CN114617483A

CN114617483A - Key structure, liquid storage tank and automatic cleaning equipment

Info

Publication number: CN114617483A
Application number: CN202111021326.9A
Authority: CN
Inventors: 秦运根
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2022-06-14
Anticipated expiration: 2041-09-01
Also published as: WO2023029427A1; CN114617483B; AU2022337419A1

Abstract

The utility model provides a button structure, liquid reserve tank and self-cleaning equipment, the button structure includes: a key body; the pressing part is positioned at one end of the key body, and the liquid storage tank is detached from the automatic cleaning equipment when a downward acting force is applied; the boss is positioned at one end of the key body opposite to the pressing part; when the key structure is assembled on the liquid storage tank, the pressing part is higher than the boss, and the boss and the pressing part are opposite in moving direction, so that the liquid storage tank is detachably assembled on the automatic cleaning equipment. The button structure is convenient for take the dismantlement of control liquid reserve tank under the condition of less volume.

Description

Key structure, liquid storage tank and automatic cleaning equipment

Technical Field

The invention relates to the technical field of cleaning robots, in particular to a key structure, a liquid storage tank and automatic cleaning equipment.

Background

The automatic cleaning equipment is used for automatically cleaning a specified place, and the conventional automatic cleaning equipment comprises a sweeper, a mopping machine, a sweeping and mopping integrated machine and the like. For an automatic cleaning device capable of performing a floor mopping function, a tank must be provided to supply a cleaning liquid.

The water tank is usually detachable, so that the water tank can be cleaned, maintained, filled with water and the like conveniently. To dismantling the water tank, need be according to the different button of dismantling of water tank structure, the self-cleaning equipment structural design difference of difference, the current button of dismantling or the dismantlement of the water tank of not being convenient for, or bulky, has influenced the installation of other parts of self-cleaning equipment and the volume of water tank, and dismantling of feed-tank has brought inconvenience.

Disclosure of Invention

The invention aims to provide a key structure, a liquid storage tank and automatic cleaning equipment, which can solve the technical problem that the liquid storage tank is inconvenient to disassemble. The specific scheme is as follows:

according to an embodiment of the present invention, in one aspect, the present invention provides a key structure mounted to a tank and configured to detachably mount the tank to an automatic cleaning apparatus, the key structure including:

a key body 2000;

a pressing portion 2001 located at one end of the key body 2000, for unlocking the liquid storage tank from the automatic cleaning apparatus when a downward force is applied thereto;

a boss 2002 located at an end of the key body 2000 opposite to the pressing portion 2001;

when the key structure is assembled in the liquid storage tank, the pressing portion 2001 is higher than the boss 2002, and the boss 2002 and the pressing portion 2001 move in opposite directions, so that the liquid storage tank is detachably assembled on the automatic cleaning device.

Optionally, the boss 2002 comprises:

a first surface 20021 which is a curved surface extending upward along the upper surface of the key body 2000;

a second surface 20022 which is a curved surface smoothly connected with the first surface 20021 and is configured to be abutted and clamped with a convex tongue of the automatic cleaning equipment;

and a third surface 20023 which is a plane smoothly connected with the second surface 20022 and extending along a substantially vertical direction.

Optionally, a connection portion between the first surface 20021 and the second surface 20022 is higher than a connection portion between the second surface 20022 and the third surface 20023.

Optionally, the key structure further includes:

the lugs 2003 are symmetrically arranged at two sides of the key body 2000;

and a rotating shaft 2004 connecting the lug 2003 and the liquid storage tank, so that the key structure rotates around the rotating shaft 2004.

Optionally, the key structure further includes:

a first elastic member 2005 provided to a lower surface of the pressing part 2001 so as to provide a restoring force to the pressing part 2001 when a force applied to the pressing part 2001 is released.

Optionally, the upper surface of the pressing portion 2001 is higher than the upper surface of the key body 2000, and the lower surface of the pressing portion 2001 is higher than the lower surface of the key body 2000.

Optionally, the lower surface of the pressing portion 2001 includes a plurality of ribs, and/or the lower surface of the key body 2000 includes a plurality of ribs.

According to an embodiment of the present invention, in another aspect, the present invention provides a liquid storage tank, including the key structure as described in any one of the above.

Optionally, the reservoir further includes a first assembling portion 3001 located at a substantially central position of the reservoir 3000 for assembling the key structure.

Optionally, the first assembling portion 3001 includes a recess 3002 for receiving the key structure when the key structure is assembled to the reservoir 3000.

Optionally, the first assembling portion 3001 further includes a light opening 3003 located above the key structure, and the light opening 3003 matches with a position of the pile lamp on the automatic cleaning device.

Optionally, the liquid storage tank further includes a second assembling portion 3004 located at a substantially central position of the liquid storage tank 3000, and configured to inject a cleaning liquid into the liquid storage tank 3000 after being connected to a base station.

Optionally, the second assembling portion 3004 further includes a fluid infusion port 3005 located at a substantially central position of the second assembling portion 3004 for injecting the cleaning fluid into the fluid storage tank 3000.

According to an embodiment of the invention, in another aspect, the invention provides an automatic cleaning device comprising a tank as described in any one of the above.

Optionally, the automatic cleaning device includes a liquid storage tank assembly structure 4000, the liquid storage tank includes a notch 3006 matched with the liquid storage tank assembly structure 4000, when the liquid storage tank is assembled in the automatic cleaning device, the liquid storage tank assembly structure 4000 is assembled in the notch 3006.

Optionally, the liquid storage tank assembling structure 4000 includes a tongue 4001 configured to be abutted against the boss and then locked.

Optionally, the tongue 4001 includes an inclined surface 4002, and when the tongue 4001 abuts against the boss, the inclined surface 4002 is locked to the boss.

Optionally, the tank mounting structure 4000 further comprises a second resilient member 4004 configured to enable a telescopic movement of the tongue 4001 in a vertical direction.

Optionally, the tank further comprises a groove 3002, and when the tank is assembled to the automatic cleaning device, the tongue 4001 engages with the groove 3002.

Optionally, the tongue 4001 further comprises a vertical surface 4003, and the vertical surface 4003 is configured to be caught by an inner side surface of the groove 3002 when the reservoir is assembled to the automatic cleaning apparatus.

Compared with the prior art, the embodiment of the invention has the following technical effects:

the invention provides a key structure, a liquid storage tank and automatic cleaning equipment, wherein the key structure is a sheet-shaped structure, and the liquid storage tank is convenient to control to detach under the condition of occupying a small volume. Meanwhile, the button structure can realize seesaw type movement and can be detached with the convex tongue of the automatic cleaning equipment in a more convenient way, and the phenomenon of blocking is avoided.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is an oblique view of an automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 2 is a schematic view of a bottom structure of the automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 3 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.

Figure 4 is a block diagram of a robotic cleaning device support platform according to one embodiment of the present invention.

FIG. 5 is a block diagram of a vibrating member of an automatic cleaning device according to an embodiment of the present invention.

FIG. 6 is a block diagram of a vibrating member according to an embodiment of the present invention.

FIG. 7 is a schematic view of a clean substrate assembly according to one embodiment of the invention.

Fig. 8 is a block diagram of a motor-driven clean water pump according to an embodiment of the present invention.

Fig. 9 is a structural view of a motor-driven lifting module according to an embodiment of the present invention.

Fig. 10 is an overall configuration diagram of an automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 11 is a structural view of a tank according to an embodiment of the present invention.

Fig. 12 is a partial cross-sectional view of a reservoir of one embodiment of the invention.

Fig. 13 is a partial cross-sectional view of a reservoir of one embodiment of the invention.

Fig. 14 is an assembly view of a key structure according to an embodiment of the present invention.

Fig. 15 is a schematic perspective view of a key structure according to an embodiment of the invention.

Fig. 16 is a schematic diagram of a key structure according to an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe embodiments of the present invention, these should not be limited to these terms. These terms are used only to distinguish one from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of embodiments of the present invention.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, the recitation of an element by the phrase "comprising a" does not exclude the presence of additional like elements in a commodity or device comprising the element.

Alternative embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Fig. 1-2 are schematic structural views illustrating an automatic cleaning apparatus, which may be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., as shown in fig. 1-2, according to an exemplary embodiment, and which may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-computer interaction system 170. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device can also be a pipeline cleaning robot, and the automatic cleaning device works on the inner surface of the pipeline, wherein the inner surface of the pipeline is the operation surface. The following description in this application is given by way of example of a floor-mopping robot, purely for illustration purposes.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position information and motion state information of the machine to the control system 130.

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a lateral axis x, a front-to-back axis y, and a central vertical axis z. The forward driving direction along the forward-backward axis y is denoted as "forward", and the backward driving direction along the forward-backward axis y is denoted as "backward". The transverse axis x extends substantially along the axis defined by the center points of the drive wheel assemblies 141 between the right and left wheels of the robotic cleaning device. Wherein the robotic cleaning device is rotatable about an x-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus is tilted upward and the rearward portion is tilted downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the Y axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the Y axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 for preventing the automatic cleaning apparatus from falling when the automatic cleaning apparatus is retreated are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, so that the automatic cleaning apparatus can be prevented from being damaged. The "front" means the same side with respect to the traveling direction of the automatic cleaning apparatus, and the "rear" means the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

The position determining device 121 includes, but is not limited to, a camera, a laser distance measuring device (LDS).

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned so as to determine the physical characteristics of the surface to be cleaned, including the surface material, the cleaning degree and the like, and can be combined with a camera, a laser ranging device and the like for more accurate judgment.

For example, whether the surface to be cleaned is a carpet may be determined by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is made of a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, as detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an immediate map of an environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, according to obstacle information fed back from the laser ranging device, and the like, and autonomously determine a travel path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is located at the cliff, the upper carpet or the lower carpet is stuck, the dust box is full, the sweeper is taken up and the like, and further, a specific next-step action strategy is given according to different conditions, so that the work of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to steer the robotic cleaning device across the floor based on specific distance and angle information, such as x, y, and theta components. As shown in fig. 2, drive system 140 includes a drive wheel assembly 141, and drive system 140 may control both the left and right wheels, preferably drive system 140 includes a left drive wheel assembly and a right drive wheel assembly, respectively, for more precise control of machine motion. The left and right drive wheel assemblies are symmetrically disposed along a lateral axis defined by the mobile platform 100.

In order to provide the automatic cleaning device with more stable movement or enhanced movement capability over the floor surface, the automatic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

The drive motor 146 powers rotation of the drive wheel assembly 141 and/or the steering assembly 142.

The drive wheel assembly 141 may be removably attached to the mobile platform 100 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robotic cleaning device moving platform 100 and maintained in contact with the floor and traction with a certain grounding force by a resilient element, such as a tension or compression spring, while the cleaning module 150 of the robotic cleaning device also contacts the surface to be cleaned with a certain pressure.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

The human-computer interaction system 170 includes keys on the host panel for user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400.

As shown in fig. 2, the dry cleaning module 151 includes a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps and winds the garbage on the ground to the front of a dust suction opening between the rolling brush and the dust box, and then the air which is generated by the fan and passes through the dust box and has suction force is sucked into the dust box. The dust removal capability of the sweeper can be represented by the sweeping efficiency DPU (dust pick up efficiency), which is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust suction port, a dust box, a fan, an air outlet and connecting parts among the dust suction port, the dust box, the fan, the air outlet and the dust box, the type and the power of the fan, and the sweeper is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once originally can be changed into a machine which can clean 180 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by a user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

According to an embodiment of the present invention, as shown in fig. 3-5, the wet cleaning module 400 is configured to clean at least a portion of the operation surface by using a wet cleaning method; wherein the wet cleaning module 400 comprises: a cleaning head 410, a drive unit 420, wherein the cleaning head 410 is configured to clean at least a portion of the operative surface, and the drive unit 420 is configured to drive the cleaning head 410 to substantially reciprocate along a target surface, the target surface being a portion of the operative surface. The cleaning head 410 reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head 410 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 410 and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, the more the friction times in unit time, the high-frequency reciprocating motion, also called reciprocating vibration, the cleaning capacity is much higher than that of the common reciprocating motion, such as rotation and friction cleaning, and optionally, the friction frequency is close to the sound wave, and the cleaning effect is much higher than that of the rotation friction cleaning of dozens of circles per minute. On the other hand, the bristles on the surface of the cleaning head can be more neatly and neatly stretched towards the same direction under the shaking of high-frequency vibration, so that the whole cleaning effect is more uniform, the cleaning effect is not improved by only applying downward pressure to increase friction force under the condition of low-frequency rotation, the bristles cannot be stretched towards the same direction due to only downward pressure, and the effect is that the water marks on the operation surface after high-frequency vibration cleaning are more uniform, and disordered water marks cannot be left.

The reciprocating motion may be a reciprocating motion in any one or more directions in the operation surface, or may be a vibration perpendicular to the operation surface, which is not strictly limited. Optionally, the reciprocating direction of the cleaning module is approximately perpendicular to the machine traveling direction, because the reciprocating direction parallel to the machine traveling direction may cause instability to the traveling machine itself, because the driving wheels may easily slip due to thrust and resistance in the traveling direction, the effect of the slip is more obvious when a wet cleaning module is included, because the possibility of the slip is increased due to the wet slip of the operation surface, and the slip may cause inaccurate distance measurement of sensors such as odometers and gyroscopes besides affecting smooth traveling cleaning of the machine, thereby causing inaccurate positioning and mapping of the navigation type automatic cleaning device, and in case of frequent slip, the effect on SLAM may not be ignored, and therefore, the machine behavior of the slip needs to be avoided as much as possible. In addition to slippage, the component of the cleaning head motion in the direction of machine travel causes the machine to be constantly propelled forward and backward while traveling, and thus the machine travels erratically and smoothly.

As an alternative embodiment of the present invention, as shown in fig. 3, the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing a driving force; and a supporting platform 422 detachably connected to the driving platform 421, for supporting the cleaning head 410, and being capable of lifting under the driving of the driving platform 421.

As an alternative embodiment of the present invention, a lifting module is disposed between the cleaning module 150 and the mobile platform 100 for making the cleaning module 150 contact with the surface to be cleaned better, or for cleaning the surface to be cleaned with different materials by using different cleaning strategies.

Optionally, the dry type cleaning module 151 may be connected to the mobile platform 100 through a passive lifting module, and when the cleaning device encounters an obstacle, the dry type cleaning module 151 may more conveniently pass over the obstacle through the lifting module.

Optionally, the wet cleaning module 400 may be connected to the movable platform 100 through an active lifting module, and when the wet cleaning module 400 does not work temporarily or meets a surface to be cleaned, which cannot be cleaned by the wet cleaning module 400, the wet cleaning module 400 is lifted by the active lifting module and separated from the surface to be cleaned, so as to change a cleaning method.

As shown in fig. 4 to 5, the driving stage 421 includes: a motor 4211, which is disposed on one side of the driving platform 421 close to the movable platform 100 and outputs power through a motor output shaft; the driving wheel 4212 is connected with the motor output shaft, and the driving wheel 4212 is of an asymmetric structure; and a vibration member 4213 provided on the opposite side of the driving platform 421 from the motor 4211, connected to the driving wheel 4212, and configured to reciprocate by the driving wheel 4212 rotating asymmetrically.

The drive platform 421 may further include a gear mechanism. A gear mechanism may connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to make a rotary motion, or indirectly drive the driving wheel 4212 to make a rotary motion through a gear mechanism. As one of ordinary skill in the art will appreciate, the gear mechanism may be a single gear or a plurality of gears forming a gear set.

The motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the liquid storage tank, etc. simultaneously through the power transmission device. The energy system 160 provides power and energy to the electric machine 4211 and is controlled as a whole by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, a worm gear and the like.

The motor 4211 comprises a forward output mode and a reverse output mode, the motor 4211 rotates forward in the forward output mode, the motor 4211 rotates reversely in the reverse output mode, in the forward output mode of the motor 4211, the motor 4211 can simultaneously drive the driving platform vibration piece 4213 in the wet cleaning assembly 400 to do reciprocating motion and the water feeding mechanism to do synchronous motion through the power transmission device, and in the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to go up and down through the power transmission device.

Further, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421 for connecting the driving wheel 4212 with the vibrating member 4213 to extend the vibrating member 4213 to a predetermined position, wherein the vibrating member 4213 extends in a direction perpendicular to the connecting rod 4214, so that the reciprocating direction of the vibrating member 4213 is substantially perpendicular to the machine traveling direction.

The motor 4211 is connected to a drive wheel 4212, a vibration member 4213, a connecting rod 4214 and a vibration damper 4215 via a power transmission device. The vibrating member 4213 and the connecting rod 4214 form an approximately L-shaped structure, and as shown in fig. 6, the vibrating member 4213 reciprocates under the driving of the connecting rod 4214. The vibration buffering device 4215 plays a role in absorbing vibration and reducing shaking for the movement driven by the driving wheel 4212, so that the vibration piece 4213 can stably vibrate within the range of the movement amplitude provided by the supporting platform 422. Optionally, the shock buffering device 4215 is made of a soft material, and optionally has a rubber structure, and the shock buffering device 4215 is sleeved on the connecting rod 4214. On the other hand, the vibration buffering device 4215 can also protect the vibration member 4213 from being damaged due to collision with the driving platform 421, and the reciprocating motion of the vibration member 4213 is also influenced. The movable and stationary members of the drive platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the direction of travel, i.e., the direction of vibration of the vibration member 4213, so as to restrict movement in the direction of travel of the machine by a connection having a relatively small elasticity. The above-mentioned both movement restrictions make the movement pattern of the vibration member 4213 not exactly reciprocating but substantially reciprocating. When the wet type cleaning assembly 400 is started, the motor 4211 starts to work to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212, meanwhile, the vibration buffering device 4215 drives the vibration member 4213 to basically reciprocate along the surface of the driving platform 421, the vibration member 4213 drives the cleaning base plate 4221 to basically reciprocate along the surface of the supporting platform 422, and the cleaning base plate 4221 drives the movable area 412 to basically reciprocate along the surface to be cleaned. At this time, the clean water pump makes the clean water flow out from the clean water storage tank, and sprays the clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned through reciprocating motion.

The cleaning intensity/efficiency of the automatic cleaning device can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device may be dynamically adjusted based on the sensing system 120 detecting physical information of the face of the surface to be cleaned. For example, the sensing system 120 may detect information about the flatness of the surface to be cleaned, the material of the surface to be cleaned, the presence of dirt and dust, etc., and communicate this information to the control system 130 of the robotic cleaning device. Accordingly, the control system 130 can direct the automatic cleaning apparatus to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning apparatus, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410.

For example, when the automatic cleaning device works on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment works on a not-flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water quantity of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat floor surface is easier to clean than a less flat floor surface, and thus cleaning an uneven floor surface requires a faster reciprocating motion (i.e., higher frequency) and a greater volume of water by the cleaning head 410.

For another example, when the automatic cleaning device works on a table, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is operated on the ground, the preset reciprocation period may be automatically and dynamically adjusted to be shorter, and the water amount of the water pump may be automatically and dynamically adjusted to be larger. This is because the table top has less dust and oil dirt relative to the floor, and the material forming the table top is easier to clean, so that the cleaning head 410 needs to perform a smaller number of reciprocating movements and the water pump provides a relatively smaller amount of water to clean the table top.

As an alternative embodiment of the present invention, the supporting platform 422 includes: a cleaning base plate 4221 freely movably disposed on the supporting platform 422, wherein the cleaning base plate 4221 substantially reciprocates under the vibration of the vibration member 4213. Alternatively, as shown in fig. 7, the cleaning substrate 4221 includes: and assembly notches 42211 provided at positions contacting with the vibration members 4213, wherein when the support platform 422 is coupled to the driving platform 421, the vibration members 4213 are assembled to the assembly notches 42211, so that the cleaning base plate 4221 can be substantially reciprocated in synchronization with the vibration members 4213. The cleaning device travel direction of the cleaning substrate 4221 comprises 4 first limit positions 42212, the 4 first limit positions 42212 are in soft connection with the cleaning substrate 4221, but the elastic scaling space is small, so that the movement of the cleaning substrate 4221 relative to the support platform 422 in the cleaning device travel direction is limited; two second limit positions 42213 are included in the cleaning substrate 4221 in a direction perpendicular to the traveling direction of the cleaning device, and the two second limit positions 42213 limit the range of reciprocating movement of the cleaning substrate 4221 in the direction perpendicular to the traveling direction of the cleaning device. In addition, a water outlet hole 42214 is provided near the fitting indentation 42211 of the cleaning base plate 4221, so that water discharged from the water discharge device 4217 flows to the cleaning head 410 through the water outlet hole. The movement of the cleaning substrate 4221 is substantially reciprocating because of the influence of the restricting position and the shock absorbing means. The cleaning substrate 4221 is located on a portion of the support platform 422, and the local vibration may be performed at a higher vibration frequency, such as in a sonic frequency range. The movable and stationary members of the drive platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the direction of travel, i.e., the direction of vibration of the vibration member 4213, so as to restrict movement in the direction of travel of the machine by a connection having a relatively small elasticity.

Further, the supporting platform 422 further comprises: and an elastic detaching button 4229, which is arranged on at least one side of the supporting platform 422 and is used for enabling the supporting platform 422 to be detachably connected with the claw 4216 of the driving platform 421, so that the supporting platform 422 can be detachably and mechanically fixed on the driving platform 421 and is fixed relative to the driving platform and the automatic cleaning equipment. At least one mounting area 4224 provided on the support platform 422 for mounting the cleaning head 410. The mounting region 4224 may be formed of an adhesive material having an adhesive layer.

As an alternative embodiment of the present invention, as shown in fig. 3, the cleaning head 410 includes: and an active region 412 connected to the cleaning substrate 4221 and substantially reciprocated along the cleaning surface by the cleaning substrate 4221. The active region 412 is disposed at a substantially central location of the cleaning head 410.

Optionally, an adhesive layer is disposed on a side of the active region 412 connected to the cleaning substrate 4221, and the active region 412 is connected to the cleaning substrate 4221 through the adhesive layer.

Optionally, the cleaning head 410 further comprises: a fixed area 411 connected to the bottom of the support platform 422 through the at least one mounting area 4224, the fixed area 411 cleaning at least a portion of the worktop as the support platform 422 moves.

Further, the cleaning head 410 further includes: and a flexible connection part 413 disposed between the fixed region 411 and the movable region 412, for connecting the fixed region 411 and the movable region 412. The cleaning head 410 further comprises: a slide latch 414, extending along the edge of the cleaning head 410, is removably mounted to the support platform 422 at a latch position 4225.

In this embodiment, as shown in fig. 3, the cleaning head 410 may be made of a material having certain elasticity, and the cleaning head 410 is fixed on the surface of the supporting platform 422 through an adhesive layer, thereby realizing a reciprocating motion. The cleaning head 410 is in contact with the surface to be cleaned at all times while the cleaning head 410 is in operation.

The water feeding mechanism comprises a water outlet device 4217, the water outlet device 4217 can be directly or indirectly connected with a cleaning liquid outlet of a liquid storage tank (not shown), namely, a liquid outlet of the liquid storage tank, wherein the cleaning liquid can flow to the water outlet device 4217 through the cleaning liquid outlet of the liquid storage tank, and can be uniformly coated on the surface to be cleaned through the water outlet device. The water outlet device may be provided with a connecting piece (not shown in the figures) by which the water outlet device is connected with the cleaning solution outlet of the reservoir. The water outlet device is provided with a distribution port which can be a continuous opening or a combination of a plurality of broken small openings, and the distribution port can be provided with a plurality of nozzles. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connecting piece of the water outlet device, and is uniformly coated on the operating surface through the distribution port.

The water feeding mechanism can also comprise a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 can be directly communicated with a cleaning liquid outlet of the liquid storage tank or can be communicated with the cleaning liquid outlet of the liquid storage tank through the clean water pump tube 4218.

A clean water pump 4219 may be connected with the connector of the water outlet and may be configured to draw the cleaning liquid from the reservoir to the water outlet. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

The water delivery mechanism draws out the cleaning solution in the cleaning solution tank through a clean water pump 4219 and a clean water pump tube 4218 and delivers the cleaning solution to a water outlet device, wherein the water outlet device 4217 can be a spray head, a water dropping hole, a soaking cloth and the like, and uniformly distributes water on the cleaning head so as to wet the cleaning head and the surface to be cleaned. The stains on the wet surface to be cleaned can be cleaned more easily. In the wet cleaning assembly 400, the power/flow of the clean water pump may be adjusted.

Further, as shown in fig. 8, the motor 4211 drives the clean water pump 4219 to creep through the gear set 42193, clean water enters from the water inlet 42191 and flows out from the water outlet 42192 through the creep of the clean water pump 4219, the clean water is conveyed to the water outlet device 4217 through the clean water pump tube 4218, and water flowing out from the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.

As shown in fig. 9, the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable 42194 is wound on the cable gear 42196, the cable 42194 is wound on the driving platform 421, and the cable gear 42196 pulls the cable 42194 to lift and fall so as to realize the lifting and falling of the driving platform 421. The cable gear 42196 and the cable 42194 are core components of the lifting module.

The gear set 42193 and the inhaul cable gear 42196 are provided with a clutch 42195, the clutch 42195 comprises a spring and a sheet piece, the motor 4211 controls the three motion modules by controlling the clutch of the clutch 42195, the vibration of the vibration piece is driven by controlling the clutch in one direction, the water supply of the clean water pump 4219 is realized at the same time, and the lifting module is driven to lift by rotating in the opposite direction through the inhaul cable 42194. Optionally, the combination design of the gear set realizes control of different combination forms of the three motion modules, such as water supply of a rotary clean water pump in one direction and control of lifting and vibration in the opposite direction. Alternatively, two motors may be used to control three motion modules, but the use of one more motor also increases the cost.

Because self-cleaning equipment's clean module is provided with dry-type cleaning module and wet-type cleaning module, can provide more comprehensive clean function. Simultaneously, in the wet-type cleaning module, through increasing drive unit, vibrations region, make the cleaning head reciprocating motion to can treat that the clean surface cleans repeatedly, make in cleaning machines people's movement track, a lot of cleanness can be realized through a certain region to once, thereby strengthened cleaning performance greatly, especially to the region that the spot is many, cleaning performance is obvious.

The sensor that can detect the surface type of treating clean surface such as cooperation surface medium sensor, the lift module can clean the operation with wet-type cleaning module according to the clean surface of waiting of difference, if at the clean module lifting of wet-type cleaning on the carpet surface to put down the clean module of wet-type on surfaces such as floor/ceramic tile and clean, thereby realize more comprehensive clean effect.

In the embodiment of the present disclosure, the automatic cleaning device 10 includes a liquid storage tank 3000, and the liquid storage tank 3000 further includes a liquid supplementing port 3005, as shown in fig. 10 to 12, the liquid supplementing port 3005 may be located on a side wall of the liquid storage tank 3000, and when the automatic cleaning device 10 stops at a base station, the base station may inject cleaning liquid into the liquid storage tank 3000 of the automatic cleaning device 10 through the liquid supplementing port 3005.

In the embodiment of the present disclosure, as shown in fig. 11, a second assembling portion 3004 is provided on the tank 3000, and the second assembling portion 3004 is used to connect with the base station, so that the base station can inject the cleaning liquid into the tank 3000 of the automatic cleaning apparatus 10 through the fluid infusion port 3005. The second fitting portion 3004 further includes a fluid infusion port 3005 located at a substantially central position of the second fitting portion 3004 for injecting the cleaning fluid into the reservoir 3000.

In the embodiment of the present disclosure, as shown in fig. 12, a valve 17 is disposed on the fluid infusion port 3005 of the fluid storage tank 300, and the valve 17 is openably and closably disposed to control the connection and disconnection between the fluid infusion port 3005 and the fluid storage tank 3000. A pipeline 18 is arranged in the liquid storage tank 3000, and a valve 17 is arranged at one end of the pipeline 18.

In the embodiment of the present disclosure, the valve 17 may be an electronic valve or a manual valve, and is controlled to open or close accordingly. In other embodiments of the present disclosure, the valve 17 may also be a check valve, when the liquid storage tank 3000 completes the liquid replenishment, after the connection between the liquid replenishment port 3005 and the liquid storage tank 3000 is disconnected, the valve 17 is automatically closed, so as to prevent the cleaning liquid in the liquid storage tank 3000 from flowing out. For example, the valve 17 may be a cross valve, a lift check valve, a swing check valve, or the like.

In the embodiment of the present disclosure, as shown in fig. 13 to 16, the automatic cleaning apparatus 10 includes a tank assembly structure 4000, the tank 3000 includes a notch 3006 matching with the tank assembly structure 4000, and when the tank 3000 is assembled to the automatic cleaning apparatus 10, the tank assembly structure 4000 is assembled to the notch 3006, so as to achieve complete matching.

As shown in fig. 13-14, the reservoir mounting structure 4000 includes a tongue 4001 configured to engage with the protrusion 2002 of the key structure 12. The liquid storage tank assembling structure 4000 further includes a second elastic member 4004, the second elastic member 4004 provides elastic force in a vertical direction, so that the tongue 4001 can move in a telescopic manner in the vertical direction, the second elastic member 4004 and the tongue 4001 can be located in the same slide way, and the telescopic movement is achieved, and the second elastic member 4004 is, for example, a spiral spring or the like.

In the embodiment of the present disclosure, the tongue 4001 includes a slope 4002, and when the tongue 4001 abuts against the boss, the slope 4002 matches with the slope of the boss and is locked. The tongue 4001 further comprises a vertical surface 4003, and the vertical surface 4003 engages an inner surface of the groove 3002 when the fluid reservoir is assembled to the automatic cleaning apparatus. Inclined plane 4002 and vertical face 4003 can guarantee that liquid reserve tank 3000 realizes pinpointing in the front and back after installing automatic cleaning equipment, avoid sending the phenomenon to appear in any direction.

As shown in fig. 11, the tank 3000 includes a first mounting portion 3001, the first mounting portion 3001 is located at a substantially central position of the tank 3000, and the first mounting portion 3001 may have a rectangular or circular shape, but is not limited thereto. The first fitting portion 3001 includes a key structure 12, a groove 3002, and a light admission port 3003. The groove 3002 is formed at the bottom of the first assembling portion 3001 and recessed downward, and is shaped to match the key structure 12, and when the key structure 12 is assembled in the liquid storage tank 3000, the groove 3002 is used for accommodating the key structure 12.

As shown in fig. 15 to 16, a key structure 12 is mounted to a first mounting portion 3001 of a tank configured to detachably mount the tank to an automatic cleaning apparatus, the key structure having a substantially sheet-like structure, and includes: a key body 2000 having a substantially flat plate shape, the key body 2000 may have a rectangular structure; a pressing part 2001 located at one end of the key body 2000, for unlocking the reservoir from the automatic cleaning apparatus when a downward force is applied, so that the reservoir is in a detachable state from the automatic cleaning apparatus, the pressing part 2001 has a wider edge than the key body 2000, for facilitating the application of the pressing force, for example, the pressing part 2001 may have a fan-shaped structure; the outer edge and the two side edges of the pressing portion 2001 are also provided with protruding edge portions to prevent slipping during pressing, and the effect of shielding the internal structure of the water tank is achieved. After the liquid storage tank is unlocked from the automatic cleaning equipment, the liquid storage tank can be completely detached from the automatic cleaning equipment by pulling the edge part protruding from the outer edge of the pressing part 2001 outwards.

The key structure further includes a boss 2002 located at an end of the key body 2000 opposite to the pressing portion 2001; when button structure 12 assembles in liquid reserve tank 3000, under first elastic component natural state, press splenium 2001 to be higher than boss 2002 to be favorable to increasing and press the movable stroke of splenium 2001 and boss 2002, ensure that the liquid reserve tank can firm the installation under the installation condition, be difficult for droing, can effectively drop the card of tongue when needing to dismantle, boss 2002 with press the splenium 2001 moving direction opposite, realize the state of seesaw, compare in the boss with press the splenium moving direction the same scheme, further increase the movable stroke of boss, thereby make the liquid reserve tank easier realization detachable assemble in self-cleaning equipment.

In the disclosed embodiment, as shown in fig. 15, the boss 2002 further comprises: a first surface 20021 which is a curved surface extending upward along the upper surface of the key body 2000; a second surface 20022 which is a curved surface smoothly connected with the first surface 20021 and is configured to be abutted and clamped with a convex tongue of the automatic cleaning equipment; the third surface 20023 is a plane which is smoothly connected with the second surface 20022 and extends along the substantially vertical direction, and the third surface can be attached to the plane of the inner side surface of the groove and combined with the plane of the protruding tongue to realize stable clamping of the three planes. The second surface 20022 can be a multi-arc curved surface forming a recess, and is used for matching with the end part and the inclined surface of the convex tongue to realize stable clamping.

Optionally, a connecting portion between the first surface 20021 and the second surface 20022 is higher than a connecting portion between the second surface 20022 and the third surface 20023, so that when the tongue contacts with the second surface, the tongue is prevented from sliding in the front-back direction, and stable locking is achieved.

In the embodiment of the present disclosure, as shown in fig. 15, the key structure further includes: the lugs 2003 are symmetrically arranged at two sides of the key body 2000; and a rotating shaft 2004 connecting the lug 2003 and the liquid storage tank, so that the key structure rotates around the rotating shaft 2004. Wherein, pivot 2004 can set up in being closer to and press splenium 2001 one side, like this, when the button structure realized the seesaw motion through the pivot, the boss had than pressing the splenium longer movable stroke to it is easier with tongue jack-up through the boss, makes the easier realization of liquid reserve tank can be dismantled.

In the embodiment of the present disclosure, as shown in fig. 13, the key structure further includes: a first elastic member 2005 provided to a lower surface of the pressing part 2001 so as to provide a restoring force to the pressing part 2001 when a force applied to the pressing part 2001 is released. The first elastic member 2005 is, for example, a coil spring.

In the embodiment of the present disclosure, as shown in fig. 14, an upper surface of the pressing portion 2001 is higher than an upper surface of the key body 2000, and a lower surface of the pressing portion 2001 is higher than a lower surface of the key body 2000. Therefore, more movable space can be provided for the pressing part 2001, the moving stroke of the pressing part 2001 is guaranteed, and the liquid storage tank is convenient to disassemble.

In the embodiment of the present disclosure, as shown in fig. 16, the lower surface of the pressing portion 2001 includes a plurality of ribs, and/or the lower surface of the key body 2000 includes a plurality of ribs, so as to enhance the rigidity of the key structure and reduce the weight of the entire key structure.

In the disclosed embodiment, as shown in FIG. 13, the groove 3002 includes a groove wall 30021, and after the key structure 12 is assembled in the groove 3002, the boss 2002 is lower than the groove wall 30021 by the abutting of the tongue 4001, so that the tongue 4001 can abut against the top end of the boss 2002 and be locked to the groove wall 30021. In addition, two side walls of the recess 3002 are provided with holes (not shown) for inserting and rotating the key structure shaft.

When the liquid storage tank is placed on the automatic cleaning equipment, the tongue 4001 firstly compresses the spring to move upwards under the pushing action of the liquid storage tank, when the liquid storage tank reaches the position of the groove, the tongue 4001 extends downwards under the action of the spring, the tongue 4001 slides into the groove 3002 from the inclined plane 4002, then the end part of the tongue abuts against the second surface 20022 of the boss, meanwhile, the vertical surface 4003 of the tongue is attached to the inner side surface of the groove wall 30021 and then is clamped, and the third surface 20023 of the boss 2002 abuts against the inner side surface of the groove wall 30021 and then is clamped, so that the liquid storage tank is tightly clamped on the automatic cleaning equipment. When the liquid storage box needs to be taken out, the pressing plate is pressed down, the boss is lifted upwards under the action of the rotating shaft and jacks up the convex tongue, and at the moment, the rear side end of the convex tongue is not contacted with the side wall of the groove any more, so that the liquid storage box can be taken out.

In the embodiment of the present disclosure, as shown in fig. 11, the first assembling portion 3001 further includes a light opening 3003 located above the key structure 12, the light opening 3003 matches with a position of a pile returning lamp on the automatic cleaning device, and the pile returning lamp is emitted through the light opening 3003 to implement communication with a charging pile.

The button structure that this disclosed embodiment provided is a lamellar structure, and is small, has increased the volume of liquid reserve tank, is convenient for occupy the dismantlement of control liquid reserve tank under the condition of less volume. Meanwhile, the button structure can realize seesaw type movement and can be detached with the convex tongue of the automatic cleaning equipment in a more convenient way, and the phenomenon of blocking is avoided.

Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The system or the device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The above examples are only intended to illustrate the technical solutions of the present disclosure, not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A key structure mounted to a reservoir configured to enable the reservoir to be removably mounted to an automatic cleaning device, the key structure comprising:

a key body (2000);

a pressing part (2001) located at one end of the key body (2000) for unlocking the reservoir from the automatic cleaning apparatus when a downward force is applied thereto;

a boss (2002) located at one end of the key body (2000) opposite to the pressing portion (2001);

when the key structure is assembled on the liquid storage tank, the pressing portion (2001) is higher than the boss (2002), the boss (2002) and the pressing portion (2001) move in opposite directions, and therefore the liquid storage tank is detachably assembled on the automatic cleaning equipment.

2. The key structure of claim 1, wherein the boss (2002) comprises:

the first surface (20021) is a curved surface extending upwards along the upper surface of the key body (2000);

a second surface (20022) which is a curved surface smoothly connected with the first surface (20021) and is configured to be abutted and clamped with a convex tongue of the automatic cleaning equipment;

and a third surface (20023) which is a plane smoothly connected with the second surface (20022) and extends along a substantially vertical direction.

3. The key structure according to claim 2, characterized in that the connection of said first face (20021) to said second face (20022) is higher than the connection of said second face (20022) to said third face (20023).

4. The key structure according to claim 1, further comprising:

the lugs (2003) are symmetrically arranged on two sides of the key body (2000);

a shaft (2004) connecting the lug (2003) with the reservoir such that the key structure rotates about the shaft (2004).

5. The key structure according to claim 1, further comprising:

a first elastic member (2005) provided to a lower surface of the pressing portion (2001) so as to provide a restoring force to the pressing portion (2001) when a force applied to the pressing portion (2001) is released.

6. The key structure according to claim 1, wherein an upper surface of the pressing portion (2001) is higher than an upper surface of the key body (2000), and a lower surface of the pressing portion (2001) is higher than a lower surface of the key body (2000).

7. The key structure according to claim 6, characterized in that the lower surface of the pressing portion (2001) comprises a plurality of ribs and/or the lower surface of the key body (2000) comprises a plurality of ribs.

8. A reservoir comprising a keying structure according to any one of claims 1 to 7.

9. A tank according to claim 8, further comprising a first fitting portion (3001) located substantially centrally in the tank (3000) for fitting the key arrangement.

10. An automatic cleaning apparatus, comprising a tank according to claim 8 or 9.