from the third inlet and outlet of the bypass portion 22212, the first shutter 2222 opens the junction and closes the first inlet and outlet under the action of fluid pressure, and fluid flows in from the third inlet and outlet and flows out from the second inlet and outlet; when the three-way joint 222 is in the second conduction state, the bypass portion 22212 is in the fluid-free state, the first shutter 2222 closes the junction, the first inlet and the second inlet are conducted, the second shutter 2223 presses the second end of the first shutter 2222 against the corresponding inner wall of the main body portion 22211, so that the fluid can flow from the second inlet and the second outlet to the first inlet and outlet, and at the same time, the fluid can be prevented from flowing into the bypass portion 22212 from the gap between the second end of the first shutter 2222 and the inner wall of the main body portion 22211 as much as possible, the second end of the first shutter 2222 is prevented from being separated from the inner wall of the main body portion 22211 under the action of the fluid pressure, and further the fluid is prevented from flowing back into the bypass portion 22212 in the second conduction state, so that the reliability of the three-way joint 222 is improved.

The drain pipe 221 includes a first section and a second section that are disposed at intervals, and a first inlet and a second outlet of the cavity 2221 in the three-way joint 222 are respectively communicated with the first section and the second section, so that the cavity 2221 is connected into the drain pipe 221.

In the present embodiment, the first end of the first shutter 2222 is located between the junction and the first inlet and outlet, and the first ends of the second shutter 2223 and the first shutter 2222 are located on opposite sides of the junction, respectively. With this arrangement, when fluid flows from the first inlet to the second inlet, the three-way joint 222 can flow along the first shutter 2222 to the second inlet, and the first shutter 2222 is abutted against the inner wall of the cavity 2221 under the action of the flowing pressure of the fluid, so that the fluid is prevented from flowing back into the bypass portion 22212.

That is, in the present embodiment, the three-way joint 222 has a first conduction state, a second conduction state, and a third conduction state: in the first conduction state, the first inlet and the second inlet are closed, and fluid enters from the third inlet and the second outlet through the junction; in the second conduction state, the junction is closed, and fluid flows from the second inlet and the second outlet to the first inlet and the second outlet; in the third conducting state, the junction is closed, and fluid flows from the first inlet to the second inlet.

In this embodiment, the second inlet and outlet are disposed near the water outlet of the water drain pipe 221, that is, the first conductive state is the dust discharging state of the dust collecting box 10, the second conductive state is the water return state of the water drain pipe 221, and the third conductive state is the water drain state of the water drain pipe 221. That is, the arrangement of the first shutter 2222 and the second shutter 2223 of the three-way connector 222 can prevent the water from flowing backward into the dust box 10 through the bypass portion 22212 in the backwater state of the water drain 221 under the condition that the dust removal of the dust box 10 can be ensured through the water drain 221, thereby affecting the normal use of the dust box 10 and even dust collection equipment and improving the use safety and the use reliability of the cleaning system.

Further, to ensure automatic compression of the second end of the first shutter 2222 by the second shutter 2223, the first end of the second shutter 2223 is hinged to the inner wall of the main body 22211, and the second end of the second shutter 2223 is in a free state, so that the second end of the second shutter 2223 can be turned in a direction away from or toward the junction; and the sum of the length of the first shutter 2222 along the first end to the second end thereof and the length of the second shutter 2223 along the first end to the second end thereof is greater than the distance between the first end of the first shutter 2222 and the first end of the second shutter 2223. Under this kind of setting, second shutter 2223 can overturn under the fluid pressure effect that gets into from the second import and export to compress tightly the second end of first shutter 2222, make the simple structure of second shutter 2223, set up conveniently, the cost is lower, does not need extra control structure or drive structure drive operation, and can guarantee the operational reliability of second shutter 2223. Meanwhile, such an arrangement can guide the fluid entering from the second inlet and outlet while closing the second end gap of the second shutter 2223 so that the fluid flows along the second shutter 2223, thereby forming a fluid-free flow area between the second end of the second shutter 2223 and the second end of the first shutter 2222, and further preventing the fluid from flowing backward into the bypass portion 22212.

In this embodiment, the main body 22211 has a straight tube structure, and the first inlet and the second inlet are disposed opposite to each other. In other embodiments, the main body portion 22211 may be in an L-shaped configuration or other configurations, so long as a section of the main body portion 22211 near the first inlet and outlet is ensured to be a straight tube section, the junction, the first shutter 2222 and the second shutter 2223 are all disposed at the straight tube section, and the first end of the first shutter 2222 and the first end of the second shutter 2223 are located at two opposite sides of the junction along the length direction of the straight tube section.

In order to ensure that the dust-carrying gas is discharged more smoothly in the dust-discharging state, the bypass portion 22212 extends obliquely in a direction toward the second inlet and outlet along the third inlet and outlet to the junction, and the arrangement is such that the three-way joint 222 has a V-shaped structure with an included angle greater than 90 ° in the first conducting state, so that the smoothness of the fluid flow can be improved, and impurities such as dust are prevented from accumulating at the corners of the fluid channel.

Further, when first shutter 2222 is in the initial installation state, first shutter 2222 closes off the junction; when the first shutter 2222 closes the first inlet and outlet, the first shutter 2222 is inclined with respect to the central axis of the main body 22211 along the direction from the first end to the second end away from the first inlet and outlet, so that the conduction path is closer to the V-shaped structure, the corners of the conduction path are reduced, and the smoothness of fluid flow is improved.

Further, the included angle between the bypass portion 22212 and the main body portion 22211 is a first acute angle, and when the three-way joint 222 is in the first conductive state, the included angle between the central axes of the first shutter 2222 and the main body portion 22211 is a second acute angle, and the first acute angle and the second acute angle are both 30 ° to 50 °. Preferably, the first acute angle is greater than or equal to the second acute angle to further guide the fluid flow to the second inlet and outlet, expand the corner angle of the V-shaped structure, and minimize dust retention at the corners of the V-shaped structure.

To further prevent water from entering the bypass portion 22212, a third shutter 2224 is further provided in the bypass portion 22212, and in the initial installation state, the third shutter 2224 closes and blocks communication of fluid between the third inlet and outlet and the junction, and when fluid enters the bypass portion 22212 from the third inlet and outlet, the third shutter 2224 opens and closes the third inlet and outlet and the junction. By providing the third shutter 2224, it is further ensured that no water enters the bypass portion 22212 in the second conductive state and in the third conductive state, thereby further eliminating the risk of flooding or water immersion of the robot body 1.

In this embodiment, the first end of the third shutter 2224 is hinged to the inner wall of the bypass portion 22212, and the second end of the third shutter 2224 is in a free state, so that the third shutter 2224 can be automatically opened under the flushing action of fluid, and the structure is simple and the setting is convenient. And further, when the third shutter 2224 closes the third inlet and outlet and the junction, the third shutter 2224 is perpendicular to the central axis of the bypass portion 22212, so as to improve the opening and closing smoothness of the third shutter 2224.

In order to ensure that each of the shutters can maintain an initial installation state without a fluid flushing and can return to the initial installation state after the fluid flushing, the first shutter 2222 and the third shutter 2224 are each provided with an elastic member for return. Preferably, the elastic member is a torsion spring sleeved on the hinge shaft of the corresponding shutter, one end of the torsion spring is connected with the inner wall of the three-way joint 222, and the other end of the torsion spring is connected with the corresponding shutter. The initial torque of the torsion springs on the first and third shutters 2222 and 2224 should be set according to the specific use requirements of the respective shutters. Further, the second shutter 2223 is in a free-swing stop state, simplifying the structural arrangement of the second shutter 2223.

Further, the mounting force of the elastic member at the third shutter 2224 is preferably such that the robot body 1 in the working state opens the third shutter 2224 by a certain gap, so that the air pressure at the third shutter 2224 is high, the air flow is urgent, the dust is not easy to accumulate, and the air flow carrying the dust can be further promoted to the second inlet and outlet without flowing to the first inlet and outlet. And at the same time, the initial torque of the torsion spring corresponding to the first shutter 2222 can be set to control the fluid pressure required for opening the first shutter 2222, thereby ensuring that the first shutter 2222 is not opened when there is fluid flow in the main body portion 22111.

The dynamics setting of this kind of elastic component has guaranteed when cleaning equipment 2 drainage or return water, and first baffle 2222 can't open because the resistance that the water pressure effect produced to guarantee that water can not pour into robot body 1 backward. Therefore, after the robot body 1 enters the cabin 41, the dust exhausting operation can be started at any time, and when dust exhausting happens, if the cleaning equipment 2 is exhausted or returned, the first shutter 2222 cannot reach the fluid pressure required for opening the first shutter 2222 under the action of the internal-external fluid pressure difference, so that the internal air pressure of the bypass portion 22212 is increased, and then the safety mechanism of the robot body 1 is triggered to stop the dust exhausting operation. The drain time of the cleaning device 2 is typically no more than 5 minutes. And the backwater is not more than 1 minute, thereby, the preset stopping time after the dust exhaust of the robot body 1 is interrupted accidentally can be set, and the timing of the next dust exhaust operation of the robot body 1 is controlled, for example, the preset stopping time can be set to be 6 minutes. However, it is to be understood that the above-mentioned setting of the value of the preset stopping time is only an exemplary setting, and in practical application, the specific value of the preset stopping time may be set according to the requirement, which is not particularly limited by the present invention.

In other embodiments, the timing of dust discharge of the robot body 1 may be controlled by providing a pressure detection device to detect the fluid pressure in the main body 22211 and/or the bypass 22212. At this time, the combined cleaning system further includes a pressure detecting device for detecting the fluid pressure in the main body portion 22211 and/or the bypass portion 22212, and a controller, both of which are connected to the robot body 1. When the fluid pressure is greater than the set value and the hose 214 is docked with the dust discharge port 113, it is judged that the drain pipe 221 is performing a drain operation, thereby controlling the robot body 1 to stop the dust removal operation.

In this embodiment, the cross sections of the main body portion 22211 and the bypass portion 22212 at least at the junction are in rectangular structures, and the first stop 2222 and the third stop 2224 are both in rectangular plate structures, so that the structural arrangement of the first stop 2222 and the third stop 2224 is convenient, and the first stop 2222 and the third stop 2224 are beneficial to blocking the junction. In other embodiments, the main body portion 22211 and the bypass portion 22212 may also adopt other circular pipes or other tubular structures, as long as the structures of the first shutter 2222 and the third shutter 2224 are ensured to be capable of sealing and adhering to the inner walls of the corresponding pipes.

As shown in fig. 7, the dust collecting box 10 includes a box body 11 and a filter assembly 16, the box body 11 is provided with a dust collection opening 111, an air outlet 112 and a dust discharge opening 113, and the filter assembly 16 is disposed at the air outlet 112. When the robot body 1 performs dust collection operation, the dust collection assembly is started, dirt on the ground enters the box body 11 through the dust collection opening 111 by negative pressure suction, large-particle dirt is deposited in the box body 11, and air flow is discharged through the air outlet 112 and passes through the filter assembly 16 so as to filter fine dust and discharge clean air flow, and dirt such as dust is prevented from returning to the indoor waiting cleaning environment.

When the robot body 1 finishes the dust collection operation, the robot body 1 moves to cooperate with the cleaning apparatus 2 (in this embodiment, the robot body 1 moves to the bottom of the cleaning apparatus 2, in other embodiments, the robot body 1 may also move to the side of the cleaning apparatus 2 to cooperate with the cleaning apparatus 2), and the dust discharge port 113 is abutted with the dust discharge connection assembly 21 to communicate the interior of the box 11 with the drain pipe 221, so that dirt in the box 11 is blown into the drain pipe 221 in the dust collection assembly start state.

Further, the filter assembly 16 is disposed on the outer wall of the box 11, so that the filter assembly 16 can be conveniently disassembled and assembled to clean or replace the filter assembly 16; on the other hand, after the air flow carries dust into the box 11, part of the dust can be automatically deposited in the shell, so that the amount of the dust carried by the air flow passing through the filter assembly 16 is reduced, the service time of the filter assembly 16 is prolonged, and the replacement or cleaning frequency of the filter assembly 16 is reduced.

Further, the air outlet 112 and the dust collection opening 111 are disposed at opposite ends of the box 11, so that after the air flow carries dust into the box 11, the flow path from the dust collection opening 111 to the air outlet 112 is prolonged, the time for automatically depositing dust in the air flow is increased, and dust deposition is facilitated.

In order to prevent dirt such as dust deposited in the dust collecting box 10 from leaking from the dust collecting opening 111, the dust collecting box 10 further includes a dust collecting shutter 14, and the dust collecting shutter 14 is movably connected with the box body 11, so that the dust collecting opening 111 can be selectively opened or closed. The suction assembly is not operated and the suction shutter 14 closes the suction opening 111.

In this embodiment, the dust suction opening 111 is disposed on a side wall of the box 11, and the upper end of the dust suction shutter 14 is hinged to the inner wall of the box 11, so that in a natural state, the dust suction shutter 14 can close the dust suction opening 111 under the action of gravity, so as to avoid leakage of dirt in the box 11.

As shown in fig. 8, when the dust collection assembly is started, an air pressure difference is formed between the inside and the outside of the box 11, and air outside the box 11 pushes the dust collection gate plate 14 to rotate towards the inside of the box 11 under the action of the air pressure difference, so as to open the dust collection opening 111, and enable air flow to carry dirt such as dust into the box 11.

In order to improve the sealing performance when the dust collection gate plate 14 closes the dust collection opening 111, a dust collection connector can be arranged in the dust collection opening 111, one end of the dust collection connector extends into the box body 11, and the end face of the end is an inclined plane which inclines from top to bottom to the inside of the box body 11. When the dust collection gate 14 closes the dust collection port 111 under the action of gravity, the dust collection gate 14 is abutted against the inclined end surface, compared with the vertical arrangement of the end surface of the dust collection joint, the contact area of the dust collection gate 14 and the dust collection joint is increased, and the abutting effect of the dust collection gate 14 and the dust collection joint can be improved, so that the sealing performance of the dust collection port 111 when closed is improved.

When the robot body 1 performs the dust removing operation, the dust collection assembly is started, and after the air flow enters the box 11, dirt such as dust enters the drain pipe 221 through the dust discharge port 113. In this process, the air outlet 112 is required to be closed, and the dust outlet 113 is required to be opened; correspondingly, when the robot body performs dust collection operation, the air outlet 112 needs to be opened, the dust discharge port 113 is closed, and then the air is ensured to be discharged out of the robot body 1 after being filtered by the filter assembly 16.

For this reason, the dust collecting box 10 further includes a dust exhaust shutter 13 and an air outlet shutter plate 12, the air outlet shutter plate 12 can selectively open or close the air outlet 112 according to the working state requirement of the dust collecting box 10, and the dust exhaust shutter plate 13 can selectively open or close the dust exhaust port 113 according to the working state requirement of the dust collecting box 10, so as to satisfy that the opening and closing states of the air outlet 112 and the dust exhaust port 113 in dust collection and exhaust operations of the robot body 1 are different.

In order to automatically switch the open/close states of the air outlet 112 and the dust outlet 113 in the dust box 10 according to different states of the robot body 1, the air outlet shutter 12 and the dust outlet shutter 13 are linked such that when one of the air outlet shutter 12 and the dust outlet shutter 13 is opened, the other is closed.

Specifically, the dust box 10 further includes a linkage assembly 15, and the linkage assembly 15 connects the air outlet shutter 12 and the dust discharge shutter 13 such that when the open/close state of one of the air outlet shutter 12 and the dust discharge shutter 13 is changed, the other is also switched to the open/close state. In the natural state, as shown in fig. 7, the dust box 10 has the air outlet 112 in a normally open state, and the dust outlet 113 in a normally closed state.

When the dust discharging connecting assembly 21 is in butt joint with the dust discharging opening 113, the dust discharging connecting assembly 21 can drive the dust discharging gate plate 13 to open the dust discharging opening 113, and the dust discharging gate plate 13 can drive the air outlet gate plate 12 to close the air outlet 112; when the dust discharging connecting assembly 21 is separated from the dust discharging opening 113, the air outlet shutter 12 can be reset to open the air outlet 112 and drive the dust discharging shutter 13 to close the dust discharging opening 113. The state switching of the dust discharging flashboard 13 and the air outlet flashboard 12 is triggered by the cooperation of the dust discharging connecting component 21 and the dust discharging port 113, and the structure is simple and the switching is convenient.

In this embodiment, the air outlet shutter plate 12 and the dust exhaust shutter plate 13 are both hinged to the inner wall of the box 11, the linkage assembly 15 includes a second dragging flexible member 151, two ends of the second dragging flexible member 151 are respectively connected to the air outlet shutter plate 12 and the dust exhaust shutter plate 13, and the air outlet 112 is disposed at the top end of the box 11. In a natural state, the air outlet shutter 12 can open the air outlet 112 under the action of gravity, and the second dragging flexible piece 151 drives the dust exhaust shutter 13 to close the dust exhaust port 113.

It should be noted that, because the air outlet shutter 12 and the dust exhaust shutter 13 are both hinged on the inner wall of the box 11, when any one of the air outlet 112 and the dust exhaust 113 is in an open state, and the dust collection assembly is started, the air flow entering the box 11 will apply pressure to the air outlet shutter 12 and the dust exhaust shutter 13, so that the air outlet shutter 12 and the dust exhaust shutter 13 maintain the current state.

For convenience of explanation, taking the robot body 1 in a dust collection state as an example, as shown in fig. 8, the dust discharge shutter 13 closes the dust discharge port 113, and the air outlet shutter 12 opens the air outlet 112. When the air flow enters the box body 11 from the dust collection opening 111, the air flow applies pressure to the air outlet flashboard 12, so that the air outlet flashboard 12 rotates in the direction deviating from the dust collection opening 111, and the air outlet flashboard 12 maintains a state of opening the air outlet 112, and the air outlet 112 is prevented from being closed; correspondingly, the air flow also applies pressure to the dust discharging gate plate 13, so that the dust discharging gate plate 13 is tightly attached to the inner wall of the box body 11, the closed state of the dust discharging opening 113 is kept, and the air flow is prevented from leaking out of the dust discharging opening.

Specifically, the dust discharge port 113 is arranged at the top of the box body 11, one end of the air outlet gate plate 12 is hinged with one side of the air outlet 112, which is away from the dust discharge port 113, and the second dragging flexible piece 151 is connected with the other end of the air outlet gate plate 12; one end of the dust exhausting flashboard 13 is hinged with one side of the dust exhausting port 113, which is far away from the air outlet 112, and the second dragging flexible piece 151 is connected with the other end of the dust exhausting flashboard 13.

When the dust discharge connection assembly 21 is docked with the dust discharge port 113, as shown in fig. 9, the dust discharge connection assembly 21 is inserted into the dust discharge port 113 and pushes the dust discharge shutter 13 to rotate into the case 11 to open the dust discharge port 113. The second dragging flexible piece 151 is pulled in the process of rotating the dust discharging gate 13, so that the air outlet gate 12 is driven to rotate against the gravity of the second dragging flexible piece, the air outlet 112 is closed, and air flow entering the box 11 can only enter the drain pipe 221 through the dust discharging port 113.

Alternatively, the second dragging flexible member 151 may be a rope or a chain, as long as the linkage of the air outlet shutter 12 and the dust discharge shutter 13 can be achieved.

In this embodiment, the linkage assembly 15 further includes a third guiding wheel 152, the third guiding wheel 152 is rotatably disposed between the air outlet 112 and the dust exhaust port 113, the second dragging flexible member 151 is wound around the third guiding wheel 152, and the third guiding wheel 152 guides the second dragging flexible member 151 to move, so as to be beneficial to ensuring the stability of the linkage between the air outlet gate plate 12 and the dust exhaust gate plate 13.

Alternatively, the dust discharge shutter 13, the air outlet shutter 12, and the dust suction shutter 14 may be connected with elastic members by which the normally closed or normally open state of each shutter is maintained.

Illustratively, the dust exhaust shutter 13 is connected with a first elastic member, which may be a first torsion spring, and the first torsion spring can drive the dust exhaust shutter 13 to rotate in a direction of closing the dust exhaust port 113, so as to maintain a normally closed state of the dust exhaust port 113. When the dust discharging connecting assembly 21 is in butt joint with the dust discharging opening 113, the dust discharging connecting assembly 21 can push the dust discharging flashboard 13 to overcome the elastic force of the first torsion spring, so that the dust discharging opening 113 is opened.

Illustratively, the air outlet shutter 12 is connected with a second elastic member, which may be a second torsion spring, and the second torsion spring can drive the air outlet shutter 12 to rotate in a direction of opening the air outlet 112, so as to maintain a normally open state of the air outlet 112. When the dust discharging connecting assembly 21 is in butt joint with the dust discharging port 113, the dust discharging flashboard 13 pulls the second dragging flexible piece 151, and the air outlet flashboard 12 is pulled by the second dragging flexible piece 151 to overcome the elastic force of the second torsion spring, so that the air outlet 112 is closed.

Illustratively, the dust collecting shutter 14 is connected with a third elastic member, which may be a third torsion spring, and the third torsion spring can drive the dust collecting shutter 14 to rotate in a direction of closing the dust collecting opening 111, so as to maintain a normally closed state of the dust collecting opening 111. When the dust collection body is started, the airflow pushes the dust collection flashboard 14 to overcome the elastic force of the third torsion spring, so that the dust collection opening 111 is opened. In addition, the third torsion spring can also prevent dust from spilling and leaking caused by vibration generated when the robot body 1 moves without dust collection.

Further, two adjacent side walls of the box body 11 are in arc smooth connection, so that dead angles in the box body 11 are reduced, and the dust exhaust effect is improved.

It should be noted that, in order to prevent the dust collecting box 10 from blocking the dust discharging opening 113 or the drain pipe 221 by the dust, plastic, paper, etc., the dust discharging opening 113 may be provided with a filter screen, and the filter screen may be disposed in the box 11 or the dust discharging opening 113 to intercept the dust, plastic, paper, etc., thereby preventing the combined cleaning system from blocking.

Because the cabin 3 is internally provided with a charging module, the potential safety hazard exists that a pet or an infant enters the cabin 3 by mistake. As shown in fig. 10 and 11, the nacelle 3 includes a nacelle body 31, a hatch door 32, and a driving assembly, where an access opening is provided on one side of the nacelle body 31, the hatch door 32 is movably connected with the nacelle body 31, and the driving assembly can drive the hatch door 32 to rotate relative to the nacelle body 31 to open the access opening so as to open or close the access opening as required, thereby blocking the pet or the infant from entering the nacelle body 31 to a certain extent.

In order to further avoid a safety accident caused by a pet or an infant being mistakenly inserted into the cabin 3 or locked, in the embodiment, the cabin door 32 is hinged with the cabin body 31, and the driving assembly can drive the cabin door 32 to rotate towards the outer side of the cabin body 31 so as to open the entrance; an abutment piece 311 is further provided in the cabin 31, the abutment piece 311 being located inside the cabin door 32, the abutment piece 311 being capable of abutting against the cabin door 32.

The cabin door 32 is hinged with the cabin body 31, and the driving assembly is arranged, so that the robot body 1 can smoothly enter the cabin 3; as shown in fig. 14, when the robot body 1 is driven out of the cabin 3, the robot body 1 can push the cabin door 32 to rotate towards the outside of the cabin body 31, and can automatically open the entrance and the exit, and the operation is convenient without driving by a power source; through setting up the butt piece 311, can avoid pet or baby to open the access & exit for cabin 3 overall structure is difficult to advance, easily goes out, is favorable to reducing the security risk.

Alternatively, the abutment 311 may be a door frame disposed inside the nacelle 31, which is beneficial to simplify the structure of the nacelle 3 and avoid the abutment 311 from obstructing the robot body 1 from entering the nacelle 31.

To reduce the time required for the doorway to be opened, the door 32 includes a first door panel 321 and a second door panel 322, the top end of the first door panel 321 being hinged to the cabin 31, and the bottom end of the first door panel 321 being hinged to the top end of the second door panel 322; the driving assembly can drive the first door plate 321 to rotate towards the outer side of the cabin body 31 so that the second door plate 322 is lifted to open the access opening, and the first door plate 321 can fall under the action of gravity after the driving assembly stops driving so as to close the access opening.

As shown in fig. 12, when the robot body 1 drives into the cabin 31, the driving assembly drives the first door plate 321 to rotate outwards rapidly, the first door plate 321 can drive the second door plate 322 to lift, and the second door plate 322 can rotate adaptively relative to the first door plate 321 under the pushing of gravity and the robot body 1 because the second door plate 322 is hinged to the first door plate 321, so that the robot body 1 can enter the cabin 31 without stopping after triggering the rotation of the first door plate 321.

In this embodiment, through the cooperation of the hinged first door plate 321 and the second door plate 322, the robot body 1 can continue to move into the cabin 3 while the first door plate 321 starts to rotate, so that the robot body 1 can be allowed to gradually enter the cabin 31 in the process of opening the doorway, the waiting time of the robot body 1 is reduced, the actions of the robot body 1 are coherent, and the time is saved; after the robot body 1 completely enters the cabin 31, the first door plate 321 automatically closes the entrance under the action of gravity, so that power consumption is not needed, and the cost is reduced.

In addition, by dividing the door 32 into two hinged parts, the space required for rotation of the door 32 is advantageously reduced, thereby reducing the overall footprint of the apparatus, as compared to a door 32 of unitary construction.

Alternatively, the driving assembly may include a motor, where a rotating shaft is disposed on the first door plate 321 and is rotationally connected to the cabin body 31, and the motor may rotate by driving the rotating shaft to implement the rotation of the first door plate 321.

Further, the nacelle 3 further includes a trigger assembly 33, the trigger assembly 33 includes a first trigger 331 and a second trigger 332, the first trigger 331 is disposed on the hatch 32, the second trigger 332 is disposed on the nacelle body 31 and located outside the hatch 32, and the first trigger 331 and the second trigger 332 are both communicatively connected to the driving assembly.

When the robot body 1 is about to enter the cabin 3, the robot body 1 triggers the first trigger piece 331 on the cabin door 32, the first trigger piece 331 sends a first trigger signal, the driving component controls the first door plate 321 to rotate towards the outside of the cabin 31 according to the first trigger signal so as to open the entrance and the exit, and the robot body 1 gradually enters the cabin 31.

Along with the rotation of the first door plate 321, the robot body 1 gradually enters the cabin 31, the first door plate 321 rotates to a designated angle and then triggers the second trigger piece 332 (as shown in fig. 13), the second trigger piece 332 sends a second trigger signal, the driving component stops driving the first door plate 321 according to the second trigger signal, and the first door plate 321 rotates under the action of gravity, so that the second door plate 322 is driven to close the entrance.

In this embodiment, the first trigger 331 and the second trigger 332 may be pressure-sensitive dual-control switches, which can be triggered by being pressed, and the triggering manner is simple, and the triggering is more timely and reliable.

In other embodiments, the first trigger 331 and the second trigger 332 may be other sensor structures such as a proximity sensor.

Optionally, the first trigger 331 is disposed on the second door panel 322, so that the first trigger 331 can be triggered by the robot body 1, so that the door 32 can be smoothly opened.

Specifically, the hatch 32 is disposed inside the doorway and the second trigger 332 is disposed on the top inner wall of the doorway. When the first door panel 321 rotates to the horizontal position relative to the cabin 31, the first door panel 321 triggers the second trigger 332.

In other embodiments, the trigger assembly 33 may not be provided with the second trigger 332. When the driving assembly drives the first door plate 321 to rotate to the outside of the cabin 31 to a substantially horizontal state, the first door plate 321 abuts against the cabin 31, so that the first door plate 321 can be prevented from continuing to rotate, the resistance applied by the driving assembly is suddenly increased, and the driving assembly is powered off to stop driving the first door plate 321.

By omitting the second triggering piece 332, the number of parts outside the nacelle 3 can be reduced, and the possibility that the second triggering piece 332 is triggered by mistake can be avoided, thereby improving the accuracy and reliability of the opening and closing of the doorway.

Optionally, the driving assembly includes a torque motor, and the torque motor can be automatically powered off after the resistance received by the output shaft of the torque motor is greater than a preset value, so that the torque motor is prevented from being locked, and the first door plate 321 can fall down quickly and slowly under the action of gravity until the entrance is closed.

In order to prevent the bottom end of the cabin door 32 from scratching the robot body 1 when the robot body 1 enters the cabin body 31, the bottom of the second door plate 322 is rotatably provided with rollers 324. When the robot body 1 enters the cabin body 31, the roller 324 can roll on the surface of the robot body 1, so that friction between the cabin door 32 and the robot body 1 is reduced, and the robot body 1 is prevented from being scratched.

In order to avoid the damage of the cabin door 32 caused by overlarge impact of the first door plate 321 when the first door plate 321 rotates under the action of gravity, the first door plate 321 is connected with a damping component, and the damping component can buffer the rotating speed of the first door plate 321 to the interior of the cabin 3, so that the cabin door 32 is impacted and noise is generated when the access opening is closed.

Optionally, the damping assembly may include a damping hinge or a torsion spring, where the resistance provided by the damping hinge or the torsion spring to the first door panel 321 may be set as required, so as to ensure that the first door panel 321 can automatically return to the vertical state under the gravity action of the first door panel 321 and the second door panel 322.

Alternatively, the damping assembly may include a magnetic attraction member and a magnetic member, one of which is disposed on the first door panel 321 and the other of which is disposed on the inner wall of the top surface of the cabin 31, and the magnetic attraction member is capable of attracting the magnetic member so as to provide a damping force for the automatic rotation of the first door panel 321.

In order to further cushion the impact when the door 32 is closed, the side of the abutment 311 facing the door 32 is provided with an elastic vibration-proof layer 3111, and the elastic vibration-proof layer 3111 is elastically contacted to the door 32, thereby preventing the door 32 from being broken.

In this embodiment, a charging module is disposed in the cabin 3, in order to ensure smooth docking between the robot body 1 and the charging module, the cabin door 32 further includes a transparent observation window 323, an installation window is enclosed between the first door plate 321 and the second door plate 322, and the transparent observation window 323 is disposed in the installation window. Through setting up transparent observation window 323, robot body 1 can directly communicate with the inside module that charges of cabin 31 through transparent observation window 323 to for robot body 1 provides navigation information, thereby make robot body 1 get into in the cabin 31, and can improve the counterpoint precision of robot body 1 and cabin 31.

In addition, the pet or the infant which is mistakenly put into the cabin 3 can observe the external condition through the transparent observation window 323, so that the pet or the infant is prevented from being too urgent, and the infant or the pet is prevented from struggling in the cabin 3 due to fear; at the same time, the user can also find out the pet or infant located inside the nacelle 3 through the transparent viewing window 323.

The foregoing is merely exemplary of the present invention, and those skilled in the art should not be considered as limiting the invention, since modifications may be made in the specific embodiments and application scope of the invention in light of the teachings of the present invention.

Claims

1. A combination cleaning system, comprising:

the cleaning device (2) comprises a drainage assembly and a dust exhaust connecting assembly (21), wherein the dust exhaust connecting assembly (21) is communicated with the drainage assembly;

The floor sweeping robot comprises a robot body (1), wherein the robot body (1) comprises a dust collection assembly and a dust collection box (10), and the dust collection box (10) can be communicated with the dust discharge connection assembly (21) so as to convey dirt in the dust collection box (10) into the drainage assembly through the dust collection assembly;

The drain assembly includes:

A drain pipe (221) including a first section and a second section disposed at intervals;

a three-way joint (222), the three-way joint (222) comprising:

The dust exhaust device comprises a cavity (2221), wherein the cavity (2221) comprises a main body part (22211) and a bypass part (22212), the main body part (22211) comprises a first inlet and a second inlet and outlet, the first inlet and the second inlet and outlet are respectively communicated with the first section and the second section, one end of the bypass part (22212) is connected with the dust exhaust connecting assembly (21), and the other end of the bypass part is communicated with the side wall of the main body part (22211) to form a junction;

a first shutter (2222) disposed within the cavity (2221), the first shutter (2222) being capable of opening the junction while closing the first access opening under fluid actuation within the bypass portion (22212), the first shutter (2222) being capable of resetting to close the junction when no fluid flushing is occurring within the bypass portion (22212);

The second shutter (2223) is arranged in the cavity (2221), and the second shutter (2223) can compress the first shutter (2222) under the drive of fluid when the fluid flows from the second inlet to the first outlet after the first shutter (2222) is closed so as to maintain the state that the first shutter (2222) closes the junction.

2. The combined cleaning system according to claim 1, wherein the sweeping robot further comprises a cabin (3), the cabin (3) comprises a cabin body (31), a communication hole is formed in the cabin body (31), and the dust discharging connecting assembly (21) is arranged in the communication hole in a penetrating mode and can slide relative to the communication hole so as to be selectively communicated with or disconnected from the dust collecting box (10).

3. A combined cleaning system according to claim 2, characterized in that the nacelle (3) further comprises a docking mechanism (34) with a reset function, the robot body (1) being able to drive the docking mechanism (34) to move after entering the nacelle (31) to put the dust exhaust connection assembly (21) in communication with the dust collection box (10); when the robot body (1) is driven out of the cabin body (31), the docking mechanism (34) is reset, so that the dust discharging connecting assembly (21) is separated from the dust collecting box (10).

4. A combined cleaning system according to claim 3, wherein the docking mechanism (34) comprises:

the pressing piece (341) is arranged at the bottom of the cabin body (31), and the pressing piece (341) extends obliquely upwards along the direction of the robot body (1) entering the cabin body (31);

a transmission assembly (342) respectively connected with the pressing member (341) and the dust discharging connecting assembly (21);

When the robot body (1) enters the cabin body (31), the robot body (1) presses down the pressing piece (341), and the pressing piece (341) drives the dust discharging connecting assembly (21) to move downwards through the transmission assembly (342) so as to be communicated with the dust collecting box (10).

5. The combination cleaning system of claim 4, wherein the transmission assembly (342) comprises:

The deflector rod (3422) is hinged with the inner wall of the cabin body (31), the deflector rod (3422) is rotationally and slidingly connected with the dust discharging connecting component (21), and the hinged point of the deflector rod (3422) and the inner wall of the cabin body (31) and the connecting point of the deflector rod (3422) and the dust discharging connecting component (21) are arranged at intervals in the length direction of the deflector rod (3422);

the first dragging flexible piece (3421), the first end of the first dragging flexible piece (3421) is connected with the deflector rod (3422), and the second end of the first dragging flexible piece (3421) is connected with the pressing piece (341).

6. The combination cleaning system of claim 1, wherein the first end of the first shutter (2222) and the first end of the second shutter (2223) are each hinged to an inner wall of the main body portion (22211), the first end of the first shutter (2222) being located between the junction and the first access opening, the first ends of the second shutter (2223) and the first shutter (2222) being located on opposite sides of the junction, respectively.

7. The combination cleaning system of claim 1, wherein the three-way joint (222) further comprises:

And the third shutter (2224) is movably arranged on the bypass part (22212), the third shutter (2224) can block the bypass part (22212) when no fluid exists in the bypass part (22212), and the bypass part (22212) can be conducted under the drive of the fluid entering in the dust exhaust connecting assembly (21).

8. A combined cleaning system according to any one of claims 1-5, characterized in that the dust box (10) comprises:

The dust collection box comprises a box body (11), wherein a dust collection opening (111), an air outlet (112) and a dust discharge opening (113) are formed in the box body (11), and the dust discharge opening (113) can be communicated with the dust discharge connecting assembly (21);

an air outlet shutter (12), the air outlet shutter (12) being capable of selectively opening or closing the air outlet (112);

a dust discharge shutter (13), the dust discharge shutter (13) being capable of selectively opening or closing the dust discharge port (113);

The air outlet flashboard (12) and the dust exhaust flashboard (13) are linked, so that when one of the air outlet flashboard (12) and the dust exhaust flashboard (13) is opened, the other is closed.

9. The combined cleaning system according to claim 8, wherein the dust box (10) further comprises a linkage assembly (15), the linkage assembly (15) connecting the air outlet shutter (12) and the dust exhaust shutter (13);

When the dust discharging connecting assembly (21) is in butt joint with the dust discharging opening (113), the dust discharging connecting assembly (21) can drive the dust discharging flashboard (13) to open the dust discharging opening (113), and the dust discharging flashboard (13) can drive the air outlet flashboard (12) to close the air outlet (112);

When the dust discharging connecting assembly (21) is separated from the dust discharging opening (113), the air outlet gate plate (12) can be reset to open the air outlet (112) and drive the dust discharging gate plate (13) to close the dust discharging opening (113).

10. The combined cleaning system according to claim 9, wherein the air outlet gate (12) and the dust exhaust gate (13) are both hinged to the inner wall of the box body (11), the linkage assembly (15) comprises a second dragging flexible piece (151), the second dragging flexible piece (151) is connected with the air outlet gate (12) and the dust exhaust gate (13), the air outlet (112) is arranged at the top end of the box body (11), so that the air outlet gate (12) can open the air outlet (112) under the action of gravity, and the dust exhaust gate (13) is driven to close the dust exhaust opening (113) through the second dragging flexible piece (151).

11. A combined cleaning system according to any one of claims 2-5, characterized in that the nacelle (3) further comprises a hatch (32), an abutment (311) and a drive assembly, wherein a gateway is provided on one side of the nacelle (31), one end of the hatch (32) is hinged to the nacelle (31), the abutment (311) is arranged in the nacelle (31) and inside the hatch (32), and the abutment (311) is capable of abutting against the hatch (32);

The driving assembly can drive the cabin door (32) to rotate outwards relative to the cabin (3) so as to open the access opening.

12. The combined cleaning system according to claim 11, characterized in that the hatch door (32) comprises a first door panel (321) and a second door panel (322), the top end of the first door panel (321) being hinged to the nacelle (3), the bottom end of the first door panel (321) being hinged to the top end of the second door panel (322);

The driving assembly can drive the first door plate (321) to rotate towards the outer side of the cabin body (31), so that the second door plate (322) is lifted to open the access opening, and the first door plate (321) can fall under the action of gravity after the driving assembly stops driving so as to close the access opening.

13. A combined cleaning system according to claim 12, characterized in that the nacelle (3) further comprises a trigger assembly (33), the trigger assembly (33) comprising a first trigger (331) and a second trigger (332), the first trigger (331) being arranged on the hatch (32), the second trigger (332) being arranged on the nacelle (31) outside the hatch (32);

The driving assembly can drive the first door plate (321) to rotate towards the outer side of the cabin body (31) when the first trigger piece (331) is triggered by the robot body (1), and can stop driving the first door plate (321) after the first door plate (321) triggers the second trigger piece (332).