CN217792907U - Cleaning robot and cleaning system - Google Patents

Abstract

The disclosure relates to the technical field of smart homes, and provides a cleaning robot and a cleaning system. Cleaning machines people includes dust storage chamber and fan subassembly, and the fan subassembly includes: a fan; one end of the air channel is communicated with the fan, and the other end of the air channel is communicated with the dust storage cavity; the filtering part is arranged between the dust storage cavity and the air duct.

Description

Cleaning robot and cleaning system

technical field

The present disclosure relates to the field of smart home technology, in particular to a cleaning robot and a cleaning system.

Background technique

The cleaning robot in the related art collects ground dust into a dust box inside it during the cleaning process.

Utility model content

The disclosure provides a cleaning robot and a cleaning system to improve the distribution of internal structures of the cleaning robot.

According to a first aspect of the present disclosure, a cleaning robot is provided, including a dust storage chamber and a fan assembly, and the fan assembly includes:

fan;

Air duct, one end of the air duct communicates with the fan, and the other end of the air duct communicates with the dust storage chamber;

The filter part is arranged between the dust storage cavity and the air duct.

In one embodiment of the present disclosure, the wall surface of the air duct includes a curved surface.

In one embodiment of the present disclosure, the air duct includes a first air duct opening and a second air duct opening, the first air duct opening communicates with the fan, and the second air duct opening communicates with the dust storage chamber;

Wherein, the opening of the second air duct is a curved surface opening.

In one embodiment of the present disclosure, the area of the first air duct opening is smaller than the area of the second air duct opening.

In one embodiment of the present disclosure, the filtering part includes a plurality of stacked filtering layers.

In one embodiment of the present disclosure, the plurality of filter layers are made of different materials.

In one embodiment of the present disclosure, the filter part further includes a frame, the filter layer is disposed in the frame, and the frame is clamped between the air duct and the dust storage chamber.

In an embodiment of the present disclosure, the fan assembly further includes a noise reduction part, and the noise reduction part is arranged on a side of the fan away from the air duct, so as to communicate with the air outlet of the fan;

Wherein, the noise reduction part includes a sound channel through hole and a sound absorption hole.

In one embodiment of the present disclosure, there are a plurality of sound channel through holes, and the plurality of sound channel through holes are arranged at intervals along the height direction of the sound dampening part.

In an embodiment of the present disclosure, the first port of the sound channel through hole communicates with the air outlet of the fan, and the second port of the sound channel through hole communicates with the outside world;

Wherein, the aperture of the first port is smaller than the aperture of the second port.

According to a second aspect of the present disclosure, a cleaning system is provided, including the cleaning robot described above, and the cleaning system further includes a cleaning base station.

Description of drawings

Various objects, features and advantages of the present disclosure will become more apparent by considering the following detailed description of the preferred embodiments of the present disclosure in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the drawings, the same reference numerals designate the same or similar parts throughout. in:

Fig. 1 is a structural schematic diagram of a first viewing angle of a cleaning robot shown according to an exemplary embodiment;

Fig. 2 is a structural schematic diagram of a second viewing angle of a cleaning robot according to an exemplary embodiment;

Fig. 3 is a structural schematic diagram of a cleaning robot from a third perspective according to an exemplary embodiment;

Fig. 4 is a structural schematic diagram of a fourth viewing angle of a cleaning robot according to an exemplary embodiment;

Fig. 5 is a structural schematic view of a part of a cleaning robot according to an exemplary embodiment;

Fig. 6 is a structural schematic diagram showing another perspective of a part of a cleaning robot according to an exemplary embodiment;

Fig. 7 is a structural schematic diagram of a viewing angle of a dust box of a cleaning robot according to an exemplary embodiment;

Fig. 8 is a structural schematic diagram showing another perspective of a dust box of a cleaning robot according to an exemplary embodiment;

Fig. 9 is a schematic structural view of a first release chamber of a dust box of a cleaning robot according to an exemplary embodiment;

Fig. 10 is a schematic structural diagram of a second release chamber of a dust box of a cleaning robot according to an exemplary embodiment;

Fig. 11 is a schematic structural diagram of releasing the first chamber and the second chamber of the dust box of a cleaning robot according to an exemplary embodiment;

Fig. 12 is a schematic diagram of the internal structure of a dust box of a cleaning robot according to an exemplary embodiment;

Fig. 13 is a structural schematic diagram of a first viewing angle of a base of a cleaning robot according to an exemplary embodiment;

Fig. 14 is a structural schematic diagram of a second viewing angle of a base of a cleaning robot according to an exemplary embodiment;

Fig. 15 is a structural schematic diagram of a third viewing angle of a base of a cleaning robot according to an exemplary embodiment;

Fig. 16 is a schematic cross-sectional structural view of a base of a cleaning robot according to an exemplary embodiment;

Fig. 17 is a schematic structural view of a bottom cover and a locking member of a cleaning robot according to an exemplary embodiment;

Fig. 18 is a schematic structural view of a cyclone separator of a cleaning robot according to an exemplary embodiment;

Fig. 19 is a schematic cross-sectional structure diagram of a cyclone separator of a cleaning robot according to an exemplary embodiment;

Fig. 20A is a structural schematic diagram of a viewing angle of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 20B is a schematic structural view of a state of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 20C is a schematic structural view of another state of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 20D is a schematic diagram of a combined structure of a cleaning module of a cleaning robot, a first connecting component, a second connecting component and a protective cover according to an exemplary embodiment;

Fig. 20E is a schematic diagram of a combined structure of a cleaning module of a cleaning robot, a first connecting component and a second connecting component according to an exemplary embodiment;

Fig. 21 is a structural schematic view of another viewing angle of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 22 is a schematic structural view of a cleaning cover of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 23 is a structural schematic diagram showing another perspective of the cleaning cover of the cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 24 is a structural schematic view of a driving structure of a cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 25 is a structural schematic diagram showing another perspective of the driving structure of the cleaning module of a cleaning robot according to an exemplary embodiment;

Fig. 26 is a schematic structural view of a cleaning module of a cleaning robot according to another exemplary embodiment;

Fig. 27A is a schematic structural view of a fan assembly of a cleaning robot according to an exemplary embodiment;

Fig. 27B is a schematic exploded view of a blower assembly of a cleaning robot according to an exemplary embodiment;

Fig. 28 is a schematic exploded structure diagram showing another perspective of a blower assembly of a cleaning robot according to an exemplary embodiment;

Fig. 29 is a schematic exploded structural view of a filter part of a fan assembly of a cleaning robot according to an exemplary embodiment;

Fig. 30 is a schematic structural diagram of an integrated pile according to an exemplary embodiment;

Fig. 31 is a schematic diagram of a partial structure of an integrated pile according to an exemplary embodiment;

Fig. 32 is a structural schematic view of a stopper of an integrated pile according to an exemplary embodiment;

Fig. 33 is a structural schematic diagram showing another viewing angle of a stopper of an integrated pile according to an exemplary embodiment.

The reference signs are explained as follows:

1. Pile body; 2. Dust inlet channel; 3. Dust inlet; 4. Dust bucket; 7. Fan structure; 9. Stopper; 91. First stopper; 911. First rack; 92. The second stopper; 921, the second rack; 93, the driving part; 931, the motor; 932, the first gear; 933, the second gear; 94, the adsorption part;

10. Dust box; 11. Dust storage chamber; 111. First chamber; 1111. First opening; 1112. Garbage entrance; 112. Second chamber; 1121. Second opening; 1122. Third opening; 1123. Air outlet; 113, transition channel; 12, door body; 121, first door body part; 122, second door body part; 13, cyclone separator; 131, primary separation cyclone; 132, secondary separation cyclone; 133. Separation filter screen; 14. Base; 141. Avoidance space; 15. Bottom cover; 151. Rolling part; 16. Locking part; 161. Toggle part; card joint;

20. Main body; 21. Position determination device; 22. Top main plane; 23. Top raised plane; 24. Transition surface; 25. Buffer; 26. Forward part; 27. Backward part; 28. Protective cover;

30. Cleaning module; 31. Cleaning cover; 311. Installation chamber; 3111. Main air duct; 3112. Secondary air duct; 3113. First air duct section; 3114. Second air duct section; 312. Air duct opening; 32. The first rolling brush; 33. The second rolling brush; 331. The main body support; 3311. The card slot; 332. The adapter; 333. The buckle; The third rolling brush; 35, the fourth rolling brush; 36, the driving structure; 361, the power part; 362, the first wheel body; 363, the second wheel body; 364, the third wheel body; 365, the fourth wheel body; 366, the fifth wheel body; 367, the sixth wheel body; 368, the seventh wheel body; 369, the eighth wheel body; 3610, the transmission rod; 3611, the ninth wheel body; 3612, the tenth wheel body; 3613, the first wheel body Eleven wheel body; 3614, twelfth wheel body; 3615, thirteenth wheel body; 37, side brush; 38, first gap; 39, second gap; 301, first rolling brush structure; 302, second Rolling brush structure;

40. Fan assembly; 41. Fan; 42. Air duct; 421. Opening of the first air duct; 422. Opening of the second air duct; 43. Filter part; 431. Filter layer; 432. Frame; 44. Noise reduction part; 441 , channel through hole; 442, sound-absorbing hole; 45, filter element; 46, protective cover;

50. Drive system; 51. First driving wheel module; 52. Second driving wheel module; 53. Driven wheel;

60. The first connecting component; 61. The first connecting rod; 62. The second connecting rod; 70. The second connecting component; 71. The third connecting rod; 72. The fourth connecting rod.

Detailed ways

Typical embodiments that embody the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes in different embodiments without departing from the scope of the present disclosure, and that the description and drawings therein are illustrative in nature and not intended to limit the present disclosure. public.

In the following description of various exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of example various exemplary structures, systems and steps which may implement aspects of the present disclosure . It is to be understood that other specific arrangements of components, structures, exemplary devices, systems and steps may be utilized and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "on," "between," "in," etc. may be used in this specification to describe various exemplary features and elements of the disclosure, these terms are used herein for convenience only, for example, according to The orientation of the example in the attached picture. Nothing in this specification should be construed as requiring a particular three-dimensional orientation of structures in order to fall within the scope of this disclosure.

As shown in FIGS. 1 to 33 , the cleaning system of the embodiment of the present disclosure includes a cleaning robot and a cleaning base station.

As shown in Figures 1 to 29, the cleaning robot includes a main body 20, a dust box 10, a cleaning module 30, a fan assembly 40, a drive system 50, a perception system, a control module, an energy system and a human-computer interaction system.

As shown in FIG. 1 , the main body 20 includes a forward portion 26 and a rearward portion 27. The cleaning robot has an approximately circular shape (both front and rear are circular), and may also have other shapes, including but not limited to the approximate D of the front and rear circles. square shape and rectangular or square shape at the front and rear. The cleaning running direction of the cleaning robot can be regarded as the direction from the backward part 27 to the forward part 26 .

As shown in Figures 1 to 3, the perception system may include a position determination device 21 located on the main body 20, a collision sensor disposed on the buffer 25 of the forward portion 26 of the main body 20, and a proximity sensor disposed at the lower part of the machine body The cliff sensor, as well as the magnetometer, accelerometer, gyroscope, odometer and other sensing devices installed inside the machine body, are used to provide various position information and motion status information of the machine to the control module. The position determination device 21 includes but is not limited to a camera and a laser distance measuring device (LDS, Laser Distance Sensor).

As shown in FIGS. 1 and 3 , the forward portion 26 of the main body 20 can carry a buffer 25 , and when the drive system 50 propels the cleaning robot to walk on the ground during the cleaning process, the buffer 25 passes through the sensor system provided thereon, such as An infrared sensor that detects one or more events in the travel path of the cleaning robot. The cleaning robot can pass the event detected by the buffer 25, such as an obstacle, a wall, and the control drive system 50 makes the cleaning robot respond to the event. , such as moving away from obstacles.

The control module is arranged on the circuit board in the main body 20, and includes a computing processor, such as a central processing unit, and an application processor, communicating with a non-transitory memory, such as a hard disk, flash memory, and random access memory. The obstacle information fed back by the laser ranging device uses positioning algorithms, such as SLAM (full name Simultaneous Localization And Mapping), to draw an instant map of the environment where the cleaning robot is located. And in combination with the distance information and speed information fed back by the sensors, cliff sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices provided on the buffer 25, it is comprehensively judged which working state and position the cleaning robot is currently in, And the current position and posture of the cleaning robot, such as crossing the threshold, getting on the carpet, being on a cliff, being stuck above or below, being full of dust boxes, being picked up, etc., will also give specific next-step action strategies for different situations, This enables the cleaning robot to have better cleaning performance and user experience.

As shown in FIGS. 3 and 4 , drive system 50 may steer body 20 across the ground based on drive commands having distance and angular information (eg, x, y, and theta components). The drive system 50 includes a first drive wheel module 51 and a second drive wheel module 52 . The first drive wheel module 51 and the second drive wheel module 52 are arranged along a transverse axis defined by the main body 20 . In order to enable the cleaning robot to move more stably on the ground or have a stronger movement capability, the cleaning robot may include one or more driven wheels 53, and the driven wheels include but not limited to universal wheels. The driving wheel module includes road wheels, a driving motor and a control circuit for controlling the driving motor. The driving wheel module can also be connected with a circuit for measuring driving current and an odometer. The driving wheel module can be detachably connected to the main body 20, which is convenient for disassembly and maintenance. The drive wheels may have a biased drop suspension system, movably secured, eg rotatably attached, to the body 20 and receive a spring bias biased downward and away from the body 20 . The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain ground force, while the cleaning elements of the cleaning robot contact the ground with a certain pressure.

The main body 20 defines a transverse axis and a longitudinal axis, and the transverse axis and the longitudinal axis are perpendicular to each other. The transverse axis and the longitudinal axis can be understood as the transverse centerline and the longitudinal centerline of the main body 20 respectively.

The energy system includes rechargeable batteries such as NiMH and Lithium batteries. The rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit. The main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage.

The human-computer interaction system includes buttons on the host panel for users to select functions; it can also include display screens and/or indicator lights and/or speakers, which display the current state or function of the machine to the user Optional; may also include mobile phone client programs. For path-guided automatic cleaning equipment, the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and user-friendly functional items.

In the cleaning robot of the disclosed embodiment, the dust box 10 is disposed on the main body 20 , and at least part of the position determination device 21 protrudes from the main body 20 . Since the top of the dust box 10 is not lower than at least part of the top of the main body 20, the top of the position determination device 21 is higher than the top of the dust box 10, on the basis of ensuring that the height of the dust box 10 is made high to the greatest extent, and the position can be determined The device 21 triggers the obstacle first, thereby indirectly protecting the dust box 10 or the main body 20 from being stuck by the obstacle.

It should be noted that, since the top of the dust box 10 is not lower than at least part of the top of the main body 20, compared with the height of the main body of the cleaning robot in the related art, the dust can be as far as possible without changing the height of the original main body. The height of the box 10 is increased to increase the dust collection capacity of the dust box 10 without increasing the height of the cleaning robot.

In the embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the main body 20 includes a top main plane 22, at least part of the position determination device 21 protrudes from the top main plane 22, and the top of the dust box 10 is higher than the top main plane 22. . The top main plane 22 is the upper large surface of the cleaning robot, and setting at least part of the position determination device 21 protruding from the top main plane 22 can ensure that the position determination device 21 can reliably identify obstacles. The top of the dust box 10 is higher than the top main plane 22 to ensure that the dust box 10 has sufficient dust collection capacity.

In the embodiment of the present disclosure, as shown in FIG. 1 and FIG. 2 , the main body 20 further includes a top raised plane 23, which is higher than the top main plane 22 and lower than the top end of the position determination device 21; wherein, At least part of the dust box 10 is located below the top raised plane 23 . The top raised plane 23 is the upper small surface of the cleaning robot, and placing the top of the position determining device 21 higher than the top raised plane 23 can ensure that the position determining device 21 can reliably identify obstacles. The fact that at least part of the dust box 10 is located below the top raised plane 23 can prevent the dust box 10 from bringing too high a height dimension to the cleaning robot, and the main body 20 can also realize the protective effect on the dust box 10 .

In the embodiment of the present disclosure, as shown in FIGS. 1 and 2 , the main body 20 further includes a transition surface 24, and the transition surface 24 connects the top main plane 22 and the top raised plane 23; wherein, the top main plane 22 and the top raised plane 23 are approximately parallel, and the transition surface 24 is inclined to the top convex plane 23, which not only has a more beautiful appearance design, but also allows the main body 20 to pass through low obstacles conveniently and avoid the cleaning robot from being stuck. Specifically, the transition surface 24 can effectively prevent the cleaning robot from being stuck by obstacles whose height is between the top of the position determination device 21 and the top main plane 22 .

In the disclosed embodiment, a part of the dust box 10 is located below the top main plane 22, and a part of the dust box 10 is located below the top raised plane 23, so that the height of a part of the dust box 10 can be made higher, which is convenient for other structures. Arrangement, or can partially increase the dust collection space, and another part of the dust box 10 can adapt to the height of the main body of the cleaning robot, and can make the main body 20 effectively protect the dust box 10, avoiding the occurrence of problems such as dust box 10 damage.

As an optional embodiment of the present disclosure, the top of the position determination device 21 is 0.2mm-10mm higher than the top of the dust box 10, which can ensure that the position determination device 21 triggers obstacles first, and can make the height of the dust box 10 relatively high , which is conducive to improving the dust collection capacity.

In the embodiment of the present disclosure, along the cleaning running direction of the cleaning robot, the dust box 10 is located behind the position determining device 21 . The position determining device 21 is located at the middle position of the cleaning robot, and the dust box 10 is located at the rear of the cleaning robot, the vertical projection of the position determining device 21 and the dust box 10 may have no overlapping area, so that the height of at least part of the dust box 10 may be greater than The top main plane 22 does not need to consider the interference between the position determining device 21 and the dust box 10 , thereby further ensuring the height of the dust box 10 .

The cleaning robot provided by the embodiment of the present disclosure is used to cooperate with the cleaning base station to discharge the dust in it into the cleaning base station. The cleaning robot includes: a dust storage chamber 11, and the dust storage chamber 11 includes an opening; a door body 12, a door body 12 is movable relative to the dust storage chamber 11 to release or cover the opening; wherein, after the cleaning robot docks with the cleaning base station, the door 12 can release the opening so that the opening communicates with the dust inlet of the cleaning base station.

The cleaning robot in the embodiment of the present disclosure is provided with a door body 12 at the opening of the dust storage chamber 11, and the door body 12 is movable relative to the dust storage chamber 11. After the cleaning robot docks with the cleaning base station, the door body 12 can The opening is released, so that the opening communicates with the dust inlet of the cleaning base station, and the dust in the dust storage chamber 11 is discharged into the cleaning base station, so as to improve the dust removal efficiency of the cleaning robot and improve the performance of the cleaning robot.

The dust storage chamber 11 in the embodiment of the present disclosure can be formed by the main body 20, that is, a cavity is formed inside the main body 20, and the cavity is used to collect dust, so as to be used as the dust storage chamber 11, and the main body 20 can be provided with The door body 12 is used to block the opening of the dust storage chamber 11 to avoid dust leakage, and when the dust in the dust storage chamber 11 is discharged, the door body 12 can be opened to release the opening of the dust storage chamber 11, so that the dust storage chamber 11 can be released. The dust in the dust storage chamber 11 is discharged, for example, the dust in the dust storage chamber 11 is discharged into the cleaning base station.

The dust storage chamber 11 in the embodiment of the present disclosure can be formed by the dust box 10 on the main body 20, the dust box 10 is set on the main body 20, the dust box 10 and the main body 20 form the robot body, and the door body 12 is set on the dust box 10 , so as to realize the release or cover of the opening of the dust storage chamber 11 .

The dust box 10 provided by the embodiment of the present disclosure includes a dust storage chamber 11, and the dust storage chamber 11 includes: a first chamber 111, and the first chamber 111 includes a garbage inlet 1112; a second chamber 112, and the second chamber 112 includes an exhaust The tuyere 1123 ; the transition channel 113 , the first chamber 111 communicates with the second chamber 112 through the transition channel 113 .

As shown in FIG. 7 to FIG. 16 , the dust box 10 of the embodiment of the present disclosure includes a first chamber 111 and a second chamber 112 which are independently arranged, and the first chamber 111 communicates with the second chamber 112 through a transition passage 113 , so that the dust can be preliminarily separated in the first chamber 111 , so as to reduce the probability of dust blocking the transition channel 113 , and the dust can be collected reliably, so as to improve the dust collection capacity of the dust box 10 .

The dust entered by the cleaning module 30 enters the first chamber 111 through the garbage inlet 1112 for preliminary separation, and enters the second chamber 112 through the transition channel 113, so as to realize the effective recovery of dust, and the filtered gas Then the dust box 10 is discharged through the air outlet 1123 .

In the embodiment of the present disclosure, the transition channel 113 is approximately tangent to the second chamber 112, so that the dust can reliably enter the second chamber 112 from the transition channel 113, and can facilitate the flow of gas, thereby improving dust The fluidity in the dust storage chamber 11 improves the dust collection capacity of the dust box 10 .

As an optional embodiment of the present disclosure, the transition channel 113 is approximately tangent to the first chamber 111, so that the dust can reliably enter the transition channel 113 from the first chamber 111, which is beneficial to the flow of gas, thereby improving the dust flow in the transition channel 113. Fluidity in the dust storage chamber 11.

The second chamber 112 is provided with a cyclone separator 13, and when the gas enters the second chamber 112 tangentially, the fine dust and gas will be separated through the cyclone separator 13 to ensure the cleanliness of the filter screen. The cyclone separator 13 may be a conical pipe for cyclone separation.

In the embodiment of the present disclosure, the side wall of the transition channel 113 includes a curved surface, so that the dust can flow smoothly in the transition channel 113 , so as to avoid problems such as dust blockage.

In the embodiment of the present disclosure, the extension length of the transition channel 113 is greater than the minimum wall thickness between the first chamber 111 and the second chamber 112, so that the time for airflow carrying dust to pass through the transition channel 113 is relatively long, In this way, the problem of blockage of the transition channel 113 caused by the accumulation of a large amount of dust can be avoided.

It should be noted that the extension length of the transition passage 113 can be considered as the distance that the air flow flows in the transition passage 113, and the wall between the first chamber 111 and the second chamber 112 is blocked by the wall of the dust box 10, therefore, the transition passage The extension length of 113 is greater than the minimum wall thickness between the first chamber 111 and the second chamber 112 to avoid the problem of the transition passage 113 being blocked by dust accumulation.

In the embodiment of the present disclosure, the door body 12 is rotatably arranged on the dust box 10 , so that the door body 12 can conveniently release or cover the opening of the dust storage chamber 11 .

The door body 12 can be connected with a driving mechanism, so as to drive the door body 12 to rotate relative to the dust box 10 . Alternatively, after the cleaning robot docks with the cleaning base station, the door body 12 can be driven to open or close by the airflow generated by the fan assembly 40 of the cleaning robot. Or, after the cleaning robot docks with the cleaning base station, the door body 12 can be driven to open or close by the suction force generated by the power assembly of the cleaning base station.

As an optional embodiment of the present disclosure, the door body 12 is movably arranged relative to the dust box 10, and the door body 12 can be driven by a driving mechanism to realize the horizontal movement of the door body 12. For example, the driving mechanism can be an electric The push rod drives the door body 12 to move horizontally relative to the dust box 10 through the electric push rod.

In the disclosed embodiment, at least part of the dust box 10 is located outside the main body 20, so that when the door body 12 releases the opening, the opening can be directly connected to the dust inlet, so that the dust in the dust box 10 can be easily discharged. into the clean base station.

After the door body 12 releases the opening, a part of the door body 12 can be extended into the inside of the dust inlet for storage, so as to ensure that the opening of the dust storage chamber 11 is reliably docked with the dust inlet, thereby ensuring that the dust can be effectively collected into the cleaning base station.

The dust box 10 and the main body 20 form at least part of the outer surface of the cleaning robot, so that after the cleaning robot is docked with the cleaning base station, the dust box 10 is directly docked with the cleaning base station, so that the dust storage chamber 11 can be opened after the door 12 is opened. The opening is reliably docked with the dust inlet.

In the embodiment of the present disclosure, as shown in FIGS. 11 to 13 , the dust storage chamber 11 includes a first chamber 111 and a second chamber 112 , and the door body 12 can selectively release the first chamber 111 and the second chamber. 112, so that the first chamber 111 and the second chamber 112 can be selectively communicated with the dust inlet, so as to realize the staged discharge of dust in the dust storage chamber 11 and avoid problems such as blockage when a large amount of dust is discharged. This improves the dust collection efficiency.

The first chamber 111 and the second chamber 112 can be set independently, so that dust can be stored in the first chamber 111 and the second chamber 112, but the dust in the first chamber 111 and the second chamber 112 The dust can be dust in different stages. For example, during the cleaning process of the cleaning robot, the dust first enters the first chamber 111, and then part of the dust enters the second chamber 112. Therefore, the first chamber 111 and the second chamber The size of the dust particles within the chamber 112 may not be uniform.

As an optional embodiment of the present disclosure, there may be one door body 12, and the door body 12 is movably arranged relative to the dust box 10, so that the door body 12 can selectively release the first chamber 111 and the second chamber 112 .

In the embodiment of the present disclosure, as shown in FIG. 8 and FIG. 9 , the door body 12 includes a first door body part 121 and a second door body part 122, the first door body part 121 and the second door body part 122 are separated, The first door body part 121 and the second door body part 122 correspond to the first chamber 111 and the second chamber 112 respectively, so that the first chamber can be controlled by opening the first door body part 121 and the second door body part 122 respectively. Easy release of chamber 111 and second chamber 112.

The first door body part 121 and the second door body part 122 are respectively rotatably arranged on the dust box 10, by controlling the opening of the first door body part 121 and the second door body part 122 respectively, the first chamber 111 can be controlled. and the release of the second chamber 112 respectively. For example, the first door body part 121 and the second door body part 122 are driven to move by two different driving mechanisms, so as to control the opening time of the first door body part 121 and the second door body part 122 .

In an embodiment of the present disclosure, as shown in FIG. 12 , the dust box 10 further includes a cyclone separator 13 disposed in the second chamber 112 . It should be noted that the cyclone separator 13 can be a known cyclone separator in the related art. The working principle of the cyclone separator is the rotary motion caused by the tangential introduction of the airflow. When the particles are rotated at high speed in the airflow, the centrifugal force is very large Due to gravity, and because the velocity is higher, the centrifugal sedimentation velocity obtained by the particles is also greater. When the solid particles enter the conical cylinder from the tangential direction along with the gas, and rotate in the cylinder, the air flow collides with the tube wall, and the particles It hits the tube wall and rotates down to achieve the purpose of separating solid and gas.

As shown in FIGS. 18 and 19 , the cyclone separator 13 includes a primary separation cyclone 131 and a secondary separation cyclone 132 . The secondary separation cyclone 132 may include a plurality of cyclone separators. The main body of the cyclone separator is conical with a large upper end and a small lower end, and they are respectively distributed around the axis of the secondary separation cyclone 132 . The setting of multiple sets of cyclone separators improves the dust separation efficiency of the secondary separation cyclone, and further enhances the dust storage capacity of the cleaning base station. The number of secondary cyclone separators can be nine, twelve, or fifteen, and the greater the number, the higher the separation efficiency.

The periphery of the secondary separation cyclone 132 is a separation filter 133 . The outer surface of the first-level separation cyclone 131, the inner surface of the dust box 10 and the outer surface of the separation filter screen 133 form a first-level cyclone, and the air separated by the first-level cyclone has separated larger particle garbage from the air flow and falls into a first-level cyclone. On the outside of the stage separation cyclone 131 , the separation filter screen 133 is used to pass the airflow entering the secondary separation cyclone 132 after being separated by the primary cyclone. Separation filter screen 133 adopts metal filter screen preferentially, can increase service life, improve filtering effect. The separation filter screen 133 is an annular network, and the supporting frame of the primary separation cyclone 131 is used to erect the bottom of the separation filter screen 133 . The particulate garbage filtered out by the separation filter screen 133 is gathered below the support frame of the first-level separation cyclone 131, and the outer edge of the support frame of the first-level separation cyclone 131 can extend downwards to form a skirt shape, preventing the air from passing through the first-level cyclone. The separated particulate waste moves upwards. Each secondary separation cyclone 132 forms a gas-solid separation cyclone, and the separated solid particles fall into the inner side of the primary separation cyclone 131 .

In the embodiment of the present disclosure, as shown in FIGS. 9 to 11 , the first chamber 111 includes a first opening 1111 , the second chamber 112 includes a second opening 1121 and a third opening 1122 that are separated, and the second opening 1121 The second chamber 112 is connected to the part outside the cyclone separator 13, and the third opening 1122 is connected to the part of the second chamber 112 located inside the cyclone separator 13; wherein, the first door body part 121 releases or blocks the first opening 1111, The second door body part 122 releases or blocks the second opening 1121 and the third opening 1122 at the same time.

The dust enters the second chamber 112 from the first chamber 111, and the dust passing through the cyclone separator 13 enters into the inner side of the primary separation cyclone 131, and after the first door body part 121 releases the first opening 1111, the first chamber Dust in the chamber 111 can be discharged. And the second door body part 122 can release the second opening 1121 and the third opening 1122 at the same time, so that the dust in the second chamber 112 can be discharged, that is, the dust falling into the outside of the first-stage separation cyclone 131 and the dust falling into the first-stage separation cyclone 131 Dust inside the separation cyclone 131 may be discharged through the second opening 1121 and the third opening 1122, respectively. Dust may include solid waste, the primary separation cyclone 131 can separate coarse particles, and the secondary separation cyclone 132 can separate fine particles, so as to ensure the separation effect of the cyclone separator 13 .

In the embodiment of the present disclosure, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112, the first chamber 111 and the second chamber 112 respectively include a first opening 1111 and a second opening 1121, and the door body 12 Including a first door body part 121 and a second door body part 122, the first door body part 121 and the second door body part 122 correspond to the first opening 1111 and the second opening 1121 respectively, so as to release or block the first opening 1111 and the second opening 1121 The second opening 1121, so that after the cleaning robot docks with the cleaning base station, the first door body part 121 and the second door body part 122 can release the first opening 1111 and/or the second opening 1121, so that the first opening 1111 and/or Or the second opening 1121 communicates with the dust inlet of the cleaning base station, so that the dust in the dust storage chamber 11 can be discharged into the cleaning base station.

In the embodiment of the present disclosure, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112, the first chamber 111 and the second chamber 112 respectively include a first opening 1111 and a second opening 1121, and the door body 12 Including a first door body part 121 and a second door body part 122, the first door body part 121 and the second door body part 122 correspond to the first opening 1111 and the second opening 1121 respectively, so as to release or block the first opening 1111 and the second opening 1121 The second opening 1121 , so that when the cleaning robot is separated from the cleaning base, the first door body 121 and the second door body 122 can block the first opening 1111 and the second opening 1121 to prevent dust from flowing out of the dust storage chamber 11 . For example, in the cleaning process of the cleaning robot, it is necessary to ensure that the first door body part 121 and the second door body part 122 can block the first opening 1111 and the second opening 1121 .

In the embodiment of the present disclosure, the area of the first opening 1111 may be greater than the area of the second opening 1121 , and the area of the second opening 1121 may be greater than the area of the third opening 1122 .

As an optional embodiment of the present disclosure, the area of the first opening 1111 may be equal to or equal to the area of the second opening 1121 , and the area of the second opening 1121 may be smaller than or equal to the area of the third opening 1122 .

In the disclosed embodiment, as shown in FIG. 7 and FIG. 8 , the dust box 10 further includes: a base 14 ; a bottom cover 15 , the bottom cover 15 is arranged on the base 14 , and the bottom cover 15 and the base 14 form a first For the chamber 111 and the second chamber 112 , the door body 12 is movably disposed on the bottom cover 15 to release or block the first chamber 111 and the second chamber 112 .

At least one of the base 14 and the bottom cover 15 is connected to the main body 20 , so as to realize the fixed connection between the dust box 10 and the main body 20 . The bottom cover 15 forms a part of the outer surface of the bottom of the cleaning robot, the base 14 and the bottom cover 15 form a closed first chamber 111 and a second chamber 112, and the transition channel 113 is formed inside the base 14 for The first chamber 111 communicates with the second chamber 112 .

At least one of the base 14 and the bottom cover 15 is connected to the main body 20; wherein, at least part of the base 14 and the bottom cover 15 form part of the outer surface of the cleaning robot, so that the outer surface of the cleaning robot can be formed with the main body 20 At least partially.

The base 14 can be an integral structure, that is, the bottom opening of the base 14 can be closed by the bottom cover 15 . Alternatively, the base 14 may include a main structure and a top cover, and the top cover and the bottom cover 15 are arranged oppositely, and the top cover and the bottom cover 15 may respectively close the top opening and the bottom opening of the base 14 .

8 to 11, the bottom cover 15 is provided with a first opening 1111, a second opening 1121 and a third opening 1122, so that the first door body part 121 can release or block the first opening 1111, and the second door The body part 122 releases or blocks the second opening 1121 and the third opening 1122 at the same time.

In the disclosed embodiment, the first door body part 121 and the second door body part 122 are rotatably disposed on the bottom cover 15 . For example, after the cleaning robot returns to the cleaning base station and the door body 12 is docked with the dust inlet of the cleaning base station, the first door body part 121 and/or the second door body part 122 rotate relative to the bottom cover 15, so that the first door body part 121 and/or the second door body part 122 can be released. An opening 1111 and/or a second opening 1121 and a third opening 1122 .

In the embodiment of the present disclosure, the bottom cover 15 is detachably arranged on the base 14 , so that cleaning or maintenance of the inside of the base 14 can be realized. After the bottom cover 15 is removed from the base 14, the inner space of the base 14 can be released to clean the dust, and the parts inside the base 14 can be maintained and cleaned, for example, in the second chamber 112 The cyclone separator 13 is maintained.

The bottom cover 15 can be engaged with the base 14 . The bottom cover 15 can be connected with the base 14 through a structural member.

In the embodiment of the present disclosure, as shown in FIG. 7 and FIG. 17 , the dust box further includes a locking member 16, which is arranged on the base 14 and is movably arranged relative to the bottom cover 15 to disengage or The bottom cover 15 is connected so that the bottom cover 15 can be fixed or released.

As shown in FIG. 17 , the locking member 16 may include a toggle portion 161 , a first engaging portion 162 and a second engaging portion 163 , and the two sides of the toggle portion 161 are respectively connected to the first engaging portion 162 and the second engaging portion. The connecting part 163, the toggling part 161 is movably arranged on the base 14, and a part of the toggling part 161 is exposed outside the base 14, so that the toggling part 161 can drive the first clamping part 162 and the second The engaging portion 163 moves relative to the bottom cover 15. When the first engaging portion 162 and the second engaging portion 163 are connected to the bottom cover 15, the bottom cover 15 is fixed on the base 14, and the first engaging portion 162 and the second engaging portion 163 are disengaged from the bottom cover 15 , the bottom cover 15 can be removed from the base 14 .

It should be noted that the bottom cover 15 can be taken off from the base 14 as a whole, or the bottom cover 15 can be hinged on the base 14, and the first clamping part 162 and the second clamping part 163 and the bottom cover 15 After detachment, the bottom cover 15 can be rotated relative to the base 14 , so that the bottom cover 15 releases the inner space of the base 14 .

In the embodiment of the present disclosure, the dust box 10 is detachably arranged on the main body 20, so that the dust box 10 can be cleaned or maintained conveniently.

At least part of the dust box 10 is located outside the main body 20, which not only facilitates the installation and disassembly of the dust box 10, but also can adapt the specific structure of the dust box 10 to facilitate the setting of the dust box 10, and can meet the maximum collection requirements of the dust box 10. ability to dust.

In the embodiment of the present disclosure, as shown in FIG. 7 and FIG. 8 , an avoidance space 141 is provided on the base 14 , and the avoidance space 141 is adjacent to the bottom cover 15 , so that the hand-holding space can be avoided, and the hands are not allowed to directly contact with the bottom cover 15 . The bottom cover 15 is in contact, and it is convenient to operate when installing or dismounting the dust box 10 .

In the embodiment of the present disclosure, as shown in FIG. 10 , the bottom cover 15 is provided with a rolling part 151, so as to prevent excessive wear on the bottom cover 15, and the rolling part 151 can reduce the contact between the bottom cover 15 and the ground or clean the base station resistance. The rolling part 151 is rotatably arranged on the bottom cover 15; wherein, the bottom end of the rolling part 151 is not lower than the bottom surface of the bottom cover 15, so that the rolling part 151 can form contact with the surface or the cleaning base station, thereby reducing contact resistance.

The rolling part 151 may be a roller, and there may be one or more rolling parts 151 .

As an optional embodiment of the present disclosure, the bottom cover 15 can be fixed on the base 14 , and further, the bottom cover 15 cannot be detached from the base 14 .

As an optional embodiment of the present disclosure, the dust box 10 can be fixed on the main body 20 , further, the dust box 10 cannot be detached from the main body 20 .

As an optional embodiment of the present disclosure, the dust box 10 may be entirely located inside the main body 20 .

In the cleaning robot provided in the embodiment of the present disclosure, the cleaning module 30 is arranged on the main body 20, and the cleaning module 30 realizes cleaning of the surface to be cleaned.

In an embodiment of the present disclosure, the cleaning module 30 may be a dry cleaning module, and the dry cleaning system may include a roller brush. The roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the garbage inlet 1112 between the roller brush and the dust box 10, and then is sucked by the suction gas generated by the fan assembly 40 and passed through the dust box 10 Dust box 10. The dust removal ability of the cleaning robot can be characterized by the garbage cleaning efficiency (DPU, full name Dust pickup efficiency). It is a complex system design problem that is affected by the wind power utilization rate of the air duct formed by the connecting parts between them, and is affected by the type and power of the fan. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also be reduced. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion of whether the sweeping/wiping is clean. The cleaning robot may also include a side brush 37 with an axis of rotation angled relative to the floor for moving debris into the area of the roller brush of the cleaning system.

As an optional embodiment of the present disclosure, the cleaning module 30 may be a wet cleaning module, the wet cleaning module may include a wet cleaning head, the cleaning module 30 also includes a liquid supply part, and the liquid supply part sends cleaning liquid into the wet cleaning module. head so that the wet cleaning head performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid supply part can also be directly sprayed onto the plane to be cleaned, and the wet cleaning head can clean the plane by spreading the cleaning liquid evenly.

Wherein, the cleaning head is used to clean the surface to be cleaned, and the driving system 50 is used to drive the cleaning head to reciprocate basically along the target surface, and the target surface is a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, and the contact surface between the cleaning head and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through reciprocating motion, thereby removing stains on the surface to be cleaned. The cleaning head can be a roller brush for mopping the floor.

The higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a cleaning ability much greater than that of ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than the rotational friction cleaning of dozens of circles per minute. On the other hand, the tufts on the surface of the cleaning head will be more neatly extended in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of only being exerted under the condition of low-frequency rotation to increase friction Force to improve the cleaning effect, only the down pressure will not make multiple groups of hair tufts extend in the same direction. The effect is that the water marks on the surface to be cleaned after high-frequency vibration cleaning are more uniform and will not leave chaotic water. stains.

The reciprocating motion may be repeated motion along any one or multiple directions within the surface to be cleaned, or vibration perpendicular to the surface to be cleaned, which is not strictly limited. Optionally, the reciprocating direction of the cleaning module is approximately perpendicular to the direction of travel of the machine, because the reciprocating direction parallel to the direction of travel of the machine will cause instability to the machine itself, because the thrust and resistance in the direction of travel will cause The driving wheels are prone to slipping, and the effect of slipping is more obvious when the wet cleaning module is included, because the wet and slippery surface to be cleaned increases the possibility of slipping, and slipping not only affects the smooth cleaning of the machine, but also causes mileage Sensors such as meters and gyroscopes are inaccurate in ranging, which leads to the inability of accurate positioning and map drawing of navigation-type automatic cleaning equipment. In the case of frequent slipping, the impact on SLAM cannot be ignored. Therefore, it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of machine travel makes the machine constantly pushed forward and backward when it is traveling, so the walking of the machine will be unstable and smooth.

As shown in FIG. 4 to FIG. 6 , in the cleaning robot of the embodiment of the present disclosure, at least part of the cleaning module 30 is movable up and down relative to the main body 20 , the dust box 10 is connected to the cleaning module 30 , and the cyclone separator 13 It is arranged in the dust box 10 , and the cleaning module 30 can reliably clean the surface to be cleaned by connecting the fan assembly 40 with the dust box 10 . Since at least part of the cleaning module 30 is movable up and down relative to the main body 20, combined with the setting of the cyclone separator 13, the current of the cleaning robot will not be too large during the cleaning process, thereby increasing the cleaning time of the cleaning robot .

It should be noted that the cyclone separator 13 has a large air volume and a high negative pressure. When the cleaning robot cleans the carpet, at least part of the cleaning module 30 is movable up and down relative to the main body 20, so that the current of the cleaning module 30 can be reduced. The burden on the cleaning module 30 is reduced, so that the cleaning robot can clean the carpet more permanently.

In an embodiment of the present disclosure, the cleaning robot further includes a lifting structure connected to the cleaning module 30 , and the lifting structure is configured to move at least part of the cleaning module 30 up and down relative to the main body 20 . In actual use, the lifting structure can be connected to the cleaning module 30 alone, so that the cleaning module 30 can move up and down relative to the main body 20, and the lifting structure can also be equipped with additional power equipment, so that the lifting structure can be actively raised or The ability to descend, so that at least part of the cleaning module 30 can be actively raised or lowered relative to the main body 20 .

As an optional embodiment of the present disclosure, the lifting structure may be an elastic component, so that at least part of the cleaning module 30 can be passively raised or lowered.

In the embodiment of the present disclosure, as shown in FIG. 20A and FIG. 21 , the cleaning module 30 includes: a cleaning cover 31; a rolling brush, the rolling brush is arranged in the cleaning cover 31; wherein, the lifting structure is connected with the cleaning cover 31, so that The roller brush can be driven to move up and down, so as to ensure that the roller brush can reliably clean the surface to be cleaned, and can adapt to different surfaces to be cleaned.

The lifting structure can be connected to the main body 20, the lifting structure can be connected to the cleaning cover 31, and the roller brush can be connected to the cleaning cover 31, so that the lifting structure can drive the roller brush to move up and down relative to the main body 20 through the cleaning cover 31.

In the embodiment of the present disclosure, as shown in FIG. 20D and FIG. 20E , the lifting structure includes: a first connecting component 60 , the two ends of the first connecting component 60 are respectively connected to the main body 20 and the cleaning cover 31 ; The second connection component 70 is spaced apart from the first connection component 60 , and the two ends of the second connection component 70 are respectively connected to the main body 20 and the cleaning cover 31 . The first connection assembly 60 and the second connection assembly 70 can reliably connect the cleaning cover 31 to the main body 20, and can keep the cleaning module 30 pressed down under its own weight, and when the surface to be cleaned is uneven , the cleaning module 30 can be lifted up and down, so as to ensure the cleaning performance of the cleaning module 30 .

In the embodiment of the present disclosure, as shown in FIG. 20D and FIG. 20E , the first connection assembly 60 includes a first connecting rod 61 and a second connecting rod 62, the first connecting rod 61 and the second connecting rod 62 are parallel, and the first The two ends of the connecting rod 61 and the second connecting rod 62 are respectively hinged to the main body 20 and the cleaning cover 31; the second connecting assembly 70 includes a third connecting rod 71 and a fourth connecting rod 72, and the third connecting rod 71 and the fourth connecting rod 72 are parallel, and the two ends of the third connecting rod 71 and the fourth connecting rod 72 are respectively hinged to the main body 20 and the cleaning cover 31; wherein, the first connecting rod 61 and the third connecting rod 71 are parallel. The lifting structure is a four-bar linkage mechanism, through which the cleaning module 30 can not only be lifted up and down, so as to ensure the cleaning performance of the cleaning module 30, but also realize the limitation of the degree of freedom of the cleaning module 30, ensuring cleaning Module 30 moves as required.

In an embodiment of the present disclosure, the main body 20 may be provided with a protective cover 28, the cleaning module 30 may be disposed in the protective cover 28, and the first connecting component 60 and the second connecting component 70 are connected to the protective cover 28, as Figure 20D shows. The protective cover 28 is detachably connected to the main body 20 .

As an optional embodiment of the present disclosure, the lifting structure can be connected to the main body 20, and the lifting structure can be connected with the roller brush, so that the lifting structure can drive the roller brush to move up and down, that is, the roller brush can move up and down relative to the cleaning cover 31 At this time, the cleaning cover 31 can be fixedly connected to the main body 20 . Or, the cleaning cover 31 can be fixedly connected to the main body 20, the lifting structure can be connected to the cleaning cover 31, and the lifting structure can be connected with the roller brush, so that the lifting structure can drive the roller brush to move up and down, that is, the roller brush can be relatively clean. The cover 31 moves up and down.

The lifting structure may include: a first connection assembly 60, the two ends of the first connection assembly 60 are respectively connected to the roller brush and the cleaning cover 31; a second connection assembly 70, the second connection assembly 70 is spaced from the first connection assembly 60, and Both ends of the connection assembly 70 are respectively connected to the roller brush and the cleaning cover 31 ; wherein, the cleaning cover 31 is fixedly connected to the main body 20 . The first connection assembly 60 and the second connection assembly 70 can reliably connect the roller brush to the cleaning cover 31, and can make the roller brush keep pressing down under its own weight, and when the surface to be cleaned is uneven, it can The roller brush can be lifted up and down, so as to ensure the cleaning performance of the cleaning module 30 .

The first connecting assembly 60 is connected to the rolling brush through the driving structure 36; the second connecting assembly 70 is connected to the rolling brush through the driving structure 36, that is, both the first connecting assembly 60 and the second connecting assembly 70 are connected to the driving structure 36, And the driving structure 36 is connected with the rolling brush, so the rolling brush and the driving structure 36 can be kept pressed down under the weight of itself, and when the surface to be cleaned is uneven, the rolling brush can be lifted up and down, so as to ensure The cleaning performance of the cleaning module 30.

The first connection component 60 and the second connection component 70 in this embodiment may be similar to the structures shown in FIG. 20D and FIG. 20E , except that the connection positions are different.

In the embodiment of the present disclosure, the roller brush cleans the surface to be cleaned by rotating. The cyclone separator 13 has a large air volume and high negative pressure. When the cleaning robot cleans the carpet, at least part of the cleaning module 30 is arranged to be movable up and down relative to the main body 20, which can reduce the driving current of the rolling brush and reduce the driving load of the rolling brush , so that the cleaning robot can clean the carpet longer

In the embodiment of the present disclosure, as shown in FIG. 21 , FIG. 24 and FIG. 25 , the cleaning module 30 further includes a driving structure 36, and the driving structure 36 includes a power part 361 and a transmission assembly, and the power part 361 drives the roller brush to rotate through the transmission assembly. , thus achieving reliable cleaning of the surface to be cleaned.

In the embodiment of the present disclosure, the roller brushes are driven by a plurality of power parts 361 to rotate synchronously through the transmission assembly, so that the setting of the power parts 361 can be reduced, but it can also ensure that a plurality of roller brushes are cleaned synchronously, thereby improving The cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, as shown in FIG. 20A , FIG. 22 and FIG. 23 , the cleaning cover 31 has an installation cavity 311 , and the installation cavity 311 may include a main air duct 3111 and a secondary air duct 3112 .

As shown in FIG. 22 and FIG. 23 , in the cleaning robot of the embodiment of the present disclosure, the cleaning cover 31 includes a main air duct 3111 and an auxiliary air duct 3112, the auxiliary air duct 3112 communicates with the dust storage chamber 11, and the rolling brush is arranged in the main air duct 3111, so that at least part of the auxiliary air duct 3112 is set free, so that the dust entering the cleaning cover 31 can enter the dust storage chamber 11 through the auxiliary air duct 3112, preventing a large amount of dust from being stuck on the roller brush, thereby ensuring The cleaning ability of the cleaning robot.

It should be noted that the main air duct 3111 and the auxiliary air duct 3112 are provided in the cleaning cover 31, and the rolling brush is arranged in the main air duct 3111, and at least part of the auxiliary air duct 3112 is set free, so that the garbage can pass through the auxiliary air duct. The air duct 3112 moves so that the rubbish is not easily stuck on the roller brush.

In the embodiment of the present disclosure, the main air duct 3111 and the auxiliary air duct 3112 are arranged along the width direction of the cleaning cover 31, so as to ensure the length of the rolling brush in the main air duct 3111, thereby ensuring the cleaning area of the rolling brush.

As an optional embodiment of the present disclosure, the main air duct 3111 and the auxiliary air duct 3112 may be arranged along the length direction of the cleaning cover 31 .

In the embodiment of the present disclosure, the volume of the main air duct 3111 is larger than that of the auxiliary air duct 3112, so that the rolling brush can be effectively accommodated, and the volume of the cleaning cover 31 can be avoided from being too large. On the basis of ensuring the cleaning ability of the cleaning robot, It can avoid that the cleaning module 30 takes up the space of the cleaning robot that is too large.

In the cleaning robot provided by the embodiment of the present disclosure, the cleaning module 30 includes an air duct opening 312, the cleaning module 30 communicates with the dust storage chamber 11 through the air duct opening 312, and the air duct opening 312 deviates from the center position of the cleaning module 30 in the length direction It is set so that the cleaning module 30 can discharge the dust into the dust storage chamber 11 in time, avoiding the dust from being stuck and thus improving the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, as shown in FIG. 21 , the cleaning cover 31 is provided with an air passage opening 312, and the secondary air passage 3112 communicates with the dust storage chamber 11 through the air passage opening 312; wherein, the air passage opening 312 deviates from the cleaning cover 31 The central position in the length direction is set, so as to avoid dust blocking and ensure the cleaning ability of the cleaning robot.

The air duct opening 312 can be connected with the garbage inlet 1112 of the dust box 10 .

In the disclosed embodiment, along the length direction of the cleaning cover 31, the minimum vertical distance between the air channel opening 312 and the center of the cleaning cover 31 is greater than the minimum vertical distance between the air channel opening 312 and the inner wall of the cleaning cover 31, so that The air duct opening 312 can be offset from the center of the cleaning cover 31 as far as possible, so as to ensure that the dust can be reliably discharged.

As an optional embodiment of the present disclosure, the air duct opening 312 may be disposed at the center of the cleaning cover 31 in the lengthwise direction.

In the embodiment of the present disclosure, as shown in FIG. 22 and FIG. 23 , the secondary air duct 3112 includes a first air duct section 3113 and a second air duct section 3114, and the first air duct section 3113 and the second air duct section 3114 are along the cleaning The length direction of the cover 31 is set, and the end of the second air duct section 3114 away from the first air duct section 3113 is connected to the air duct opening 312, so that the air duct opening 312 can be deviated from the central position of the cleaning cover 31 in the length direction.

It should be noted that the first air duct section 3113 and the second air duct section 3114 are arranged along the length direction of the cleaning hood 31 , the point is that the secondary air duct 3112 extends along the length direction of the cleaning hood 31 and runs In the lengthwise direction, the secondary air duct 3112 can be divided into a first air duct section 3113 and a second air duct section 3114, and the end of the second air duct section 3114 away from the first air duct section 3113 is connected to the air duct opening 312, that is, the air duct The opening 312 is roughly located at the end side of the auxiliary air duct 3112 , so as to ensure that the air duct opening 312 is deviated from the central position of the cleaning cover 31 in the length direction.

In the embodiment of the present disclosure, the extension direction of the first air duct section 3113 and the extension direction of the second air duct section 3114 are not parallel, and the flow direction of gas in the first air duct section 3113 is the extension of the first air duct section 3113 Direction, the extension direction of the first air duct section 3113 can be the length direction of the cleaning cover 31, and the gas flow direction in the second air duct section 3114 is the extension direction of the second air duct section 3114, the second air duct section 3114 The extension direction can deviate from the length direction of the cleaning cover 31, so that the flow direction of the airflow in the secondary air duct 3112 can be a bent channel, and on the basis of ensuring that the dust is reliably discharged into the dust box 10, the arrangement of the air duct can be made more reasonable .

In the embodiment of the present disclosure, the extension direction of the first air duct section 3113 and the extension direction of the second air duct section 3114 may be substantially perpendicular, that is, the second air duct section 3114 forms an air duct protruding from the first air duct section 3113 part.

As an optional embodiment of the present disclosure, the extension direction of the first air duct section 3113 coincides with the extension direction of the second air duct section 3114 , and at this time, the air duct opening 312 is disposed on the bottom wall of the second air duct section 3114 .

In the embodiment of the present disclosure, the arc transition between the first air duct section 3113 and the second air duct section 3114 can ensure that dust can enter the second air duct section 3114 from the first air duct section 3113 smoothly, In this way, the dust discharge capability of the secondary air duct 3112 is improved.

As an optional embodiment of the present disclosure, the transition between the first air duct section 3113 and the second air duct section 3114 may be at right angles.

In the embodiment of the present disclosure, there are at least two main air ducts 3111, and the auxiliary air ducts 3112 are located between adjacent main air ducts 3111, so that the dust in the main air ducts 3111 can reliably enter the auxiliary air ducts 3112, thereby The dust in the secondary air duct 3112 enters the dust box 10 through the air duct opening 312 .

In the embodiment of the present disclosure, as shown in FIG. 23 , there are two main air ducts 3111 , and there is an auxiliary air duct 3112 between the two main air ducts 3111 , and the volume of the main air duct 3111 is larger than that of the auxiliary air duct 3112 .

In the embodiment of the present disclosure, along the length direction of the cleaning cover 31, a part of the main air duct 3111 is idle, so that the dust on the rolling brush can enter the secondary air duct 3112 from the idle position of the main air duct 3111 to This discharge improves the cleaning ability of the cleaning robot.

As an optional embodiment of the present disclosure, along the length direction of the cleaning cover 31 , the length of the main air duct 3111 is consistent with the length of the rolling brush.

It should be noted that the transverse axis of the cleaning robot is roughly parallel to the roller brush, and at this time, the length direction of the cleaning cover 31 can be considered to be parallel to the transverse axis of the cleaning robot. The width direction of the cleaning hood 31 can be considered to be parallel to the longitudinal axis of the cleaning robot.

As an optional embodiment of the present disclosure, the horizontal axis of the cleaning robot and the roller brush form a preset angle, so that when the cleaning robot traverses through the ground environment such as tile floor seams, the probability of the roller brush being stuck by the floor seam can be reduced. Small, so as to improve the cleaning efficiency of the cleaning robot and improve the performance of the cleaning robot. The preset included angle between the transverse axis and the rolling brush may be an acute angle, and the preset included angle may range from 5 degrees to 70 degrees.

The cleaning module 30 may include a rolling brush, and the rolling brush includes a cantilever structure, and the cantilever structure is a cone-shaped structure. The first end of the conical structure is connected to the cleaning cover 31 , the second end of the conical structure is a cantilever end, and the diameter of the first end is larger than the diameter of the second end.

As shown in FIG. 20A , the cleaning module 30 may include a first cleaning group and a second cleaning group, and the first cleaning group includes a first rolling brush 32 and a second rolling brush 33 . The second cleaning group includes a third rolling brush 34 and a fourth rolling brush 35 . The first rolling brush 32 and the second rolling brush 33 may be the same rolling brush, or the first rolling brush 32 and the second rolling brush 33 may be different rolling brushes. The third rolling brush 34 and the fourth rolling brush 35 may be the same rolling brush, or the third rolling brush 34 and the fourth rolling brush 35 may be different rolling brushes. The first rolling brush has a conical structure, and/or, the second rolling brush has a conical structure.

The first roller brush 32 and the second roller brush 33 of the first cleaning group form a first gap, and the third roller brush 34 and the fourth roller brush 35 of the second cleaning group form a second gap. The first rolling brush 32 and the second rolling brush 33 can be arranged along the lengthwise direction of the cleaning cover 31, the third rolling brush 34 and the fourth rolling brush 35 can be arranged along the lengthwise direction of the cleaning cover 31, and the first cleaning group and the second cleaning group can be arranged along the width direction of the cleaning cover 31 , then the first gap and the second gap can be arranged along the width direction of the cleaning cover 31 .

As an optional embodiment of the present disclosure, the first rolling brush 32 and the second rolling brush 33 can be arranged along the width direction of the cleaning cover 31, and the third rolling brush 34 and the fourth rolling brush 35 can be arranged along the width direction of the cleaning cover 31. Arranged in the width direction, the first cleaning group and the second cleaning group can be arranged along the length direction of the cleaning cover 31 , then the first gap and the second gap can be arranged along the length direction of the cleaning cover 31 .

In the embodiment of the present disclosure, the rolling brushes may include a first rolling brush 32 , a second rolling brush 33 , a third rolling brush 34 and a fourth rolling brush 35 .

The second rolling brush 33 and the first rolling brush 32 are arranged at intervals; A first gap is formed between them, so that the first gap can facilitate the entry of dust into the auxiliary air duct 3112, thereby ensuring the cleaning ability of the first roller brush 32 and the second roller brush 33, and can make the first roller brush 32 And the dust on the second rolling brush 33 is discharged in time.

The 3rd rolling brush 34 and the first rolling brush 32 are arranged along the width direction of cleaning cover 31; The width direction of the cover 31 is set so that two rows and two rows of rolling brushes can be formed in the cleaning cover 31 , so as to provide the cleaning capability of the cleaning module 30 .

The fourth rolling brush 35 and the third rolling brush 34 are arranged at intervals along the length direction of the cleaning cover 31, so that a second gap can be formed between the fourth rolling brush 35 and the third rolling brush 34, so that the second gap can be conveniently Dust enters into the secondary air duct 3112, thereby ensuring the cleaning ability of the fourth rolling brush 35 and the third rolling brush 34, and allowing the dust on the fourth rolling brush 35 and the third rolling brush 34 to be discharged in time.

As an optional embodiment of the present disclosure, the first rolling brush 32 and the second rolling brush 33 may have a tapered structure, while the third rolling brush 34 and the fourth rolling brush 35 may have a cylindrical structure, and the tapered structure may be used for Tangling hair, while the cleaning effect of the cylindrical structure is better, and can reduce the cost. The first rolling brush 32 and the second rolling brush 33 may have a cylindrical structure, while the third rolling brush 34 and the fourth rolling brush 35 may have a tapered structure.

As an optional embodiment of the present disclosure, the first rolling brush 32 , the second rolling brush 33 , the third rolling brush 34 and the fourth rolling brush are all in a tapered structure or all in a cylindrical structure.

In the disclosed embodiment, along the width direction of the cleaning cover 31, the third rolling brush 34 and the first rolling brush 32 may contact each other, and the third rolling brush 34 and the first rolling brush 32 may be in point contact at least, so that The cleaning ability of the third roller brush 34 and the first roller brush 32 is improved.

In the disclosed embodiment, along the width direction of the cleaning cover 31, the fourth rolling brush 35 and the second rolling brush 33 can contact each other, and the fourth rolling brush 35 and the second rolling brush 33 can be in point contact at least, so that The cleaning ability of the fourth rolling brush 35 and the second rolling brush 33 is improved.

The circumferential direction of the roller brush includes blades, which are used to achieve cleaning. The setting of the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35, in the cleaning process of the cleaning robot, the rolling brush at the rear passes through the contact line speed and contact time of the lifting blade and the carpet , thus improving the cleaning ability. Compared with the single group of brushes in the related art, the present disclosure includes a roller brush located at the rear, and the rotation direction of the roller brush is opposite to that of the front roller brush, which can drive hair and other sundries to move forward, thereby improving the cleaning effect of, for example, carpets .

In the embodiment of the present disclosure, the axis of the second rolling brush 33 is not parallel to the axis of the first rolling brush 32 , so that an angle is formed between the end of the second rolling brush 33 and the end of the first rolling brush 32 , so as to facilitate the discharge of dust.

The axis of the fourth rolling brush 35 is not parallel to the axis of the third rolling brush 34 , so that an angle is formed between the end of the fourth rolling brush 35 and the end of the third rolling brush 34 , so as to facilitate dust discharge.

The end of the second rolling brush 33 and the end of the first rolling brush 32 form an angle with the end of the fourth rolling brush 35 and the end of the third rolling brush 34. On the basis of facilitating the discharge of dust, it can avoid the problem of cleaning and missing cleaning of the roller brush.

In the embodiment of the present disclosure, as shown in FIG. 20A , a first gap 38 is formed between the second roller brush 33 and the first roller brush 32 , and a second gap 38 is formed between the fourth roller brush 35 and the third roller brush 34 . The gap 39, the first gap 38 and the second gap 39 are arranged alternately, so that the first roller brush 32, the second roller brush 33, the third roller brush 34 and the fourth roller brush 35 can form a closed space during the cleaning process. Cleaning the space avoids the problem of missed cleaning, and enables the dust to be reliably discharged from the first gap 38 and the second gap 39 .

In the embodiment of the present disclosure, as shown in FIG. 20A, the length of the first rolling brush 32 is shorter than the length of the second rolling brush 33, and the length of the third rolling brush 34 is greater than the length of the fourth rolling brush 35, so that the second rolling brush 32 can be A first gap is formed between the rolling brush 33 and the first rolling brush 32 , a second gap is formed between the fourth rolling brush 35 and the third rolling brush 34 , and the first gap and the second gap are arranged alternately.

As an optional embodiment of the present disclosure, a first gap is formed between the second roller brush 33 and the first roller brush 32, a second gap is formed between the fourth roller brush 35 and the third roller brush 34, and the first gap It can be arranged opposite to the second gap, but the angle between the end of the second roller brush 33 and the end of the first roller brush 32 and the end of the fourth roller brush 35 and the end of the third roller brush 34 are formed. The angle between them is relatively set, so that on the basis of facilitating the discharge of dust, the problem of missing cleaning of the roller brush can be avoided.

As an optional embodiment of the present disclosure, the length of the first rolling brush 32 is approximately equal to the length of the third rolling brush 34, and the length of the second rolling brush 33 is approximately equal to the length of the fourth rolling brush 35, but the The angle formed between the end of the rolling brush 33 and the end of the first rolling brush 32 is opposite to the angle formed between the end of the fourth rolling brush 35 and the end of the third rolling brush 34 .

In the embodiment of the present disclosure, at least one of the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35 is a tapered structure, on the basis of ensuring that the rolling brushes can be cleaned reliably , can make the dust can easily escape from the roller brush.

In the embodiment of the present disclosure, the first end of the conical structure is connected to the cleaning cover 31, and the second end of the conical structure is a cantilever end, so that a gap can be formed between adjacent conical structures to ensure dust It can be easily separated from the roller brush, and the dust can enter the secondary air duct 3112 through the gap, and finally be discharged into the dust box 10 .

In the embodiment of the present disclosure, the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35 rotate synchronously, so as to ensure that the rolling brushes can quickly clean the surface to be cleaned and improve the efficiency of the cleaning module. 30 cleaning power.

In the embodiment of the present disclosure, the first rolling brush 32 and the second rolling brush 33 are arranged in one main air passage 3111 , while the third rolling brush 34 and the fourth rolling brush 35 are arranged in the other main air passage 3111 , and There is an auxiliary air duct 3112 between the two main air ducts 3111 .

The rotation direction of the first rolling brush 32 and the second rolling brush 33 is opposite to that of the third rolling brush 34 and the fourth rolling brush 35, so that the dust can be quickly collected in the cleaning module 30, so that the dust can pass through the secondary The air duct 3112 enters into the dust box 10 .

As an optional embodiment of the present disclosure, the rotation direction of the first rolling brush 32 and the second rolling brush 33 is the same as that of the third rolling brush 34 and the fourth rolling brush 35 .

It should be noted that the rotation directions are opposite, that is, one is clockwise and the other is counterclockwise.

In the embodiment of the present disclosure, as shown in FIG. 21 , the cleaning module further includes a driving structure 36. The driving structure 36 includes a power part 361 and a transmission assembly. The power part 361 drives the first roller brush 32 and the second roller brush through the transmission assembly. 33. The third rolling brush 34 and the fourth rolling brush 35 rotate synchronously to realize reliable cleaning of the surface to be cleaned, and the power part 361 drives a plurality of rolling brushes to rotate synchronously through the transmission assembly, thereby reducing the setting of the power part 361, However, it can also ensure that multiple roller brushes are cleaned synchronously, so as to improve the cleaning ability of the cleaning robot.

In the embodiment of the present disclosure, as shown in FIG. 24 and FIG. 25 , the transmission assembly includes a first wheel body 362, a second wheel body 363, a third wheel body 364, a fourth wheel body 365, a fifth wheel body 366, a Six wheel body 367, the seventh wheel body 368, the eighth wheel body 369, transmission rod 3610, the ninth wheel body 3611, the tenth wheel body 3612, the eleventh wheel body 3613, the twelfth wheel body 3614 and the thirteenth wheel body Wheel body 3615.

The power part 361 can be connected with the first wheel body 362, so that the power part 361 can drive the first wheel body 362 to rotate, and the first wheel body 362 can be driven to be connected with the second wheel body 363 by meshing with the second wheel body 363 The third wheel body 364 rotates, and the third wheel body 364 is engaged with the fourth wheel body 365, and the fourth wheel body 365 can be engaged with the fifth wheel body 366, the sixth wheel body 367 and the eighth wheel body 369 at the same time meshing, so that the sixth wheel body 367 can drive the third roller brush 34 to rotate in the first direction, and the eighth wheel body 369 can drive the transmission rod 3610 to rotate, and correspondingly, the fifth wheel body 366 can drive the seventh wheel body 368 , so that the seventh wheel body 368 drives the first roller brush 32 to rotate in the second direction, so that the rotation direction of the first roller brush 32 is opposite to the rotation direction of the third roller brush 34 .

The transmission rod 3610 drives the ninth wheel body 3611 connected thereto to rotate, and the ninth wheel body 3611 is engaged with the tenth wheel body 3612, and the tenth wheel body 3612 is in contact with the eleventh wheel body 3613 and the twelfth wheel body 3614 at the same time. meshing, the eleventh wheel body 3613 drives the fourth roller brush 35 to rotate along the first direction, the twelfth wheel body 3614 meshes with the thirteenth wheel body 3615, and the thirteenth wheel body 3615 drives the second roller brush 33 to rotate along the second direction. direction, so that the rotation direction of the second rolling brush 33 is opposite to the rotation direction of the fourth rolling brush 35 .

It should be noted that the above-mentioned wheel bodies may all be gears, and the power part 361 may be a motor.

As an optional embodiment of the present disclosure, the cleaning module 30 can ensure at least two motors, and each motor can drive one or two roller brushes to rotate, for example, there can be 4 motors, and 4 motors can be easily driven The rotation of the first rolling brush 32 , the second rolling brush 33 , the third rolling brush 34 and the fourth rolling brush 35 .

In the disclosed embodiment, the rolling brush is detachably arranged on the cleaning cover 31 . At least one of the first rolling brush 32 , the second rolling brush 33 , the third rolling brush 34 and the fourth rolling brush 35 is detachably arranged on the cleaning cover 31 , so that replacement and maintenance of the rolling brushes can be facilitated.

In the embodiment of the present disclosure, the second rolling brush 33 is movably arranged along its axis direction, so as to be detachable from the cleaning cover 31 . The second roller brush 33 can be connected to the cleaning cover 31 through some parts, and under normal use, the second roller brush 33 is reliably fixed on the cleaning cover 31, when the second roller brush 33 needs to be maintained or replaced, through The position of the second rolling brush 33 is adjusted, so as to realize the disassembly of the cleaning cover 31 .

As shown in FIG. 20A to FIG. 20C , the second rolling brush 33 is taken as an example.

As shown in Figure 20B and Figure 20C, the cleaning module also includes: a main body support 331, the main body support 331 is arranged on the cleaning cover 31; an adapter 332, the second roller brush 33 is connected with the adapter 332, and the Connector 332 is movably arranged relative to main body support 331 to have a first position connected to main body support 331 and a second position detached from main body support 331; elastic member 334, elastic member 334 and adapter The parts 332 are connected and arranged along the axis direction of the second roller brush 33; wherein, the second roller brush 33 moves along the axis direction with the adapter piece 332, and when the elastic member 334 is compressed, the adapter piece 332 is moved by the first roller brush 332. When the position is moved to the second position, the adapter 332 is rotated, and the second roller brush 33 along with the adapter 332 can be detached from the main body supporting member 331 along its axis direction.

The main body support member 331 is provided with a card slot 3311, and the adapter 332 is provided with a buckle 333. When the adapter 332 moves from the first position to the second position, the buckle 333 can break away from the card slot 3311; wherein, the transfer When the member 332 is at the second position, the adapter member 332 is rotated so that the buckle 333 disengages from the slot 3311 .

The second roller brush 33 can be connected with the adapter 332, the adapter 332 is provided with a buckle 333, and one end of the adapter 332 is connected with an elastic member 334, and the main body support 331 is connected to the cleaner through the power adapter 335. The cover 31 is connected, and the adapter 332 can be connected with the main body support 331 through the buckle 333, and the elastic member 334 is clamped between the adapter 332 and the power adapter 335, and the adapter 332 is driven along The length direction of the second rolling brush 33 moves, that is, the adapter 332 is driven along the axial direction of the second rolling brush 33, so that the buckle 333 is disengaged from the locking on the main body support 331, and the adapter can be rotated 332 and the second roller brush 33, at this time the buckle 333 breaks away from the card slot 3311, so that the adapter 332 can be removed from the main body support 331, so that the second roller brush 33 can be removed from the cleaning cover 31 .

A part of the adapter 332 can pass through the main body support 331, and the buckle 333 can be located in the slot 3311, so as to realize the clamping with the main body support 331. At this time, the second roller brush 33 can be reliably fixed on the Clean the hood 31 . By compressing the elastic member 334, the buckle 333 and the main body support member 331 are released, so the buckle 333 can be disengaged from the slot 3311 by rotating the adapter 332, and the main body support 331 can squeeze the buckle 333 , so that the buckle 333 and the main body support 331 will not form a locking relationship, so the adapter 332 can be pulled out from the main body support 331 , so that the second roller brush 33 can be removed from the cleaning cover 31 .

The main body support 331 is a tapered tube structure, therefore, the buckle 333 and the main body support 331 can be released by compressing the elastic member 334, and the buckle 333 can be disengaged from the slot 3311 when the adapter 332 is rotated. , after all, the buckle 333 enters from a position of a small diameter to a position of a large diameter, so it can break away from the slot 3311 .

A plurality of buckles 333 can be disposed on the adapter 332, and the buckles 333 can be elastically deformed. The elastic member 334 may be a spring, a rubber ring or other structures. The thirteenth wheel body 3615 can be connected with the power transfer part 335 to drive the second rolling brush 33 to rotate.

It should be noted that the axis direction of the second rolling brush 33 may include a direction from left to right, and a direction from right to left.

As an optional embodiment of the present disclosure, the roller brushes of the cleaning module may only include the first roller brush 32 and the second roller brush 33 , and the roller brushes, that is, the cleaning robot may be a two-brush cleaning robot. The first rolling brush 32 and the second rolling brush 33 may be disposed on the cleaning cover 31 at intervals along the length direction of the cleaning cover 31 .

As an optional embodiment of the present disclosure, the roller brushes of the cleaning module may only include the first roller brush 32, the second roller brush 33, and the third roller brush 34, and the roller brush, the roller brush, and the cleaning robot may clean the three brushes. robot. The first rolling brush 32 and the second rolling brush 33 can be arranged on the cleaning cover 31 at intervals along the length direction of the cleaning cover 31, and the third rolling brush 34 and the first rolling brush 32 can be arranged on the cleaning cover 31 along the width direction. Cover 31. Both ends of the third rolling brush 34 may be substantially flush with the ends of the first rolling brush 32 and the second rolling brush 33 . Alternatively, the length of the third rolling brush 34 may be less than the sum of the lengths of the first rolling brush 32 and the second rolling brush 33 .

As an optional embodiment of the present disclosure, as shown in FIG. 26 , the cleaning module 30 includes: a cleaning cover 31, a first rolling brush structure 301 and a second rolling brush structure 302, the first rolling brush structure 301 and the second rolling brush structure The structure 302 is arranged in the cleaning cover 31, the first rolling brush structure 301 and the second rolling brush structure 302 all extend along the length direction of the cleaning cover 31, and the first rolling brush structure 301 and the second rolling brush structure 302 extend along the cleaning cover 31 Arranged in the width direction, so that the first rolling brush structure 301 and the second rolling brush structure 302 can reliably clean the surface to be cleaned.

The lengths of the first rolling brush structure 301 and the second rolling brush structure 302 may be basically the same.

The rotation directions of the first rolling brush structure 301 and the second rolling brush structure 302 can be opposite, so that the dust can be quickly collected into the cleaning module 30 . The first rolling brush structure 301 and the second rolling brush structure 302 can be driven by two independent driving mechanisms so as to realize rotation. Alternatively, the first rolling brush structure 301 and the second rolling brush structure 302 can be driven by a driving mechanism to achieve rotation. The specific structure of the driving mechanism is not limited, for example, it can be driven by a motor and a driving wheel assembly, so that the synchronous driving of the first rolling brush structure 301 and the second rolling brush structure 302 can be realized by one motor. Alternatively, the rotation of the first rolling brush structure 301 and the second rolling brush structure 302 is conveniently driven by two motors.

As shown in FIG. 27A to FIG. 29 , in the cleaning robot of the embodiment of the present disclosure, the fan assembly 40 includes a fan 41 , an air duct 42 and a filter part 43 , one end of the air duct 42 communicates with the fan 41 , and the other end of the air duct 42 communicates with the fan 41 . The dust storage chamber 11 is connected, and the filter part 43 is arranged between the dust storage chamber 11 and the air duct 42, so that the filter part 43 can reliably filter the gas discharged into the room. Because the air duct 42 communicates with the fan 41 and the filter part 43, not only can the gas be reliably discharged into the room, but also because the air duct 42 can be adapted to the arrangement of the inner space of the cleaning robot, the utilization rate of the inner space of the cleaning robot can be improved to the greatest extent, and This improves the performance of the cleaning robot.

In the embodiment of the present disclosure, the dust box 10 includes a first chamber 111 and a second chamber 112 which communicate with each other, the first chamber 111 communicates with the cleaning module 30 , and the cyclone separator 13 is arranged in the second chamber 112 Inside, the fan assembly 40 communicates with the second chamber 112 , so that the fan assembly 40 can reliably collect the dust on the surface to be cleaned into the dust box 10 through the cleaning module 30 .

In the embodiment of the present disclosure, the dust box 10 and the fan assembly 40 are arranged adjacent to each other, and the dust box 10 and the fan assembly 40 are arranged along the circumferential direction of the main body 20. Not only the structure distribution is more reasonable, but also the dust box 10 and the fan assembly 40 can be shortened. connection path.

It should be noted that, the air duct 42 is used as an air flow channel connecting the fan 41 and the filter part 43, and its structure can be adjusted according to the distribution of components in the interior space of the cleaning robot, so as to adapt to the position and structure of the interior space of the cleaning robot. For example, the blower fan 41 and the filter part 43 can be arranged in a misplaced position, and the blower fan 41 and the filter part 43 can be arranged along the circumferential direction of the cleaning robot. At this time, the air duct 42 can effectively adapt to the arrangement of the fan 41 and the filter part 43, ensuring The internal space of the cleaning robot is utilized to the greatest extent.

The air outlet 1123 of the dust storage chamber 11 communicates with the filter part 43 , and the filter part 43 is pressed between the air duct 42 and the dust box 10 . Under the action of the fan 41, the dust can enter the garbage inlet 1112 of the dust storage chamber 11 from the cleaning module 30, and enter the dust storage chamber 11 to separate the particles, and finally the gas enters the filter part 43 through the air outlet 1123 Filtration is carried out so as to pass through the air channel 42 and enter the blower 41 and discharge the cleaning robot to realize the collection of dust.

In the embodiment of the present disclosure, the wall surface of the air duct 42 includes at least one of a curved surface and a plane. The wall surface of the air duct 42 includes a curved surface, which not only facilitates gas circulation, but also allows the installation positions of the fan 41 and the filter unit 43 to be used, thereby improving the space adaptability of the air duct 42 .

In the embodiment of the present disclosure, as shown in FIGS. 27A to 28 , the air duct 42 includes a first air duct opening 421 and a second air duct opening 422 , the first air duct opening 421 communicates with the fan 41 , and the second air duct The opening 422 communicates with the dust storage chamber 11; wherein, the second air duct opening 422 is a curved surface opening, so that it can be adapted to the curved surface filter part 43, so as to ensure a reliable fit of the structure, and can increase the filter part 43. The filtering area is increased to increase the filtering capacity of the filtering part 43 .

In the embodiment of the present disclosure, the area of the first air passage opening 421 is smaller than the area of the second air passage opening 422, so that the airflow in the dust storage chamber 11 can quickly enter the filter part 43 for filtering, and the airflow can be accelerated to enter The speed of fan 41.

In an embodiment of the present disclosure, as shown in FIG. 29 , the filter portion 43 includes a plurality of filter layers 431 stacked on top of each other. The filter layer 431 is a sheet structure, and a plurality of sheet structures are stacked to form a filter portion of the sheet structure, which can not only increase the filtering capacity of the filter portion 43, but also reduce the size of the filter portion 43 in the thickness direction without being too large. The internal space occupancy rate of the cleaning robot.

As shown in FIG. 29 , the filter layer 431 may be three layers, and the thickness of each filter layer 431 may be consistent, or the thickness of each filter layer 431 may be inconsistent. The areas of the filter layers 431 may be consistent, or the areas of the filter layers 431 may be inconsistent.

In the disclosed embodiment, the plurality of filter layers 431 are made of different materials, so as to improve the filter capacity of the filter part 43 .

The filter layer 431 can be three layers, and the three-layer filter layer 431 can be electrostatic cotton, filter cotton and sponge structure.

As an optional embodiment of the present disclosure, multiple filter layers 431 may be made of the same material.

In the embodiment of the present disclosure, as shown in FIG. 29 , the filter part 43 also includes a frame 432, the filter layer 431 is arranged in the frame 432, and the frame 432 is clamped between the air duct 42 and the dust storage chamber 11, so as to realize the filtering The reliable fixing of the filter part 43 prevents the filter part 43 from being crushed, and can ensure reliable filtration of the filter part 43.

In the embodiment of the present disclosure, the filter layer 431 has three layers, and the filter layer 431 located in the middle has the largest area, so that it can be reliably fixed with the frame 432 . The three-layer filter layer 431 can be electrostatic cotton, filter cotton and sponge structure, which can increase the dust holding capacity of the filter part 43, and the frame 432 can be a soft rubber structure, so it can be effectively compressed by the air duct 42 and the dust storage chamber 11 , enabling reliable filtering.

In the embodiment of the present disclosure, as shown in FIG. 27A to FIG. 28 , the fan assembly 40 further includes a noise reduction part 44 , and the noise reduction part 44 is arranged on the side of the fan 41 away from the air duct 42 to communicate with the air outlet of the fan 41 ; Wherein, the noise reduction part 44 includes a sound channel through hole 441 and a sound absorption hole 442, which can reduce the noise of the fan 41 and the noise of the gas flow.

After the gas exhaust fan 41 enters the muffler 44, part of it radiates directly to the environment from the sound channel through hole 441, and the other part enters the muffler 44 through the sound absorption hole 442 on the wall of the sound channel through hole 441 and is absorbed by it, so as to reduce the noise. Purpose. The sound-absorbing part 44 can be sound-absorbing cotton or porous material.

In the embodiment of the present disclosure, there are multiple sound channel through holes 441, and the multiple sound channel through holes 441 are arranged at intervals along the height direction of the muffler 44, so as to ensure that the gas can be discharged into the room, and the muffler 44 can be reliably realized. purpose of noise reduction.

In the embodiment of the present disclosure, the sound channel through hole 441 includes a first port and a second port, the aperture of the first port is smaller than that of the second port, and the first port of the sound channel through hole 441 communicates with the air outlet of the fan 41 , the second port of the sound channel through hole 441 communicates with the outside world, so as to achieve effective exhaust and ensure the noise reduction effect. Wherein, the aperture of the first port may be smaller than the aperture of the second port.

In the embodiment of the present disclosure, as shown in FIG. 27B and FIG. 28 , the fan assembly 40 further includes a filter 45 and a protective cover 46 , the filter 45 is arranged at the end of the noise reduction part 44 away from the fan 41 , so as to realize the noise reduction by the noise reduction part 44 Re-filtering of exhaust gases. The protective cover 46 can be connected with the main body 20 to effectively protect the fan assembly 40 , and the protective cover 46 can be a mesh structure to ensure reliable exhaust.

As shown in FIGS. 30 to 33 , the cleaning base station includes a pile body 1 , a dust bucket 4 , a fan structure, a stopper 9 and a driving member 93 .

The pile body 1 includes a dust inlet channel 2, the dust inlet channel 2 has a dust inlet 3, and the dust inlet 3 is used to communicate with the opening of the dust storage chamber 11, so that the dust in the dust storage chamber 11 can pass through the dust inlet 3 Entering the dust inlet passage 2, the dust bucket 4 is arranged on the pile body 1, and the dust bucket 4 is connected with the dust inlet passage 2, so that the dust bucket 4 can be used to collect the dust in the dust box 10 of the cleaning robot.

In the embodiment of the present disclosure, the stopper 9 is arranged on the pile body 1, and the stopper 9 is used to contact or separate from the door body 12, so that when the stopper 9 is in contact with the door body 12, it can avoid The door body 12 opens the dust storage chamber 11 , and when the stopper 9 is separated from the door body 12 , the door body 12 can open the dust storage chamber 11 .

The stopper 9 can be in contact with the first door body part 121 and the second door body part 122 of the door body 12 at the same time, or the stopper part 9 can be in contact with the first door body part 121 and the second door body part 122 One is in contact and separated from the other.

In the embodiment of the present disclosure, the fan structure is arranged on the pile body 1 , and the fan structure communicates with the dust bucket 4 , so that the dust in the dust box 10 can be sucked into the dust bucket 4 through the fan structure.

The fan structure is arranged on the pile body 1, the air inlet of the fan structure is connected with the air outlet end of the dust bucket 4, and the fan structure generates negative pressure, so as to ensure that the dust in the dust box 10 can enter into the dust box 10 through the dust inlet 3. In the dust channel 2, and make the airflow flow. Here the dust in the dust box 10 includes sundries in the dust box. The fan structure can suck open the door body 12 of the dust box 10 .

Specifically, when the cleaning robot finishes cleaning, its own battery is insufficient, or its own dust box is full of garbage, etc., the cleaning robot can move back to the cleaning base station to complete charging or unload the garbage in the dust box to the cleaning base station.

During the process of the cleaning robot moving back to the cleaning base station, the cleaning robot keeps looking for the dust collection device through the signal receiving equipment. The cleaning base station includes a signal transmitting device. For example, the signal transmitting device continuously transmits communication signals within a certain angle range for the cleaning robot. Capture, when the cleaning robot captures the communication signal, it will determine the location of the cleaning base station, and move to the cleaning base station through the navigation function.

Further, if the cleaning robot is started from the cleaning base station when cleaning is started, the location of the cleaning base station can be recorded on the map, so that in the process of returning to the cleaning base station, it will give priority to the location of the cleaning base station recorded on the map, and based on the cleaning base station The signal transmitting device determines the location of the clean base station, and moves to the clean base station through the navigation function, so as to reduce the time to find the clean base station and improve the efficiency of returning to the clean base station.

In the embodiment of the present disclosure, the stopper 9 is arranged on the pile body 1, and the stopper 9 is movably arranged relative to the pile body 1 to have a first position and a second position; wherein, the stopper 9 is located at At the first position, the stopper 9 blocks the door body 12 from releasing the dust storage chamber 11. When the stopper 9 is at the second position, the door body 12 can release the opening so that the dust inlet 3 can communicate with the opening. The door body 12 can release the opening, that is, the dust storage chamber 11 is in an open state.

The stopper 9 can control when the door 12 is opened. After the cleaning robot docks with the cleaning base station, the stopper 9 can move from a first position in contact with the door 12 to a second position separated from the door 12. position, that is, the stopper 9 moves from the position where the door body 12 is blocked from opening the dust storage chamber 11 to the position that does not hinder the door body 12 from opening the dust storage chamber 11. At this time, starting the fan structure can make the door body 12 release the dust storage chamber 11 , so that the dust in the dust box 10 is sucked into the dust bucket 4 .

In the embodiment of the present disclosure, as shown in FIG. 32 and FIG. 33 , the stopper 9 includes a first stopper 91 and a second stopper 92, and the first stopper 91 and the second stopper 92 correspond to The first door body part 121 and the second door body part 122, so that the first door body part 121 and the second door body part 122 can independently open the first opening 1111 of the first chamber 111 and the second chamber 112 respectively. The second opening 1121 and the third opening 1122 .

After the cleaning robot docks with the cleaning base station, the first stopper 91 can move from the first position to the second position, while the second stopper 92 can remain at the first position. At this time, starting the fan structure can make the first The door body part 121 releases the first chamber 111 so as to discharge the dust in the first chamber 111 into the dust bucket 4 . The second stopper 92 can move from the first position to the second position, and the first stopper 91 can move from the second position to the first position, and the fan structure makes the second door body part 122 release the second chamber 112 , so that the dust in the second chamber 112 is discharged into the dust bucket 4 .

The first chamber 111 and the second chamber 112 are opened in a staggered manner, which can facilitate the dust in the cleaning robot to be sucked into the dust bucket 4 reliably.

In the embodiment of the present disclosure, as shown in FIG. 32 and FIG. 33 , the cleaning base station further includes a driving member 93, which is drivingly connected to the first stopper 91, and is drivingly connected to the second stopper 92, So that when the first stopper 91 is at the first position, the second stopper 92 is at the second position, or, when the first stopper 91 is at the second position, the second stopper 92 is at the first position, Therefore, the first chamber 111 and the second chamber 112 can be opened in a staggered manner, and the dust in the cleaning robot can be reliably sucked into the dust bucket 4 conveniently.

The driving member 93 may include a motor 931, a first gear 932 and a second gear 933, the motor 931 may be connected to the first gear 932 and the second gear 933 through a drive shaft, and the first gear 932 is connected to the first gear of the first stopper 91. The rack 911 is engaged, and the second gear 933 is engaged with the second rack 921 of the second stopper 92, so that when the motor 931 is running, the first gear 932 and the second gear 933 rotate in the same direction, while the second gear 933 rotates in the same direction. A rack 911 and a second rack 921 can rotate in different directions, so that when the first stopper 91 is at the first position, the second stopper 92 is at the second position, or the first stopper 91 When in the second position, the second stopper 92 is in the first position.

The motor 931 is connected to the first gear 932 and the second gear 933 at the same time, the first stopper 91 includes a first rack 911, the second stopper 92 includes a second rack 921, and the first gear 932 and the second gear 933 are respectively Mesh with the first rack 911 and the second rack 921, so that when the first stopper 91 is in contact with the first door body 121, the second stopper 92 is separated from the second door body 122, Or, when the first stopper 91 is separated from the first door body part 121, the second stopper 92 is in contact with the second door body part 122, so that the first stopper 91 and the second stopper can be 92 corresponds to the first door body part 121 and the second door body part 122 respectively, and can selectively open the first chamber 111 and the second chamber 112 of the dust storage chamber 11 .

In the embodiment of the present disclosure, the dust storage chamber 11 includes a first chamber 111 and a second chamber 112, the first chamber 111 includes a first opening 1111, and the second chamber 112 includes a second opening 1121 and a second opening 1121 which are separated from each other. Three openings 1122, the second opening 1121 communicates with the part of the second chamber 112 located outside the cyclone separator 13, and the third opening 1122 communicates with the part of the second chamber 112 located inside the cyclone separator 13, that is, it can be considered that the dust storage chamber 11 includes three chambers, and the door body 12 includes a first door body part 121 and a second door body part 122, the first door body part 121 corresponds to the first opening 1111, and the second door body part 122 corresponds to the second opening 1121 and the second door body part 122 Three openings 1122.

After the cleaning robot docks with the cleaning base station, the first stopper 91 can be against the first door body part 121, the cleaning base station can suck the garbage in the second chamber 112 into the dust bucket 4, the motor 931 moves, and the second stopper The piece 92 can be against the second door body piece 122, and the cleaning base station can suck the garbage in the first chamber 111 into the dust bucket 4. Or, after the cleaning robot is docked with the cleaning base station, the second stopper 92 can be against the second door body part 122, and the cleaning base station can suck the garbage in the first chamber 111 into the dust bucket 4, and the motor 931 acts, and the first The stopper 91 can be against the first door body 121 , and the cleaning base station can suck the garbage in the second chamber 112 into the dust bucket 4 . Since the first chamber 111 and the second chamber 112 are opened separately, the area is relatively small. Under the condition of constant negative pressure, the suction force is increased to make the cleaning base station cleaner for the cleaning robot to collect dust.

In the embodiment of the present disclosure, the stopper 9 may also include a first microswitch and a second microswitch, the first microswitch and the second microswitch are arranged on the pile body 1, and the first stopper 91 When moving in place, that is, when the first stopper 91 moves to the first position, the first stopper 91 will touch the first microswitch, so that the motor 931 can be stopped, and when the first stopper 91 moves When reaching the second position, the first stopper 91 will touch the second micro switch so as to stop the motor 931, so as to ensure that the stopper 9 can reliably stop and release the door body 12. Alternatively, the second stopper 92 may correspond to the first micro switch and the second micro switch, which is not limited here.

As an optional embodiment of the present disclosure, the first stopper 91 and the second stopper 92 may be driven by two independent driving mechanisms.

In the embodiment of the present disclosure, as shown in Figure 30 and Figure 31, the adsorption piece 94 is arranged on the pile body 1, so that after the door body 12 opens the dust storage chamber 11, the adsorption piece 94 is used to absorb the door body 12 to fix it The door body 12 can ensure that the dust box 10 is reliably opened.

In the embodiment of the present disclosure, the adsorption member 94 is used for magnetically adsorbing the door body 12 to fix the door body 12 . The door body 12 can be provided with a magnetic structure, or the door body 12 itself can be a magnetic structure, and there can be at least two adsorption parts 94, and the first door body part 121 and the second door body part 122 can conveniently correspond to at least one adsorption part 94.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the utility model disclosed herein. This disclosure is intended to cover any modification, use or adaptation of the present utility model, and these modifications, uses or adaptations follow the general principles of this disclosure and include common knowledge or conventional techniques in the technical field not disclosed in this disclosure means. The specification and example embodiments are to be considered as exemplary only, with the true scope and spirit of the disclosure indicated by the appended claims.

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (11)

1. A cleaning robot comprising a dust storage chamber (11) and a fan assembly (40), the fan assembly (40) comprising:

a fan (41);

one end of the air duct (42) is communicated with the fan (41), and the other end of the air duct (42) is communicated with the dust storage cavity (11);

a filter part (43), the filter part (43) is arranged between the dust storage cavity (11) and the air duct (42).

2. The cleaning robot according to claim 1, wherein the wall surface of the air duct (42) includes a curved surface.

3. The cleaning robot according to claim 1, wherein the air duct (42) comprises a first air duct opening (421) and a second air duct opening (422), the first air duct opening (421) being in communication with the fan (41), the second air duct opening (422) being in communication with the dust storage chamber (11);

wherein the second air duct opening (422) is a curved opening.

4. The cleaning robot according to claim 3, characterized in that the area of the first air duct opening (421) is smaller than the area of the second air duct opening (422).

5. The cleaning robot according to any of claims 1 to 3, characterized in that the filter portion (43) comprises a plurality of superposed filter layers (431).

6. The cleaning robot as recited in claim 5, wherein a plurality of the filter layers (431) are made of different materials.

7. The cleaning robot according to claim 5, wherein the filter part (43) further comprises a frame (432), the filter layer (431) is disposed within the frame (432), and the frame (432) is sandwiched between the air duct (42) and the dust storage chamber (11).

8. The cleaning robot as claimed in any one of claims 1 to 3, characterized in that the fan assembly (40) further comprises a sound-deadening portion (44), the sound-deadening portion (44) being provided on a side of the fan (41) remote from the air duct (42) to communicate with an air outlet of the fan (41);

wherein the sound-deadening portion (44) includes a sound passage through-hole (441) and a sound-absorbing hole (442).

9. The cleaning robot according to claim 8, wherein the acoustic channel through-holes (441) are plural, and the plural acoustic channel through-holes (441) are provided at intervals in a height direction of the sound deadening portion (44).

10. The cleaning robot as claimed in claim 8, wherein a first port of the acoustic channel through hole (441) communicates with an air outlet of the blower (41), and a second port of the acoustic channel through hole (441) communicates with the outside;

wherein an aperture of the first port is smaller than an aperture of the second port.

11. A cleaning system characterized by comprising the cleaning robot of any one of claims 1 to 10, and further comprising a cleaning base station.

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