CN114617483B

CN114617483B - Key structure, liquid storage tank and automatic cleaning equipment

Info

Publication number: CN114617483B
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: 2023-06-30
Anticipated expiration: 2041-09-01
Also published as: CN114617483A; AU2022337419A1; WO2023029427A1

Abstract

The present disclosure 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 is used for detaching the liquid storage tank from the automatic cleaning equipment when receiving downward acting force; a boss located at an end of the key body opposite to the pressing portion; when the key structure is assembled in the liquid storage tank, the pressing part is higher than the boss, and the moving direction of the boss and the moving direction of the pressing part are opposite, so that the liquid storage tank is detachably assembled in the automatic cleaning equipment. The key structure is convenient for control the disassembly of the liquid storage tank under the condition of occupying smaller 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 designated place, and the existing automatic cleaning equipment comprises a floor sweeping machine, a floor mopping machine, a floor sweeping and mopping integrated machine and the like. For an automatic cleaning device capable of realizing 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 is convenient to clean, maintain, fill water and the like. For the detachable water tank, the detachable buttons are required to be designed differently according to different water tank structures and automatic cleaning equipment structures, the existing detachable buttons are not convenient for the detachment of the water tank, or the volume is too large, the installation of other parts of the automatic cleaning equipment and the volume of the water tank are affected, and inconvenience is brought to the detachment of the water tank.

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 of inconvenient disassembly of the liquid storage tank. The specific scheme is as follows:

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

a key body 2000;

a pressing part 2001 which is positioned at one end of the key body 2000 and unlocks the liquid storage tank from the automatic cleaning device when receiving a downward force;

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

When the key structure is assembled to the liquid storage tank, the pressing portion 2001 is higher than the boss 2002, and the moving direction of the boss 2002 and the moving direction of the pressing portion 2001 are opposite, so that the liquid storage tank is detachably assembled to the automatic cleaning device.

Optionally, the boss 2002 includes:

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 blocked after being abutted with the protruding tongue of the automatic cleaning equipment;

the third surface 20023 is a plane extending in a substantially vertical direction after being smoothly connected to the second surface 20022.

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:

lugs 2003 symmetrically arranged on both sides of the key body 2000;

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

Optionally, the key structure further includes:

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

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

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

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

Optionally, the first assembly portion 3001 further includes a light-passing port 3003 above the key structure, where the light-passing port 3003 is matched with a post-returning light on the automatic cleaning device.

Optionally, the tank further includes a second fitting 3004, located at a substantially central position of the tank 3000, for injecting the cleaning solution into the tank 3000 after connecting with a base station.

Optionally, the second fitting portion 3004 further includes a fluid-filling port 3005 located substantially in the center of the second fitting portion 3004 for filling the tank 3000 with cleaning fluid.

According to a particular embodiment of the invention, in a further aspect, the invention provides a robotic cleaning device comprising a reservoir as defined in any one of the above.

Optionally, the automatic cleaning device includes a tank assembly structure 4000, the tank includes a notch 3006 matching with the tank assembly structure 4000, and when the tank is assembled to the automatic cleaning device, the tank assembly structure 4000 is assembled to the notch 3006.

Optionally, the tank assembly structure 4000 includes a tongue 4001 configured to engage with the boss.

Optionally, the tongue 4001 includes a slope 4002, and when the tongue 4001 abuts against the boss, the slope 4002 is locked with the boss.

Optionally, the tank assembly structure 4000 further includes a second elastic member 4004 configured to move the tongue 4001 in a telescopic manner in a vertical direction.

Optionally, the tank includes a further recess 3002, and the tongue 4001 is engaged with the recess 3002 when the tank is assembled to the automatic cleaning device.

Optionally, the tongue 4001 further comprises a vertical surface 4003 configured such that when the tank is assembled to the automatic cleaning apparatus, the vertical surface 4003 snaps into engagement with the inner side of the recess 3002.

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 of a lamellar structure, so that the disassembly of the liquid storage tank can be controlled under the condition of occupying a small volume. Meanwhile, the key structure can realize seesaw type movement, and the key structure is more conveniently detachably matched with the convex tongue of the automatic cleaning equipment, so that 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 evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

fig. 1 is an oblique view of a robotic cleaning device of one embodiment of the 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 a robot cleaner according to an embodiment of the present invention.

Fig. 4 is a block diagram of a supporting platform for a robot cleaner according to an embodiment of the present invention.

Fig. 5 is a structural view of a shaking member of the automatic cleaning apparatus according to an embodiment of the present invention.

Fig. 6 is a structural view of a vibrating member according to an embodiment of the present invention.

Fig. 7 is a schematic view showing an assembly structure of a cleaning substrate according to an embodiment of the present invention.

Fig. 8 is a structural view of a motor-driven clear water pump according to an embodiment of the present invention.

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

Fig. 10 is an overall construction view of a robot cleaner according to an embodiment of the present invention.

Fig. 11 is a block diagram of a liquid tank according to an embodiment of the present invention.

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

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

Fig. 16 is a schematic oblique top view 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 more apparent, the present invention will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 this application 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, the "plurality" generally includes at least two.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention, these should not be limited to these terms. These terms are only used 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 invention.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product 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 product or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of other like elements in a commodity or device comprising such element.

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

Fig. 1-2 are schematic structural views of an automatic cleaning apparatus according to an exemplary embodiment, which may be a vacuum suction robot, a mopping/brushing robot, a window climbing robot, etc., as shown in fig. 1-2, and may include a mobile platform 100, a sensing system 120, a control system 130, a driving system 140, a cleaning module 150, an energy system 160, and a man-machine 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 automatic cleaning device may be a floor mopping robot, and the automatic cleaning device works on the floor, which is the operation surface; the automatic cleaning equipment can also be a window cleaning robot, and works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device may also be a pipe cleaning robot, and the automatic cleaning device works on the inner surface of the pipe, which is the operation surface. The following description in this application will illustrate a floor mopping robot purely for the sake of illustration.

In some embodiments, 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 operational decisions according to unexpected environmental inputs; the autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute a given program or operate in accordance with certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the automatic cleaning apparatus; when the mobile platform 100 is an autonomous mobile platform, the target direction may be set by a system 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 perception 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, cliff sensors 123 and ultrasonic sensors (not shown) located at the bottom of the mobile platform, infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), and the like sensing devices, which provide various positional and motion state information of the machine to the control system 130.

In order to describe the behavior of the automatic cleaning device more clearly, the following directional definition is made: the robotic cleaning device may travel on the floor by various combinations of movements relative to three mutually perpendicular axes defined by the mobile platform 100: a transverse axis x, a front-rear axis y and a central vertical axis z. The forward driving direction along the front-rear axis y is denoted as "forward", and the backward driving direction along the front-rear axis y is denoted as "backward". The transverse axis x extends between the right and left wheels of the robotic cleaning device substantially along an axle center defined by the center point of the drive wheel assembly 141. Wherein the robotic cleaning device is rotatable about an x-axis. The rearward portion is "pitched up" when the forward portion of the automatic cleaning device is tilted up, and the rearward portion is "pitched down" when the forward portion of the automatic cleaning device is tilted down. In addition, the robotic cleaning device may rotate about the z-axis. In the forward direction of the robot cleaner, the robot cleaner is tilted to the right of the Y-axis as "turn right" and tilted to the left of the Y-axis as "turn left".

As shown in fig. 2, cliff sensors 123 for preventing falling when the robot cleaner is retreated are provided on the bottom of the moving platform 100 and in front and rear of the driving wheel assembly 141, so that the robot cleaner can be prevented from being damaged. The "front" mentioned above means the same side as the traveling direction of the robot cleaner, and the "rear" mentioned above means the opposite side as the traveling direction of the robot cleaner.

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

The various components of the sensing system 120 may operate independently or in concert to more accurately achieve desired functionality. The cliff sensor 123 and the ultrasonic sensor are used for identifying the surface to be cleaned 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 determination.

For example, the ultrasonic sensor may determine whether the surface to be cleaned is a carpet, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet, 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 path of travel of the robot via a sensor system, such as an infrared sensor, while the drive wheel assembly 141 advances the robot during cleaning, and the robot may be controlled to respond to the events (or objects), such as being remote from the obstacle, by the event (or object), such as an obstacle, wall, 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 the sensed environmental information of the plurality of sensors transmitted from the sensing system 120, draw an instant map of the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device, and the like, and autonomously determine a driving 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 driving path. Further, the control system 130 may also determine whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may combine 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 to comprehensively determine what working state the sweeper is currently in, such as passing a threshold, going up a carpet, being located at the cliff, being blocked above or below, being full of dust box, being lifted up, and the like, and may further give a specific next action strategy according to different situations, so that the work of the automatic cleaning device better meets the requirements of the owner, and has better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by SLAM, and greatly improves the cleaning efficiency of the automatic cleaning equipment.

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

In order for the robotic cleaning device to be able to move more stably or with greater motion capabilities on the floor, the robotic cleaning device may include one or more steering assemblies 142, which may be driven or driven, and in a configuration including, but not limited to, universal wheels, the steering assemblies 142 may be positioned in front of the drive 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 for ease of disassembly and maintenance. The drive wheel may have an offset drop-down suspension system movably secured, e.g. rotatably attached, to the robot moving platform 100 and maintained in contact and traction with the floor with a certain contact force by means of a resilient element, e.g. a tension spring or a compression spring, while the cleaning module 150 of the robot also contacts the surface to be cleaned with a certain pressure.

The energy system 160 includes rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The rechargeable 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 singlechip control circuit. The host computer charges through setting up the charging electrode in fuselage side or below and charging pile connection. 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 the electric charge in the charging process, and even the electrode itself is deformed, so that normal charging cannot be continued.

The man-machine interaction system 170 includes keys on the host panel for the user to select functions; the system also comprises 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; a cell phone client program may also be included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position where the machine is located can be displayed to a user at the mobile phone client, and more abundant and humanized functional 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 rolling brush, a dust box, a fan, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dust removal capability of the sweeper can be characterized by the sweeping efficiency DPU (Dust pickup efficiency) of the garbage, the sweeping efficiency DPU 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 collection port, a dust box, a fan, an air outlet and connecting parts among the four components is influenced, and the type and the power of the fan are influenced, so that the sweeper is a complex system design problem. The improvement in dust removal capability is of greater significance for energy-limited cleaning automatic cleaning equipment than for conventional plug-in cleaners. Because the dust removal capability is improved, the energy requirement is directly and effectively reduced, that is to say, the original machine which can clean the ground of 80 square meters after charging once can be evolved into the machine which can clean the ground of 180 square meters or more after charging once. And the service life of the battery, which reduces the number of times of charging, is greatly increased, so that the frequency of replacing the battery by a user is also increased. More intuitively and importantly, the improvement of dust removal capability is the most obvious and important user experience, and users can directly draw a conclusion on whether the dust is cleaned/rubbed clean. The dry cleaning module may also include a side brush 152 having a rotational axis 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, a wet cleaning module 400 is provided, configured to clean at least a portion of the operation surface in a wet cleaning manner; wherein the wet cleaning module 400 includes: a cleaning head 410, a drive unit 420, wherein the cleaning head 410 is adapted to clean at least a portion of the operative surface, and the drive unit 420 is adapted to drive the cleaning head 410 to substantially reciprocate along a target surface, which is a portion of the operative surface. The cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with cleaning cloth or a cleaning plate, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through the reciprocation, so that stains on the surface to be cleaned are removed.

The higher the friction frequency, which represents a greater number of friction times per unit time, the higher the frequency of reciprocation, also called reciprocation vibration, the greater the cleaning capacity than conventional reciprocation, such as rotation, friction cleaning, optionally the friction frequency is close to sound waves, the cleaning effect is much higher than that of rotation friction cleaning of tens of turns per minute. On the other hand, the hair on the surface of the cleaning head can be more neatly scratched and spread towards the same direction under the shaking of high-frequency shaking, so that the overall cleaning effect is more uniform, the cleaning effect is improved by only applying downward pressure to increase friction force under the condition of low-frequency rotation, the hair clusters can not spread towards the same direction only by the downward pressure, and the effect is that the water mark on the operation surface after the high-frequency shaking cleaning is more uniform and no chaotic water mark is left.

The reciprocating motion may be repeated motion along any one or more directions in the operation surface, or may be vibration perpendicular to the operation surface, which is not limited strictly. Optionally, the direction of reciprocation of the cleaning module is substantially perpendicular to the machine traveling direction, because the direction of reciprocation parallel to the machine traveling direction may cause instability to the traveling machine itself, because the thrust and resistance in the traveling direction may cause the driving wheel to slip easily, the effect of slipping is more obvious in the case of including a wet cleaning module, because the wet slipping of the operation surface increases the possibility of slipping, and slipping may cause inaccurate ranging of sensors such as odometers, gyroscopes, etc. in addition to the smooth traveling cleaning of the machine, thereby causing the navigation type automatic cleaning apparatus to be unable to accurately locate and map, and in the case of frequent slipping, the effect on SLAM will not be neglected, so that the machine behavior of slipping needs to be avoided as much as possible. In addition to slipping, the component of motion of the cleaning head in the direction of travel of the machine causes the machine to constantly be pushed forward and backward while traveling, so that the machine's travel is unstable and smooth from run to run.

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 mobile platform 100, for providing driving force; the support platform 422 is detachably connected to the driving platform 421, and is used for supporting the cleaning head 410, and can be lifted 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, so that the cleaning module 150 can better contact with the surface to be cleaned, or different cleaning strategies can be adopted for the surface to be cleaned with different materials.

Optionally, the dry 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 cleaning module 151 may more conveniently cross the obstacle through the lifting module.

Alternatively, the wet cleaning module 400 may be connected to the mobile platform 100 through an active lifting module, and when the wet cleaning module 400 temporarily does not participate in the work or encounters a surface to be cleaned, which cannot be cleaned by the wet cleaning module 400, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of the cleaning means.

As shown in fig. 4-5, the driving platform 421 includes: a motor 4211 disposed on a side of the driving platform 421 near the moving platform 100, and outputting power through a motor output shaft; a driving wheel 4212 connected to the output shaft of the motor, wherein the driving wheel 4212 has an asymmetric structure; the vibration member 4213 is disposed on the opposite side of the driving platform 421 from the motor 4211, and is connected to the driving wheel 4212, and performs a reciprocating motion under an asymmetric rotation of the driving wheel 4212.

The drive platform 421 may further comprise a gear mechanism. A gear mechanism may connect the motor 4211 and the drive wheel 4212. The motor 4211 may directly drive the driving wheel 4212 to perform a rotation motion, or may indirectly drive the driving wheel 4212 to perform a rotation motion through a gear mechanism. One of ordinary skill in the art will appreciate that the gear mechanism may be a single gear or a plurality of gear sets.

The motor 4211 simultaneously transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the liquid storage tank, etc. through the power transmission device. The energy system 160 provides power and energy to the motor 4211 and is controlled overall 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 includes a forward output mode in which the motor 4211 rotates in a forward direction and a reverse output mode in which the motor 4211 rotates in a reverse direction, wherein in the forward output mode of the motor 4211, the motor 4211 can simultaneously drive the driving platform vibration member 4213 in the wet cleaning assembly 400 to basically reciprocate through the power transmission device, and the water delivery mechanism moves synchronously, and in the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to lift 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, and connecting the driving wheel 4212 with the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein the extending direction of the vibration member 4213 is perpendicular to the connecting rod 4214, such that the reciprocating direction of the vibration member 4213 and the machine traveling direction are substantially perpendicular.

The motor 4211 is connected to the driving wheel 4212, the vibration member 4213, the connecting rod 4214, and the vibration damper 4215 via a power transmission device. The vibration member 4213 and the connecting rod 4214 are configured to be similar to an L-shaped structure, as shown in fig. 6, the vibration member 4213 is driven by the connecting rod 4214 to reciprocate. The vibration damper 4215 plays a role in damping and reducing vibration on the motion behavior driven by the driving wheel 4212, so that the vibration member 4213 vibrates stably within the range of motion amplitude provided by the supporting platform 422. Optionally, the vibration damper 4215 is made of soft material, optionally a rubber structure, and the vibration damper 4215 is sleeved on the connecting rod 4214. On the other hand, the vibration damper 4215 also protects the vibration member 4213 from damage caused by collision with the driving platform 421, and also affects the reciprocating motion of the vibration member 4213. The movable member and the fixed member of the driving platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, by restricting movement in the traveling direction of the machine by a connection having a small elasticity, and allowing movement. The two motion limits described above are such that the vibration member 4213 does not move in an exact reciprocating manner, but rather in a substantially reciprocating manner. When the wet cleaning assembly 400 is started, the motor 4211 starts 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, and meanwhile, the vibration buffer device 4215 drives the vibration member 4213 to reciprocate substantially along the surface of the driving platform 421, the vibration member 4213 drives the cleaning substrate 4221 to reciprocate substantially along the surface of the supporting platform 422, and the cleaning substrate 4221 drives the movable region 412 to reciprocate substantially along the surface to be cleaned. At this time, the clean water pump discharges clean water from the clean water tank and sprays the clean water on the cleaning head 410 through the water discharge device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.

The cleaning intensity/efficiency of the robotic cleaning device may also be automatically and dynamically adjusted based on the operating environment of the robotic cleaning device. Such as an automated cleaning device, may be dynamically adjusted based on the physical information sensed by sensing system 120 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, whether there is oil or dirt, etc., and communicate such information to the control system 130 of the automatic cleaning apparatus. Accordingly, the control system 130 may 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 reciprocation period of the reciprocation of the cleaning head 410.

For example, when the automatic cleaning apparatus is operated on a flat floor, the preset reciprocation period may be automatically and dynamically adjusted to be longer, and the water amount of the water pump may be automatically and dynamically adjusted to be smaller; when the automatic cleaning device works on a less flat ground, the preset reciprocation 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 planar floors are easier to clean relative to less planar floors, and thus cleaning uneven floors requires faster reciprocation (i.e., higher frequency) of the cleaning head 410 and a greater amount of water.

For another example, when the automatic cleaning device works on a table top, the preset reciprocation 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 apparatus 100 is operating on the floor, the preset reciprocation period may be automatically and dynamically adjusted to be short and the water amount of the water pump may be automatically and dynamically adjusted to be large. This is because the table top is less dusty and greasy than the floor, and the material comprising the table top is easier to clean, so that the cleaning head 410 is required 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 support platform 422 includes: a cleaning base plate 4221, which is freely movably disposed on the support platform 422, wherein the cleaning base plate 4221 is substantially reciprocated by the vibration of the vibration member 4213. Alternatively, as shown in fig. 7, the cleaning substrate 4221 includes: the assembly notch 42211 is disposed at a position contacting the vibration member 4213, and when the support platform 422 is connected to the driving platform 421, the vibration member 4213 is assembled to the assembly notch 42211, so that the cleaning substrate 4221 can reciprocate substantially in synchronization with the vibration member 4213. The cleaning device travel direction of the cleaning substrate 4221 comprises 4 first limit bits 42212, the 4 first limit bits 42212 are flexibly connected with the cleaning substrate 4221, but the elastic scaling space is smaller, thus limiting the movement of the cleaning substrate 4221 relative to the support platform 422 in the cleaning device travel direction; the cleaning substrate 4221 includes two second restriction positions 42213 in a direction perpendicular to the cleaning apparatus traveling direction, and the two second restriction positions 42213 restrict a range of reciprocating movement of the cleaning substrate 4221 in the direction perpendicular to the cleaning apparatus traveling direction. Further, a water outlet hole 42214 is provided near the fitting notch 42211 of the cleaning substrate 4221 for allowing water flowing out of the water outlet device 4217 to flow to the cleaning head 410 therethrough. The movement of the cleaning substrate 4221 is substantially reciprocating due to the influence of the restriction and shock-absorbing means. The cleaning substrate 4221 is positioned on a portion of the support platform 422 and locally vibrates in a manner that can increase the vibration frequency, such as to reach the sonic frequency range. The movable member and the fixed member of the driving platform 421 are connected to each other in a flexible manner in a direction substantially perpendicular to the traveling direction, that is, the vibration direction of the vibration member 4213, by restricting movement in the traveling direction of the machine by a connection having a small elasticity, and allowing movement.

Further, the support platform 422 further includes: the elastic disassembly button 4229 is disposed on at least one side of the support platform 422, and is used for detachably connecting the support platform 422 to the claw 4216 of the driving platform 421, so that the support platform 422 is detachably and mechanically fixed on the driving platform 421, and is fixed relative to the driving platform and the automatic cleaning device itself. At least one mounting area 4224 is 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: a movable region 412 coupled to the cleaning substrate 4221 and substantially reciprocating along the cleaning surface under the drive of the cleaning substrate 4221. The active area 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 area 412 connected to the cleaning substrate 4221, and the active area 412 is connected to the cleaning substrate 4221 through the adhesive layer.

Optionally, the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224, the fixing area 411 cleaning at least a portion of the operation surface along with the movement of the support platform 422.

Further, the cleaning head 410 further includes: and a flexible connection part 413 disposed between the fixed area 411 and the movable area 412, for connecting the fixed area 411 and the movable area 412. The cleaning head 410 further includes: a sliding buckle 414 extends along the edge of the cleaning head 410 and is detachably mounted at a clamping position 4225 of the supporting platform 422.

In this embodiment, as shown in fig. 3, the cleaning head 410 may be made of a material having a certain elasticity, and the cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer, thereby implementing a reciprocating motion. The cleaning head 410 is always in contact with the surface to be cleaned when the cleaning head 410 is in operation.

The water delivery mechanism includes a water outlet device 4217, and the water outlet device 4217 may be directly or indirectly connected to a cleaning solution outlet of a liquid storage tank (not shown), that is, a liquid outlet of the cleaning liquid storage tank, where the cleaning solution may flow to the water outlet device 4217 through the cleaning solution outlet of the liquid storage tank, and may be uniformly coated on the surface to be cleaned through the water outlet device. The water outlet device may be provided with a connecting member (not shown in the figures) through which the water outlet device is connected to the cleaning liquid outlet of the liquid reservoir. The water outlet device is provided with a distribution opening, the distribution opening can be a continuous opening or can be formed by combining a plurality of small openings which are disconnected, and a plurality of nozzles can be arranged at the distribution opening. The cleaning liquid flows to the distribution opening 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 operation surface through the distribution opening.

The water delivery mechanism may further include a clean water pump 4219 and/or a clean water pump tube 4218, where the clean water pump 4219 may be directly connected to the cleaning solution outlet of the liquid storage tank, or may be connected to the cleaning solution outlet through the clean water pump tube 4218.

The clean water pump 4219 may be connected to the connection of the water outlet device and may be configured to draw the cleaning liquid from the tank to the water outlet device. The clean water pump may be a gear pump, vane pump, plunger pump, peristaltic pump, or the like.

The water delivery mechanism pumps the cleaning solution in the cleaning solution tank out through the clean water pump 4219 and the clean water pump pipe 4218 and delivers the cleaning solution to the water outlet device, wherein the water outlet device 4217 can be a spray head, a drip hole, a soaking cloth and the like, and uniformly distributes the water on the cleaning head so as to wet the cleaning head and the surface to be cleaned. The stains on the surface to be cleaned after wetting 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 fresh water pump 4219 through the gear set 42193, so that fresh water enters from the water inlet 42191 through the peristaltic motion of the fresh water pump 4219, flows out from the water outlet 42192, is conveyed to the water outlet device 4217 through the fresh water pump tube 4218, and the 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 that the driving platform 421 is lifted and lowered. The cable gear 42196 and the cable 42194 are core components of the lift module.

The gear set 42193 and the inhaul cable gear 42196 are provided with the clutch 42195, the clutch 42195 comprises a spring and a sheet-shaped piece, the motor 4211 controls the three movement modules by controlling the clutch 42195 to be on and off, the motor rotates in one direction to drive the vibration of the vibration piece, meanwhile, the clean water pump 4219 is supplied with water, and the lifting module is driven to lift by the inhaul cable 42194 to rotate in the opposite direction. Optionally, the combination design of the gear sets realizes the control of different combination forms of the three motion modules, such as the water supply of a rotary clear water pump in one direction, and the control of lifting and vibration in the opposite direction. Alternatively, control of three motion modules may be achieved with two motors, but using more than one motor is also an increase in cost.

Since the cleaning module of the automatic cleaning device is provided with the dry cleaning module and the wet cleaning module, a more comprehensive cleaning function can be provided. Meanwhile, in the wet cleaning module, the driving unit and the vibration area are added, so that the cleaning head can reciprocate, the surface to be cleaned can be cleaned repeatedly, and in the motion track of the cleaning robot, the cleaning can be realized for multiple times through a certain area at one time, thereby greatly enhancing the cleaning effect, and particularly, the cleaning effect is obvious for areas with more stains.

The lifting module can carry out cleaning operation on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface and putting down the wet cleaning module on the surface of a floor/ground tile and the like for cleaning, so that a more comprehensive cleaning effect is realized.

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

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

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

In the disclosed embodiment, the valve 17 may be an electronic valve or a manual valve, and is ensured to be opened or closed by corresponding control. In other embodiments of the present disclosure, the valve 17 may also be a check valve, and after the tank 3000 completes the fluid infusion, the valve 17 is automatically closed to prevent the cleaning fluid in the tank 3000 from flowing out after the fluid infusion port 3005 is disconnected from the tank 3000. For example, the valve 17 may be a cross valve, a lift check valve, a swing check valve, or the like.

In the disclosed embodiment, as shown in fig. 13-16, the automatic cleaning device 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 device 10, the tank assembly structure 4000 is assembled to the notch 3006 to achieve complete matching.

As shown in fig. 13-14, the tank assembly structure 4000 includes a tongue 4001 configured to engage and lock against the boss 2002 of the key structure 12. The liquid tank assembly structure 4000 further includes a second elastic member 4004, where the second elastic member 4004 provides an elastic force in a vertical direction, so that the tongue 4001 can move in a telescopic manner in the vertical direction, and the second elastic member 4004 and the tongue 4001 can be located in the same slide way, so as to implement the telescopic movement, and the second elastic member 4004 is, for example, a coil spring or the like.

In the embodiment of the disclosure, the tongue 4001 includes a slope 4002, and when the tongue 4001 abuts against the boss, the slope 4002 is engaged with the slope of the boss. The tongue 4001 further comprises a vertical surface 4003, wherein the vertical surface 4003 is engaged with the inner side of the recess 3002 when the tank is assembled to the automatic cleaning device. The inclined surface 4002 and the vertical surface 4003 can ensure that the liquid storage tank 3000 is accurately positioned in the forward direction and the backward direction after being mounted on the automatic cleaning device, and avoid the phenomenon of feeding in any direction.

As shown in fig. 11, the liquid storage tank 3000 includes a first fitting portion 3001, the first fitting portion 3001 is located at a substantially central position of the liquid storage tank 3000, and the first fitting portion 3001 may have a rectangular, circular or other structure, which is not limited thereto. The first fitting portion 3001 includes a key structure 12, a recess 3002, and a light-passing port 3003. The recess 3002 is formed by downwardly recessing the bottom of the first fitting portion 3001, and is shaped to match the key structure 12, and the recess 3002 is configured to accommodate the key structure 12 when the key structure 12 is fitted to the liquid storage tank 3000.

As shown in fig. 15 to 16, the key structure 12 is mounted on the first mounting portion 3001 of the liquid storage tank, and is configured to detachably mount the liquid storage tank on the automatic cleaning device, and the key structure is a substantially sheet-like structure, including: the key body 2000 having a substantially flat plate shape, the key body 2000 may have a rectangular structure; a pressing portion 2001, located at one end of the key body 2000, for unlocking the liquid storage tank from the automatic cleaning device when receiving a downward force, so that the liquid storage tank is in a detachable state from the automatic cleaning device, the pressing portion 2001 has a wider edge compared with the key body 2000, so that the pressing force can be conveniently implemented, for example, the pressing portion 2001 may have a fan-shaped structure; the pressing portion 2001 has protruding edge portions at the outer edge and both side edges, preventing slipping when pressing, and also has an effect of shielding the inner structure of the tank. When the tank is unlocked from the automatic cleaning apparatus, the tank can be completely detached from the automatic cleaning apparatus by pulling the protruding edge portion of the outer edge of the pressing portion 2001 outwardly.

The key structure further includes a boss 2002 located at an end of the key body 2000 opposite to the pressing portion 2001; when the key structure 12 is assembled in the liquid storage tank 3000, in a first elastic element natural state, the pressing portion 2001 is higher than the boss 2002, so that the movable stroke of the pressing portion 2001 and the movable stroke of the boss 2002 are increased, the liquid storage tank is ensured to be stably installed in an installation state and not easy to fall off, the protruding tongue can be effectively fallen off to be blocked when the liquid storage tank needs to be disassembled, the boss 2002 and the pressing portion 2001 are opposite in moving direction, the state of a seesaw is realized, and compared with the scheme that the boss and the pressing portion are identical in moving direction, the movable stroke of the boss is further increased, so that the liquid storage tank is easier to realize detachable assembly in the automatic cleaning equipment.

In an embodiment of the present disclosure, as shown in fig. 15, the boss 2002 further includes: 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 blocked after being abutted with the protruding 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 basically vertical direction, the third surface can be bonded with the plane of the inner side surface of the groove, and the plane of the protruding tongue is combined to realize stable locking of the three planes. The second surface 20022 may be a curved surface with multiple radians to form a recess, and is used for being matched with the end part and the inclined surface of the protruding tongue to realize stable locking.

Optionally, the connection portion between the first surface 20021 and the second surface 20022 is higher than the connection portion between the second surface 20022 and the third surface 20023, so that when the tongue contacts with the second surface, the tongue can be ensured not to slide in the front-back direction, and stable locking is realized.

In an embodiment of the present disclosure, as shown in fig. 15, the key structure further includes: lugs 2003 symmetrically arranged on both sides of the key body 2000; a rotating shaft 2004 connecting the lug 2003 with 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 pressing portion 2001 one side, like this, when the button structure realized the seesaw motion through the pivot, the boss has longer movable stroke than pressing portion to jack up the tongue through the boss more easily, make the easy realization of liquid reserve tank can be dismantled more.

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

In the embodiment of the present disclosure, as shown in fig. 14, 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. Therefore, more movable space can be provided for the pressing part 2001, the moving stroke of the pressing part 2001 is ensured, and the liquid storage tank is convenient to detach.

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

In the embodiment of the disclosure, 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 under the abutment of the tongue 4001 and has a height lower than that of the groove wall 30021, so that the tongue 4001 can abut against the top end of the boss 2002 and be blocked in the groove wall 30021. In addition, shaft holes (not shown) through which the key structure shaft is inserted and rotated are also provided on both side walls of the recess 3002.

When the liquid storage tank is placed on the automatic cleaning device, 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 groove position, the tongue 4001 downwards extends under the action of the spring, then the tongue 4002 slides into the groove 3002 from the inclined surface 4002, the end part of the tongue abuts against the second surface 20022 of the boss, meanwhile, the vertical surface 4003 of the tongue is clamped after being attached to the inner side surface of the groove wall 30021, and the third surface 20023 of the boss 2002 is also clamped after being abutted to the inner side surface of the groove wall 30021, so that the liquid storage tank is fastened on the automatic cleaning device. When the liquid storage tank needs to be taken out, the pressing plate is pressed down, the boss is lifted upwards and jacks up the convex tongue under the action of the rotating shaft, 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 tank can be taken out.

In this embodiment of the disclosure, as shown in fig. 11, the first assembly portion 3001 further includes a light-passing port 3003 located above the key structure 12, where the light-passing port 3003 is matched with a position of a pile-returning lamp on the automatic cleaning device, and the pile-returning lamp is emitted through the light-passing port 3003 to achieve communication with the charging pile.

The key structure provided by the embodiment of the disclosure is a sheet-shaped structure, has small volume, increases the volume of the liquid storage tank, and is convenient to control the disassembly of the liquid storage tank under the condition of occupying a small volume. Meanwhile, the key structure can realize seesaw type movement, and the key structure is more conveniently detachably matched with the convex tongue of the automatic cleaning equipment, so that the phenomenon of blocking is avoided.

Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The system or the device disclosed in the embodiments are relatively simple in description, and the relevant points refer to the description of the method section because the system or the device corresponds to the method disclosed in the embodiments.

The above embodiments are merely for illustrating the technical solution of the present disclosure, and are not limiting thereof; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A tank comprising a key structure configured to enable the tank to be detachably assembled to an automatic cleaning apparatus, the key structure comprising:

a key body (2000);

a pressing part (2001) located at one end of the key body (2000) for unlocking the liquid storage tank from the automatic cleaning device when receiving downward force;

The key structure is characterized by further comprising:

a boss (2002) located at an end of the key body (2000) opposite to the pressing portion (2001), the boss (2002) extending upward along an upper surface of the key body (2000);

when the key structure is assembled in the liquid storage tank, the pressing part (2001) is higher than the boss (2002), and the moving direction of the boss (2002) is opposite to that of the pressing part (2001), so that the liquid storage tank is detachably assembled in the automatic cleaning device, and when the liquid storage tank is assembled in the automatic cleaning device, the boss (2002) is configured to be blocked after being abutted with a protruding tongue of the automatic cleaning device.

2. The tank according to claim 1, characterized in that said 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 blocked after abutting with a tongue of the automatic cleaning equipment;

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

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

4. The liquid storage tank of claim 1, wherein the key structure further comprises:

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

a rotating shaft (2004) connecting the lug (2003) with the liquid storage tank, such that the key structure rotates around the rotating shaft (2004).

5. The liquid storage tank of claim 1, wherein the key structure further comprises:

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

6. The liquid storage tank 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 liquid storage tank according to claim 6, wherein the lower surface of the pressing portion (2001) includes a plurality of reinforcing ribs, and/or the lower surface of the key body (2000) includes a plurality of reinforcing ribs.

8. A tank according to claim 1, further comprising a first fitting portion (3001) located substantially centrally of the tank (3000) for fitting the key structure.

9. A tank according to claim 8, wherein the first fitting part (3001) comprises a recess (3002) for receiving the key structure when the key structure is fitted to the tank (3000).

10. The liquid storage tank according to claim 8, wherein the first assembly portion (3001) further comprises a light through opening (3003) above the key structure, and the light through opening (3003) is matched with a position of a pile back lamp on the automatic cleaning device.

11. A tank according to claim 1, characterized in that it further comprises a second fitting (3004) in a substantially central position of the tank (3000) for injecting cleaning liquid into the tank (3000) after connection with a base station.

12. The tank according to claim 11, characterized in that the second fitting part (3004) further comprises a fluid-filling port (3005) located substantially centrally in the second fitting part (3004) for filling the tank (3000) with cleaning fluid.

13. An automatic cleaning device, comprising a tank assembly structure (4000) and a tank assembled to the tank assembly structure (4000), the tank comprising the tank of any one of claims 1-12, wherein the tank assembly structure (4000) comprises a tongue (4001) configured to engage the boss.

14. The automatic cleaning apparatus according to claim 13, wherein the tank includes a notched portion (3006) that mates with the tank mounting structure (4000), the tank mounting structure (4000) being mounted to the notched portion (3006) when the tank is mounted to the automatic cleaning apparatus.

15. The automatic cleaning apparatus according to claim 13, wherein the tongue (4001) comprises a ramp (4002), the ramp (4002) being engaged with the boss when the tongue (4001) abuts the boss.

16. The robotic cleaning device of claim 13, wherein the reservoir mounting structure (4000) further comprises a second resilient member (4004) configured to move the tongue (4001) in a telescoping motion in a vertical direction.

17. The automatic cleaning device according to claim 13, characterized in that the tank comprises a further recess (3002), the tongue (4001) being snapped into the recess (3002) when the tank is fitted to the automatic cleaning device.

18. The robotic cleaning device of claim 17, wherein the tongue (4001) further comprises a vertical surface (4003) configured such that when the reservoir is assembled to the robotic cleaning device, the vertical surface (4003) snaps into engagement with an inner side of the recess (3002).