CN217792909U

CN217792909U - Cleaning device and cleaning system

Info

Publication number: CN217792909U
Application number: CN202221604039.0U
Authority: CN
Inventors: 李行; 周永飞; 朱明阳
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Rockrobo Technology Co Ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-11-15
Anticipated expiration: 2032-06-24

Abstract

The disclosure relates to the technical field of smart homes, and provides a cleaning device and a cleaning system. The cleaning device includes: a main body; the cleaning module is arranged on the main body; the cleaning module includes: a cleaning hood; a drive structure; a first roll brush; the second rolling brush and the first rolling brush are arranged on the cleaning cover at intervals along the length direction of the cleaning cover; the third rolling brush is arranged on the cleaning cover; the third rolling brush and the first rolling brush are arranged along the width direction of the cleaning cover; the fourth rolling brush is arranged on the cleaning cover; the fourth rolling brush and the third rolling brush are arranged at intervals along the length direction of the cleaning cover and are arranged along the width direction of the cleaning cover with the second rolling brush; a first gap is formed between the second rolling brush and the first rolling brush, a second gap is formed between the fourth rolling brush and the third rolling brush, and the first gap and the second gap are arranged in a staggered mode.

Description

Cleaning device and cleaning system

Technical Field

The disclosure relates to the technical field of smart homes, in particular to a cleaning device and a cleaning system.

Background

The related art cleaning apparatus collects floor dust into a dust box located inside thereof during a cleaning process.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a cleaning apparatus and a cleaning system to improve a cleaning effect of the cleaning apparatus.

According to a first aspect of the present disclosure, there is provided a cleaning apparatus comprising: a main body; the cleaning module is arranged on the main body; the cleaning module includes: cleaning the cover; a drive structure; a first rolling brush; the second rolling brush and the first rolling brush are arranged on the cleaning cover at intervals along the length direction of the cleaning cover; the third rolling brush is arranged on the cleaning cover; the third rolling brush and the first rolling brush are arranged along the width direction of the cleaning cover; the fourth rolling brush is arranged on the cleaning cover; the fourth rolling brush and the third rolling brush are arranged at intervals along the length direction of the cleaning cover and are arranged along the width direction of the cleaning cover with the second rolling brush; a first gap is formed between the second rolling brush and the first rolling brush, a second gap is formed between the fourth rolling brush and the third rolling brush, and the first gap and the second gap are arranged in a staggered mode.

In one embodiment of the present disclosure, the length of the first roll brush is less than that of the second roll brush, and the length of the third roll brush is greater than that of the fourth roll brush.

In one embodiment of the present disclosure, at least one of the first, second, third, and fourth roll brushes is a tapered structure.

In one embodiment of the present disclosure, the axis of the second roll brush is not parallel to the axis of the first roll brush; and/or the axis of the fourth rolling brush is not parallel to the axis of the third rolling brush.

In one embodiment of the present disclosure, a first end of the cone-shaped structure is connected to the cleaning hood, and a second end of the cone-shaped structure is a cantilever end;

wherein the diameter of the first end portion is larger than the diameter of the second end portion.

In one embodiment of the present disclosure, the first, second, third, and fourth roll brushes rotate in synchronization.

In one embodiment of the present disclosure, the first and second roll brushes rotate in a direction opposite to that of the third and fourth roll brushes.

In one embodiment of the present disclosure, the driving structure includes a power part and a transmission assembly, and the power part drives the first rolling brush, the second rolling brush, the third rolling brush and the fourth rolling brush to synchronously rotate through the transmission assembly.

In one embodiment of the present disclosure, at least one of the first roll brush and the second roll brush is detachably provided on the cleaning cover.

In one embodiment of the present disclosure, the second roll brush is movably disposed in an axial direction thereof to be detachable from the cleaning cover.

In one embodiment of the present disclosure, the cleaning module further comprises:

a body support disposed on the cleaning cover;

the second rolling brush is connected with the adapter, and the adapter is movably arranged relative to the main body supporting piece so as to have a first position connected with the main body supporting piece and a second position separated from the main body supporting piece;

the elastic piece is connected with the adaptor and arranged along the axis direction of the second rolling brush;

the second rolling brush moves along the axis direction of the adapter piece along with the adapter piece, and when the elastic piece is compressed, the adapter piece moves from the first position to the second position, the adapter piece is rotated, and the second rolling brush can be separated from the main body supporting piece along with the adapter piece along the axis direction of the second rolling brush.

In one embodiment of the disclosure, a clamping groove is arranged on the main body supporting piece, a buckle is arranged on the adapter, and the buckle can be separated from the clamping groove when the adapter moves from the first position to the second position;

when the adapter piece is located at the second position, the adapter piece is rotated to enable the buckle to be separated from the clamping groove.

According to a second aspect of the present disclosure, there is provided a cleaning module comprising:

cleaning the cover;

a first cleaning group arranged on the cleaning cover;

the second cleaning group and the first cleaning group are arranged on the cleaning cover along the width direction of the cleaning cover;

wherein the rotation direction of the first cleaning group is opposite to the rotation direction of the second cleaning group.

In one embodiment of the present disclosure, the cleaning module further includes a driving structure, the driving structure includes a power portion and a transmission assembly, and the power portion drives the first cleaning group and the second cleaning group to rotate synchronously through the transmission assembly.

In one embodiment of the present disclosure, the first cleaning group includes:

a first rolling brush;

and the second rolling brush and the first rolling brush are arranged on the cleaning cover at intervals along the length direction of the cleaning cover.

In one embodiment of the present disclosure, the second cleaning group includes:

a third rolling brush;

the fourth rolling brush and the third rolling brush are arranged at intervals along the length direction of the cleaning cover;

the third rolling brush and the first rolling brush are arranged along the width direction of the cleaning cover, and the fourth rolling brush and the second rolling brush are arranged along the width direction of the cleaning cover.

In one embodiment of the present disclosure, the first rolling brush is of a tapered configuration, and/or the second rolling brush is of a tapered configuration.

In one embodiment of the present disclosure, a first end of the cone-shaped structure is connected to the cleaning hood and a second end of the cone-shaped structure is a cantilevered end.

In one embodiment of the present disclosure, the first cleaning group is formed with first gaps, the second cleaning group is formed with second gaps, and the first gaps and the second gaps are staggered.

According to a third aspect of the present disclosure, there is provided a cleaning module comprising:

a cleaning hood;

the round brush, the round brush setting is covered at the cleanness, and the round brush includes cantilever structure.

In one embodiment of the present disclosure, the cantilever structure is a tapered structure.

In one embodiment of the present disclosure, a roll brush includes:

a first rolling brush;

the second rolling brush and the first rolling brush are arranged on the cleaning cover at intervals along the length direction of the cleaning cover;

wherein, first round brush and second round brush are the toper structure.

In one embodiment of the present disclosure, the roll brush further comprises:

the third rolling brush is of a conical structure;

the fourth rolling brush is of a conical structure, and the fourth rolling brush and the third rolling brush are arranged at intervals along the length direction of the cleaning cover;

In one embodiment of the present disclosure, a first gap is formed between the second rolling brush and the first rolling brush, a second gap is formed between the fourth rolling brush and the third rolling brush, and the first gap and the second gap are alternately arranged.

In one embodiment of the present disclosure, the length of the first roll brush is approximately equal to the length of the third roll brush, and the length of the second roll brush is approximately equal to the length of the fourth roll brush.

According to a fourth aspect of the present disclosure, a cleaning apparatus is provided, which includes the above cleaning module, the cleaning apparatus further includes a main body, and the cleaning module is disposed on the main body.

According to a fifth aspect of the present disclosure, there is provided a cleaning system comprising the cleaning device described above, the cleaning device further comprising a cleaning base station.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, when taken in conjunction with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic diagram illustrating a first perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 2 is a schematic diagram illustrating a second perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 3 is a schematic diagram illustrating a third perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 4 is a schematic diagram illustrating a fourth perspective of a cleaning robot in accordance with an exemplary embodiment;

FIG. 5 is a schematic diagram illustrating a perspective of a portion of a cleaning robot in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating another perspective of a portion of a cleaning robot in accordance with an exemplary embodiment;

FIG. 7 is a schematic structural view of one perspective of a dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 8 is a schematic structural view of another perspective of a dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 9 is a schematic structural view of a release first chamber of a dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 10 is a schematic diagram of a release second chamber of a dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 11 is a schematic structural view of a release first chamber and a second chamber of a dust box of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 12 is a schematic view of an internal structure of a dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 13 is a schematic diagram illustrating a first perspective of a base of a cleaning robot in accordance with an exemplary embodiment;

FIG. 14 is a schematic diagram illustrating a second perspective of a base of a cleaning robot in accordance with an exemplary embodiment;

FIG. 15 is a schematic diagram illustrating a third perspective of a base of a cleaning robot in accordance with an exemplary embodiment;

FIG. 16 is a cross-sectional schematic view of a base of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 17 is a schematic diagram illustrating a bottom cover and a locking member of a cleaning robot in accordance with an exemplary embodiment;

FIG. 18 is a schematic diagram illustrating the construction of a cyclone separator of a cleaning robot in accordance with an exemplary embodiment;

FIG. 19 is a schematic cross-sectional view of a cyclonic separator of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 20A is a schematic diagram illustrating a perspective of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 20B is a schematic diagram illustrating a configuration of a state of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 20C is a schematic diagram of another state of a cleaning module of a cleaning robot, according to an exemplary embodiment;

FIG. 20D is a schematic view of a cleaning module of a cleaning robot in combination with a first connecting assembly, a second connecting assembly, and a protective covering, according to an exemplary embodiment;

FIG. 20E is a schematic view of a cleaning module of a cleaning robot in combination with first and second linkage assemblies, according to an exemplary embodiment;

FIG. 20F is a schematic view of a cleaning hood and a suction duct of a cleaning robot in accordance with an exemplary embodiment;

FIG. 21 is a schematic diagram illustrating another perspective of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 22 is a schematic structural view illustrating one perspective of a cleaning hood of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 23 is a schematic diagram illustrating another perspective of a cleaning hood of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

fig. 24 is a structural view illustrating a perspective of a driving structure of a cleaning module of a cleaning robot according to an exemplary embodiment;

FIG. 25 is a structural diagram illustrating another perspective of a drive structure of a cleaning module of a cleaning robot in accordance with an exemplary embodiment;

FIG. 26 is a schematic structural view of a fan assembly of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 27 is an exploded schematic view illustrating a perspective of a blower assembly of a cleaning robot in accordance with an exemplary embodiment;

FIG. 28 is an exploded schematic view illustrating another perspective of a blower assembly of a cleaning robot in accordance with an exemplary embodiment;

FIG. 29 is an exploded schematic view of a filter portion of a blower assembly of a cleaning robot, according to an exemplary embodiment;

FIG. 30 is a schematic diagram illustrating the construction of an integrated pile according to an exemplary embodiment;

FIG. 31 is a partial structural schematic of an integrated pile shown in accordance with an exemplary embodiment;

FIG. 32 is a structural schematic diagram illustrating a perspective of a stop of an integrated pile according to an exemplary embodiment;

FIG. 33 is a structural schematic diagram illustrating another perspective of a pile-forming stop according to an exemplary embodiment.

The reference numerals are explained below:

1. a pile body; 2. a dust inlet channel; 3. a dust inlet; 4. a dust barrel; 7. a fan structure; 9. a stopper; 91. a first stopper; 911. a first rack; 92. a second stopper; 921. a second rack; 93. a drive member; 931. a motor; 932. a first gear; 933. a second gear; 94. an adsorbing member;

10. a dust box; 11. a dust storage cavity; 111. a first chamber; 1111. a first opening; 1112. a waste inlet; 112. a second chamber; 1121. a second opening; 1122. a third opening; 1123. an air outlet; 113. a transition passage; 12. a door body; 121. a first door body member; 122. a second door body member; 13. a cyclonic separator; 131. first stage separation cyclone; 132. secondary separation cyclone; 133. separating the filter screen; 14. a base; 141. avoiding a space; 15. a bottom cover; 151. a rolling section; 16. a locking member; 161. a toggle part; 162. a first clamping part; 163. a second clamping part;

20. a main body; 21. a position determining device; 22. a top major planar surface; 23. a top raised plane; 24. a transition surface; 25. a buffer; 26. a forward portion; 27. a rearward portion; 28. a protective cover;

30. cleaning the module; 31. a cleaning hood; 311. a mounting cavity; 3111. a main air duct; 3112. an auxiliary air duct; 3113. a first air duct section; 3114. a second air duct section; 312. an air duct opening; 32. a first rolling brush; 33. a second rolling brush; 331. a body support; 3311. a card slot; 332. an adaptor; 333. buckling; 334. an elastic member; 335. a power transfer section; 34. a third rolling brush; 35. a fourth rolling brush; 36. a drive structure; 361. a power section; 362. a first wheel body; 363. a second wheel body; 364. a third wheel body; 365. a fourth wheel body; 366. a fifth wheel body; 367. a sixth wheel body; 368. a seventh wheel body; 369. an eighth wheel body; 3610. a transmission rod; 3611. a ninth wheel body; 3612. a tenth wheel body; 3613. an eleventh wheel body; 3614. a twelfth wheel body; 3615. a thirteenth wheel body; 37. brushing edges; 38. a first gap; 39. a second gap;

40. a fan assembly; 41. a fan; 42. an air duct; 421. a first air duct opening; 422. a second air duct opening; 43. a filtering part; 431. a filter layer; 432. a frame; 44. a sound deadening section; 441. a sound channel through hole; 442. a sound absorption hole; 45. a filter member; 46. a protective cover;

50. a drive system; 51. a first drive wheel module; 52. a second drive wheel module; 53. a driven wheel;

60. a first connection assembly; 61. a first link; 62. a second link; 70. a second connection assembly; 71. a third link; 72. a fourth link; 73. a dust collection air duct; 731. a third air duct; 732. a fourth air duct; 733. and an air outlet end.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration various exemplary structures, systems, and steps in which aspects of the disclosure may be practiced. It is to be understood that other specific arrangements of parts, structures, example 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 "over," "between," "within," and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the figures. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

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

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

As shown in fig. 1, the main body 20 includes a forward portion 26 and a rearward portion 27, and the cleaning robot has an approximately circular shape (circular front and rear), and may have other shapes including, but not limited to, an approximately D-shaped shape with a front and rear circle, and a rectangular or square shape with a front and a rear. The cleaning travel direction of the cleaning robot can be considered as a direction directed from the rearward section 27 to the forward section 26.

As shown in fig. 1 to 3, the sensing system may include a position determining device 21 provided on the main body 20, a collision sensor, a proximity sensor, a cliff sensor provided on a bumper 25 of a forward portion 26 of the main body 20, and a sensing device such as a magnetometer, an accelerometer, a gyroscope, a speedometer, etc. provided inside the machine body for providing various position information and motion state information of the machine to the control module. The position determining device 21 includes, but is not limited to, a camera, a Laser Distance Sensor (LDS).

As shown in fig. 1 and 3, the forward portion 26 of the main body 20 may carry a bumper 25, the bumper 25 detecting one or more events in the travel path of the cleaning robot via a sensor system, such as an infrared sensor, provided thereon as the drive system 50 propels the cleaning robot across the floor during cleaning, the cleaning robot may respond to the event, such as moving away from an obstacle, by controlling the drive system 50 via the event detected by the bumper 25, such as an obstacle, a wall.

The control module is disposed on a circuit main board in the main body 20, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of an environment where the cleaning robot is located by using a positioning algorithm, such as instant positioning And Mapping (SLAM) according to obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors such as the sensor, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and the like arranged on the buffer 25 are combined to comprehensively judge the current working state and the current position of the cleaning robot, such as the threshold, the carpet, the position of the cliff, the blocked upper part or the blocked lower part, the full dust box, the taken-up and the like, and specific next-step action strategies can be provided according to different conditions, so that the cleaning robot has better cleaning performance and user experience.

As shown in fig. 3 and 4, drive system 50 may steer body 20 across the ground based on drive commands having distance and angle information (e.g., x, y, and θ components). The drive system 50 includes a first drive wheel module 51 and a second drive wheel module 52. The first and second

drive wheel modules

51, 52 are disposed along a transverse axis defined by the body 20. In order for the cleaning robot to be able to move more stably or with greater mobility over the floor surface, the cleaning robot may include one or more driven wheels 53, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module may be detachably coupled to the main body 20 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system, be movably secured, e.g., 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 wheel to maintain contact and traction with the floor with a certain landing force while the cleaning element of the cleaning robot also contacts the floor with a certain pressure.

The main body 20 defines a transverse axis and a longitudinal axis, which are perpendicular, and the transverse axis and the longitudinal axis may be understood as a transverse centerline and a longitudinal centerline of the main body 20, respectively.

Energy systems include rechargeable batteries, such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging.

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

In the cleaning robot of the embodiment of the present disclosure, the dust box 10 is disposed on the main body 20, and at least a portion of the position determining device 21 is disposed to protrude from the main body 20. Because the top end of the dust box 10 is not lower than the top end of at least part of the main body 20, and the top end of the position determining device 21 is higher than the top end of the dust box 10, on the basis of ensuring that the height of the dust box 10 is made high to the maximum extent, the position determining device 21 can be ensured to trigger the obstacle first, and therefore the dust box 10 or the main body 20 is indirectly protected from being blocked by the obstacle.

It should be noted that, since the top end of the dust box 10 is not lower than at least a part of the top end of the main body 20, the height of the dust box 10 is made as high as possible without changing the height of the original main body, so as to increase the dust collecting capability of the dust box 10 and to prevent the height of the cleaning robot.

In the disclosed embodiment, as shown in fig. 1 and 2, the main body 20 includes a top major plane 22, at least a portion of the position determining device 21 is disposed to protrude from the top major plane 22, and the top end of the dust box 10 is higher than the top major plane 22. The top main plane 22 is the upper large surface of the cleaning robot, and providing at least part of the position determining means 21 protruding from the top main plane 22 ensures that the position determining means 21 reliably recognizes obstacles. The top of the dust box 10 is higher than the top major surface 22 to ensure that the dust box 10 has sufficient dust collection capability.

In the disclosed embodiment, as shown in fig. 1 and 2, the main body 20 further comprises a top convex plane 23, the top convex plane 23 being higher than the top main plane 22 and lower than the top end of the position determining device 21; wherein at least a portion of the dirt 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 positioning the top end of the position determining means 21 higher than the top raised plane 23 ensures that the position determining means 21 reliably identifies obstacles. The dust box 10 is at least partially located below the top raised plane 23 to prevent the dust box 10 from having an excessively high height dimension for the cleaning robot, and the main body 20 also provides protection for the dust box 10.

In the disclosed embodiment, as shown in fig. 1 and 2, the main body 20 further includes a transition surface 24, the transition surface 24 connecting the top main plane 22 and the top convex plane 23; the top main plane 22 and the top protruding plane 23 are approximately parallel, and the transition plane 24 is inclined to the top protruding plane 23, so that the appearance design is attractive, the main body 20 can conveniently pass through short obstacles, and the cleaning robot is prevented from being locked. In particular, the transition surface 24 is effective to prevent an obstacle having a height between the top end of the position determining apparatus 21 and the top main plane 22 from being caught by the cleaning robot.

In the embodiment of the present disclosure, a portion of the dust box 10 is located below the top main plane 22, and a portion of the dust box 10 is located below the top protruding plane 23, so that a portion of the dust box 10 can be higher in height, which facilitates the arrangement of other structures, or a dust collecting space can be locally increased, and another portion of the dust box 10 can be adapted to the main height of the cleaning robot, and the main body 20 can effectively protect the dust box 10, thereby avoiding the occurrence of problems such as damage to the dust box 10.

As an alternative embodiment of the present disclosure, the top end of the position determination device 21 is higher than the top end of the dust box 10 by 0.2mm to 10mm, which not only can ensure that the position determination device 21 triggers the obstacle first, but also can make the height of the dust box 10 relatively higher, which is beneficial to improving the dust collection capability.

In the disclosed embodiment, the dust box 10 is located behind the position determining device 21 in the cleaning running direction of the cleaning robot. 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, and 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 a part of the dust box 10 may be made larger than the top main plane 22 regardless of the interference of the position determining device 21 with the dust box 10, whereby the height of the dust box 10 may be further ensured.

The cleaning robot that this disclosed embodiment provided for cooperate with clean basic station, with the dust of discharging in it into clean basic station, cleaning robot includes: a dust storage chamber 11, the dust storage chamber 11 including an opening; the door body 12, the door body 12 is movably arranged relative to the dust storage cavity 11, in order to release or shelter from the opening; after the cleaning robot is in butt joint with the cleaning base station, the door body 12 can release the opening, so that the opening is communicated with a dust inlet of the cleaning base station.

The cleaning robot of the embodiment of the present disclosure is provided with the door body 12 through the opening at the dust storage cavity 11, and the door body 12 is movably arranged relative to the dust storage cavity 11, and after the cleaning robot is docked with the cleaning base station, the door body 12 can release the opening, so that the opening is communicated with the dust inlet of the cleaning base station, and the dust in the dust storage cavity 11 is discharged into the cleaning base station, thereby improving the dust exhaust efficiency of the cleaning robot, and improving the use performance of the cleaning robot.

The dust storage cavity 11 in the embodiment of the present disclosure may be formed by the main body 20, that is, a cavity is formed inside the main body 20, and the cavity is used for collecting dust, so as to be used as the dust storage cavity 11, and the door 12 may be disposed on the main body 20, so as to shield the opening of the dust storage cavity 11 and prevent dust from leaking, and when the dust in the dust storage cavity 11 is discharged, the door 12 may be opened to release the opening of the dust storage cavity 11, so as to discharge the dust in the dust storage cavity 11, for example, the dust in the dust storage cavity 11 is discharged into a clean base station.

The dust storage cavity 11 in the embodiment of the present disclosure may be formed by the dust box 10 on the main body 20, the dust box 10 is disposed on the main body 20, the dust box 10 and the main body 20 constitute a robot body, and the door 12 is disposed on the dust box 10, so as to release or shield an opening of the dust storage cavity 11.

The dust box 10 provided by the embodiment of the present disclosure includes a dust storage cavity 11, and the dust storage cavity 11 includes: a first chamber 111, the first chamber 111 comprising a waste inlet 1112; a second chamber 112, the second chamber 112 comprising an exhaust port 1123; a transition passage 113, the first chamber 111 communicating with the second chamber 112 through the transition passage 113.

Referring to fig. 7 to 16, the dust box 10 of the embodiment of the disclosure includes a first chamber 111 and a second chamber 112 which are independently disposed, and the first chamber 111 is communicated with the second chamber 112 through a transition passage 113, so that the primary separation of dust in the first chamber 111 can be achieved, thereby reducing the probability of the dust blocking the transition passage 113, and reliably achieving the collection of dust, so as to improve the dust collecting capability of the dust box 10.

Dust entering from the cleaning module 30 enters the first chamber 111 through the dust inlet 1112 for preliminary separation and enters the second chamber 112 through the transition passage 113, so that the dust is effectively recovered, and the filtered air is discharged out of the dust box 10 through the exhaust port 1123.

In the embodiment of the disclosure, the transition passage 113 is approximately tangent to the second chamber 112, so that the dust can be reliably introduced into the second chamber 112 from the transition passage 113, and the gas flow can be facilitated, thereby improving the flowability of the dust in the dust storage chamber 11 and improving the dust collecting capability of the dust box 10.

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

The cyclone separator 13 is arranged in the second chamber 112, and the gas entering the second chamber 112 tangentially can be separated into fine dust and gas through the cyclone separator 13, so that the cleanliness of the filter screen is ensured. The cyclone separator 13 may be a cyclone cone.

In the disclosed embodiment, the side wall of the transition passage 113 includes a curved surface, so that the dust can smoothly flow in the transition passage 113, thereby avoiding the problems of dust blockage and the like.

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 the airflow to pass through the transition channel 113 carrying dust can be relatively long, thereby avoiding the problem of blocking the transition channel 113 caused by accumulation of a large amount of dust.

It should be noted that the extending length of the transition channel 113 can be considered as the distance of the airflow flowing in the transition channel 113, and the first chamber 111 and the second chamber 112 are blocked by the wall surface of the dust box 10, so that the extending length of the transition channel 113 is greater than the minimum wall thickness between the first chamber 111 and the second chamber 112, which can avoid the problem of the transition channel 113 being blocked due to the dust accumulation.

In the embodiment of the present disclosure, the door 12 is rotatably disposed on the dust box 10, so that the door 12 can be conveniently released or shielded from the opening of the dust storage cavity 11.

The door 12 can be coupled to a drive mechanism to rotate the door 12 relative to the dust box 10. Or, after the cleaning robot is docked with the cleaning base station, the door 12 may drive the door 12 to open or close through the airflow generated by the fan assembly 40 of the cleaning robot. Or, after the cleaning robot is docked with the cleaning base station, the door body 12 may drive the door body 12 to open or close through the suction force generated by the power assembly of the cleaning base station.

As an alternative embodiment of the present disclosure, the door 12 is movably disposed relative to the dust box 10, and the door 12 can be driven by a driving mechanism, so as to achieve the horizontal movement of the door 12, for example, the driving mechanism can be an electric push rod, and the door 12 is driven by the electric push rod to horizontally move relative to the dust box 10.

In the disclosed embodiment, at least a portion 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 communicated with the dust inlet, so that the dust in the dust box 10 can be conveniently discharged into the cleaning base station.

After the door body 12 releases the opening, a part of the door body 12 can stretch into the inner side of the dust inlet for storage, so that the opening of the dust storage cavity 11 is reliably butted with the dust inlet, and dust can be effectively collected into the cleaning base station.

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

In the embodiment of the disclosure, as shown in fig. 11 to 13, the dust storage cavity 11 includes a first cavity 111 and a second cavity 112, and the door 12 selectively releases the first cavity 111 and the second cavity 112, so that the first cavity 111 and the second cavity 112 can be selectively communicated with the dust inlet, thereby realizing the staged discharge of dust in the dust storage cavity 11, avoiding the problems of blockage and the like when a large amount of dust is discharged, and improving the dust collection efficiency.

The first chamber 111 and the second chamber 112 may be independently disposed, so that dust may be stored in both the first chamber 111 and the second chamber 112, but the dust in the first chamber 111 and the second chamber 112 may be dust in different stages, for example, during a cleaning process of a cleaning robot, the dust first enters the first chamber 111, and then a part of the dust enters the second chamber 112, and therefore, the sizes of dust particles in the first chamber 111 and the second chamber 112 may not be the same.

As an alternative embodiment of the present disclosure, the door 12 may be one, and the door 12 is movably disposed relative to the dust box 10, so that the door 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 9, the door body 12 includes a first door body 121 and a second door body 122, the first door body 121 and the second door body 122 are separated, and the first door body 121 and the second door body 122 respectively correspond to the first chamber 111 and the second chamber 112, so that the first chamber 111 and the second chamber 112 can be conveniently released by respectively opening the first door body 121 and the second door body 122.

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

In the disclosed embodiment, as shown in fig. 12, the dust box 10 further includes a cyclonic separator 13, the cyclonic separator 13 being disposed within the second chamber 112. It should be noted that the cyclone separator 13 may be a cyclone separator known in the related art, the working principle of the cyclone separator is that the cyclone separator depends on the rotational motion caused by the tangential introduction of the gas flow, and the centrifugal force is much larger than the gravity when the particles rotate at high speed in the gas flow, and the centrifugal settling velocity obtained by the particles is also larger because of the larger velocity, when the particles containing solid state enter the conical cylinder along the direction of the gas autotangent line and rotate in the cylinder, at this time, the gas flow collides with the wall of the cylinder, the particles collide with the wall of the cylinder and rotate and descend, thereby achieving the purpose of separating the solid from the gas.

As shown in fig. 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 having a cone shape with a large upper end and a small lower end, and respectively distributed around the axis of the secondary separation cyclone 132. The dust separation efficiency of the secondary separation cyclone is improved due to the arrangement of the plurality of sets of cyclone separators, and the dust storage capacity of the cleaning base station is further improved. The number of the secondary cyclone separators can be nine, twelve and fifteen, and the separation efficiency is higher when the number is larger.

The periphery of the secondary separation cyclone 132 is a separation screen 133. The outer surface of the primary cyclone 131, the inner surface of the dust box 10 and the outer surface of the separation screen 133 form a primary cyclone together, the air separated by the primary cyclone separates larger particulate garbage from the airflow and falls to the outside of the primary cyclone 131, and the separation screen 133 is used for passing the airflow which enters the secondary cyclone 132 after the primary cyclone is separated. The separation filter screen 133 preferably adopts a metal filter screen, so that the service life can be prolonged, and the filtering effect can be improved. The separation filter screen 133 is an annular screen, and the support frame of the first-stage separation cyclone 131 is used for erecting the bottom of the separation filter screen 133. The particulate garbage filtered by the separation screen 133 is collected under the support frame of the primary separation cyclone 131, and the outer edge of the support frame of the primary separation cyclone 131 may extend downward to form a skirt shape, preventing the particulate garbage separated by the primary cyclone from moving upward. Each secondary separating cyclone 132 forms a cyclone for gas-solid separation, and the separated solid particle garbage falls into the inner side of the primary separating cyclone 131.

In the embodiment of the present disclosure, as shown in fig. 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 which are separated, the second opening 1121 communicates with a portion of the second chamber 112 located outside the cyclone separator 13, and the third opening 1122 communicates with a portion of the second chamber 112 located inside the cyclone separator 13; wherein the first door member 121 releases or blocks the first opening 1111, and the second door member 122 releases or blocks the second opening 1121 and the third opening 1122 simultaneously.

The dust is introduced into the second chamber 112 from the first chamber 111, and the dust passing through the cyclone separator 13 is introduced into the inner side of the primary separating cyclone 131, and the dust in the first chamber 111 can be discharged after the first door member 121 is released from the first opening 1111. And the second door member 122 may release the second opening 1121 and the third opening 1122 at the same time, so that the dust in the second chamber 112 may be discharged, that is, the dust falling to the outside of the one-stage separation cyclone 131 and the dust falling to the inside of the one-stage separation cyclone 131 may be discharged through the second opening 1121 and the third opening 1122, respectively. The dust may include solid garbage, the primary separation cyclone 131 may separate coarse particles, and the secondary separation cyclone 132 may separate fine particles, thereby securing the separation effect of the cyclone separator 13.

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

In the embodiment of the present disclosure, the dust storage cavity 11 includes a first cavity 111 and a second cavity 112, the first cavity 111 and the second cavity 112 include a first opening 1111 and a second opening 1121, respectively, the door 12 includes a first door body 121 and a second door body 122, and the first door body 121 and the second door body 122 correspond to the first opening 1111 and the second opening 1121, respectively, to release or shield the first opening 1111 and the second opening 1121, so that when the cleaning robot is separated from the cleaning base station, the first door body 121 and the second door body 122 can shield the first opening 1111 and the second opening 1121, and dust is prevented from flowing out of the dust storage cavity 11. For example, it is necessary to ensure that the first and

second door pieces

121 and 122 can block the first and

second openings

1111 and 1121 during cleaning by the cleaning robot.

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

As an alternative 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 8, the dust box 10 further includes: a base 14; the bottom cover 15, the bottom cover 15 are disposed on the base 14, the first chamber 111 and the second chamber 112 are formed by the bottom cover 15 and the base 14, and the door 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 attached to the main body 20 to achieve a fixed connection of the dust box 10 to 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 first chamber 111 and a second chamber 112 which are closed, and a transition passage 113 is formed inside the base 14 for communicating the first chamber 111 with the second chamber 112.

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

The base 14 may be a unitary structure, i.e., the bottom opening of the base 14 may be closed by a bottom cover 15. Alternatively, the base 14 may include a body structure and a top cover, with the top and bottom covers 15 being disposed opposite each other, and the top and bottom covers 15 may close the top and bottom openings of the base 14, respectively.

As shown in fig. 8 to 11, a first opening 1111, a second opening 1121 and a third opening 1122 are formed in the bottom cover 15, so that the first door member 121 releases or blocks the first opening 1111 and the second door member 122 releases or blocks the second opening 1121 and the third opening 1122 at the same time.

In the present embodiment, the first and second

door body pieces

121 and 122 are rotatably provided on the bottom cover 15. For example, after the cleaning robot returns to the cleaning base station and the door 12 is abutted to the dust inlet of the cleaning base station, the first door member 121 and/or the second door member 122 rotates relative to the bottom cover 15, so that the first opening 1111 and/or the second opening 1121 and the third opening 1122 can be released.

In the disclosed embodiment, the bottom cover 15 is detachably provided on the base 14, so that cleaning or maintenance of the inside of the base 14 can be achieved. After the bottom cover 15 is removed from the base 14, the space inside the base 14 may be released to allow for dust cleaning, and maintenance cleaning of the components inside the base 14, for example, the cyclone 13 in the second chamber 112, may be performed.

The bottom cover 15 may be snap-fitted to the base 14. The bottom cover 15 may be connected with the base 14 through a structural member.

In the embodiment of the present disclosure, as shown in fig. 7 and 17, the dust box further includes a locking member 16, and the locking member 16 is disposed on the base 14 and is movably disposed relative to the bottom cover 15 to disengage from or connect with the bottom cover 15, 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 fastening portion 162, and a second fastening portion 163, two sides of the toggle portion 161 are respectively connected to the first fastening portion 162 and the second fastening portion 163, the toggle portion 161 is movably disposed on the base 14, and a portion of the toggle portion 161 is exposed outside the base 14, so that the first fastening portion 162 and the second fastening portion 163 can be driven by the toggle portion 161 to move relative to the bottom cover 15, when the first fastening portion 162 and the second fastening portion 163 are connected to the bottom cover 15, the bottom cover 15 is fixed on the base 14, and after the first fastening portion 162 and the second fastening portion 163 are separated 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 integrally taken down from the base 14, or the bottom cover 15 can be hinged to the base 14, and after the first clamping portion 162 and the second clamping portion 163 are separated from the bottom cover 15, 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 disclosed embodiment, the dust box 10 is detachably provided on the main body 20, so that the dust box 10 can be easily cleaned or maintained.

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 perform adaptive adjustment on the specific structure of the dust box 10, facilitates the arrangement of the dust box 10, and can meet the capability of the dust box 10 for collecting dust maximally.

In the embodiment of the present disclosure, as shown in fig. 7 and 8, the base 14 is provided with an avoiding space 141, and the avoiding space 141 is disposed adjacent to the bottom cover 15, so that the hand-clasping space can be avoided, a hand is not directly contacted with the bottom cover 15, and the operation is convenient when the dust box 10 is mounted or dismounted.

In the embodiment of the present disclosure, as shown in fig. 10, the rolling part 151 is provided on the bottom cover 15, so that excessive wear of the bottom cover 15 can be prevented, and the rolling part 151 can reduce contact resistance of the bottom cover 15 with the ground or a clean base station. The rolling part 151 is rotatably provided 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 be brought into contact with a surface or a cleaning base station, thereby reducing contact resistance.

The rolling part 151 may be a wheel, and the rolling part 151 may be one or more.

As an alternative embodiment of the present disclosure, the bottom cover 15 may be fixed to the base 14, and further, the bottom cover 15 may not be detachable from the base 14.

As an alternative embodiment of the present disclosure, the dust box 10 may be fixed to the main body 20, and further, the dust box 10 may not be detachable from the main body 20.

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

In the cleaning robot provided by the embodiment of the present disclosure, the cleaning module 30 is disposed on the main body 20, and the cleaning module 30 cleans a surface to be cleaned.

In the disclosed embodiment, the cleaning module 30 may be a dry cleaning module, the dry cleaning system may include a roller brush. The roller brush, which has some interference with the floor, sweeps and rolls the debris on the floor in front of the debris inlet 1112 between the roller brush and the dust box 10, and then is drawn into the dust box 10 by the suction air generated by the fan assembly 40 and passing through the dust box 10. The Dust removing capability of the cleaning robot can be represented by the cleaning efficiency (DPU) of the garbage, and the cleaning efficiency DPU is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by the garbage inlet 1112, the Dust box 10, the fan 41, the air outlet and connecting parts among the four, the type and the power of the fan, and the cleaning robot is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability has greater significance for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 180 square meters or more by charging once. And the service life of the battery with reduced charging times is greatly increased, so that the frequency of replacing the battery by a user is reduced. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The cleaning robot may also include an edge brush 37 having an axis of rotation that is angled relative to the floor for moving debris into the brush roll area of the cleaning system.

As an alternative 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, and the cleaning module 30 further includes a liquid supply portion, the liquid supply portion sends a cleaning liquid into the wet cleaning head, so that the wet cleaning head performs wet cleaning on a plane to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid supply portion may also be directly sprayed to the plane to be cleaned, and the wet cleaning head cleans the plane by uniformly smearing the cleaning liquid. For example, the wet cleaning module may be assembled to other kinds of cleaning apparatuses, which is not limited in the present disclosure.

Wherein the cleaning head is for cleaning a surface to be cleaned and the drive system 50 is for driving the cleaning head in a substantially reciprocating motion along a target surface, which is a portion of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head and the surface to be cleaned, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed. The cleaning head may be a floor brush.

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

The reciprocating motion may be a reciprocating motion in any one or more directions within the surface to be cleaned, or may be a vibration perpendicular to the surface to be cleaned, which is not strictly limited. Alternatively, the reciprocating direction of the cleaning module is approximately perpendicular to the machine traveling direction, because the reciprocating direction parallel to the machine traveling direction can cause instability to the traveling machine itself, because the driving wheels can easily slip due to thrust and resistance in the traveling direction, the effect of the slip is more obvious when the wet cleaning module is included, because the possibility of the slip is increased due to the wet slip of the surface to be cleaned, and the slip can affect the smooth traveling cleaning of the machine, and can cause inaccurate distance measurement of sensors such as a speedometer and a gyroscope, so that the navigation type automatic cleaning equipment cannot be accurately positioned and mapped, and in the case of frequent slip, the effect on the SLAM cannot be ignored, so that the machine behavior of the slip needs to be avoided as much as possible. In addition to slippage, the component of the cleaning head motion in the direction of machine travel causes the machine to be constantly propelled forward and backward while traveling, and thus the machine travels erratically and smoothly.

Referring to fig. 4 to 6, in the cleaning robot according to the embodiment of the present disclosure, at least a portion of the cleaning module 30 is movably disposed up and down with respect to the main body 20, the dust box 10 is communicated with the cleaning module 30, and the cyclone separator 13 is disposed in the dust box 10, so that reliable cleaning of the surface to be cleaned by the cleaning module 30 is achieved by communicating the fan assembly 40 with the dust box 10. Since at least part of the cleaning module 30 is movably disposed up and down relative to the main body 20, and the cyclone separator 13 is disposed, the current of the cleaning robot is not too large during the cleaning process, and the cleaning time of the cleaning robot can be increased.

It should be noted that, the cyclone separator 13 has a large air volume and a high negative pressure, and when the cleaning robot is used for cleaning a carpet, the cleaning module 30 is at least partially movably disposed up and down relative to the main body 20, so that the current of the cleaning module 30 can be reduced, the burden of the cleaning module 30 can be reduced, and the cleaning robot can clean the carpet more permanently.

In the embodiment of the present disclosure, the cleaning robot further includes a lifting structure, the lifting structure is connected to the cleaning module 30, the lifting structure is configured to enable at least a portion of the cleaning module 30 to move up and down relative to the main body 20. In practice, the lifting structure can be connected to the cleaning module 30 alone to move the cleaning module 30 up and down relative to the main body 20, or can be provided with additional power equipment to enable the lifting structure to achieve the capability of actively lifting or lowering, so that at least part of the cleaning module 30 can be actively lifted or lowered relative to the main body 20.

As an alternative embodiment of the present disclosure, the lifting structure may be a resilient member such that at least a portion of the cleaning module 30 may be passively raised or lowered.

In the embodiment of the present disclosure, as shown in fig. 20A and 21, the cleaning module 30 includes: a cleaning cover 31; a rolling brush provided in the cleaning cover 31; wherein, elevation structure is connected with clean cover 31 to can drive the round brush and reciprocate, with this guarantee that the round brush can reliably clean the surface of treating to clean, and can adapt to different surfaces of treating to clean.

The elevation structure may be connected to the main body 20, the elevation structure may be connected to the cleaning cover 31, and the drum brush may be connected to the cleaning cover 31, so that the elevation structure drives the drum brush to move up and down with respect to the main body 20 through the cleaning cover 31.

In the embodiment of the present disclosure, as shown in fig. 20D and 20E, the lifting structure includes: a first connection member 60, both ends of the first connection member 60 being connected to the main body 20 and the cleaning cover 31, respectively; and a second connecting assembly 70, wherein the second connecting assembly 70 is spaced apart from the first connecting assembly 60, and both ends of the second connecting assembly 70 are respectively connected with the main body 20 and the cleaning cover 31. The first and

second coupling members

60 and 70 can securely couple the cleaning cover 31 to the main body 20, and can keep the cleaning module 30 pressed down by its own weight, and can lift up and down the cleaning module 30 when the surface to be cleaned is uneven, thereby ensuring the cleaning performance of the cleaning module 30.

In the disclosed embodiment, as shown in fig. 20D and 20E, the first connecting assembly 60 includes a first link 61 and a second link 62, the first link 61 and the second link 62 are parallel, and both ends of the first link 61 and the second link 62 are respectively hinged to the main body 20 and the cleaning cover 31; the second connecting assembly 70 comprises a third connecting rod 71 and a fourth connecting rod 72, the third connecting rod 71 and the fourth connecting rod 72 are parallel, and two ends of the third connecting rod 71 and two ends of the fourth connecting rod 72 are respectively hinged on the main body 20 and the cleaning cover 31; wherein the first link 61 and the third link 71 are parallel. The lifting structure is a four-bar mechanism, and the cleaning module 30 can be lifted up and down through the four-bar mechanism, so that the cleaning performance of the cleaning module 30 is guaranteed, the limitation on the degree of freedom of the cleaning module 30 can be realized, and the cleaning module 30 is guaranteed to move as required.

In an embodiment of the present disclosure, the main body 20 may be provided with the protective cover 28, the cleaning module 30 may be provided in the protective cover 28, and the first and

second connection assemblies

60 and 70 are connected to the protective cover 28, as shown in fig. 20D. The boot 28 is removably attached to the body 20.

As an alternative embodiment of the present disclosure, the lifting structure may be connected to the main body 20, and the lifting structure may be connected to 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, and at this time, the cleaning cover 31 may be fixedly connected to the main body 20. Alternatively, the cleaning cover 31 may be fixedly connected to the main body 20, the lifting structure may be connected to the cleaning cover 31, and the lifting structure may be connected to the roller brush, so that the lifting structure can drive the roller brush to move up and down, i.e., the roller brush can move up and down relative to the cleaning cover 31.

The elevating structure may include: a first connecting assembly 60, wherein two ends of the first connecting assembly 60 are respectively connected with the rolling brush and the cleaning cover 31; the second connecting assembly 70, the second connecting assembly 70 is arranged at intervals with the first connecting assembly 60, and both ends of the second connecting assembly 70 are respectively connected with the rolling brush and the cleaning cover 31; wherein the cleaning cover 31 is fixedly coupled to the main body 20. The first connecting assembly 60 and the second connecting assembly 70 can reliably connect the roller brush to the cleaning cover 31, and can keep the roller brush pressed down under the action of the self weight, and when the surface to be cleaned is uneven, the roller brush can be lifted up and down, so that the cleaning performance of the cleaning module 30 can be ensured.

The first coupling assembly 60 is connected to the roll brush via the drive structure 36; the second connecting assembly 70 is connected with the roller brush through the driving structure 36, that is, the first connecting assembly 60 and the second connecting assembly 70 are both connected with the driving structure 36, and the driving structure 36 is connected with the roller brush, so that the roller brush and the driving structure 36 can be kept pressed down under the action of the self weight, and the roller brush can be lifted up and down when the surface to be cleaned is uneven, thereby ensuring the cleaning performance of the cleaning module 30.

The first and second connecting

members

60 and 70 of this embodiment may be similar in construction to those shown in fig. 20D and 20E, except for the location of the connections.

In the embodiment of the disclosure, the rolling brush realizes the cleaning of the surface to be cleaned through rotation. The cyclone separator 13 has large air volume and high negative pressure, and when the cleaning robot cleans the carpet, at least part of the cleaning module 30 is movably arranged up and down relative to the main body 20, so that the driving current of the rolling brush can be reduced, the load of the rolling brush driving is lightened, and the cleaning robot can clean the carpet more durably.

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

In the embodiment of the present disclosure, the number of the rolling brushes is multiple, and the power portion 361 drives the multiple rolling brushes to rotate synchronously through the transmission assembly, so that the number of the power portion 361 can be reduced, and the multiple rolling brushes can be ensured to be cleaned synchronously, thereby improving the cleaning capability of the cleaning robot.

In the disclosed embodiment, as shown in fig. 20A, 22 and 23, the cleaning cover 31 has a mounting cavity 311, and the mounting cavity 311 may include a main duct 3111 and a sub-duct 3112.

Referring to fig. 22 and 23, in the cleaning robot according to 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 is communicated with the dust storage cavity 11, and the rolling brush is disposed in the main air duct 3111, so that at least a portion of the auxiliary air duct 3112 is disposed in an idle manner, so that dust entering the cleaning cover 31 can enter the dust storage cavity 11 through the auxiliary air duct 3112, and the dust is prevented from being blocked on the rolling brush in a large amount, thereby ensuring the cleaning capability of the cleaning robot.

It should be noted that, the cleaning cover 31 is provided with the main duct 3111 and the auxiliary duct 3112, the rolling brush is disposed in the main duct 3111, and at least a part of the auxiliary duct 3112 is disposed in a free manner, so that the garbage can move through the auxiliary duct 3112, and the garbage is not easily stuck on the rolling brush.

In the embodiment of the present disclosure, the main duct 3111 and the sub-duct 3112 are arranged along the width direction of the cleaning cover 31, so that the length of the roller brush in the main duct 3111 can be ensured, thereby ensuring the cleaning area of the roller brush.

As an alternative embodiment of the present disclosure, the main duct 3111 and the sub duct 3112 may be arranged along a length direction of the cleaning cover 31.

In the disclosed embodiment, the volume of the main duct 3111 is greater than that of the sub-duct 3112, so that the roll brush can be effectively accommodated, and the volume of the cleaning cover 31 can be prevented from being excessively large, on the basis of ensuring the cleaning capability of the cleaning robot, the cleaning module 30 can be prevented from occupying too large space of the cleaning robot.

The cleaning robot provided by the embodiment of the present disclosure, the cleaning module 30 includes the air duct opening 312, the cleaning module 30 is communicated with the dust storage cavity 11 through the air duct opening 312, and the air duct opening 312 is arranged at the center position deviated from the length direction of the cleaning module 30, so that the cleaning module 30 can discharge dust into the dust storage cavity 11 in time, and the dust is prevented from being blocked so as to improve the cleaning capability 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 duct opening 312, and the auxiliary air duct 3112 is communicated with the dust storage cavity 11 through the air duct opening 312; wherein, the air duct opening 312 is arranged at the center position deviating from the length direction of the cleaning cover 31, thereby avoiding the dust from being blocked and ensuring the cleaning capability of the cleaning robot.

The air duct opening 312 may be connected to the dust inlet 1112 of the dust box 10.

In the embodiment of the present disclosure, along the length direction of the cleaning cover 31, the minimum vertical distance between the air duct opening 312 and the center position of the cleaning cover 31 is greater than the minimum vertical distance between the air duct opening 312 and the inner wall of the cleaning cover 31, so that the air duct opening 312 may be shifted from the center position of the cleaning cover 31 as much as possible, thereby ensuring that dust can be reliably discharged.

As an alternative embodiment of the present disclosure, the air duct opening 312 may be provided at a central position in the lengthwise direction of the cleaning cover 31.

In the embodiment of the present disclosure, as shown in fig. 22 and 23, the auxiliary duct 3112 includes a first duct section 3113 and a second duct section 3114, the first duct section 3113 and the second duct section 3114 are disposed along the length direction of the cleaning cover 31, and one end of the second duct section 3114 far from the first duct section 3113 is communicated with the duct opening 312, so that the duct opening 312 is disposed at a position deviated from the center 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 disposed along the length direction of the cleaning cover 31, and it is important that the sub-air duct 3112 extends along the length direction of the cleaning cover 31, and along the length direction of the cleaning cover 31, the sub-air duct 3112 can be divided into the first air duct section 3113 and the second air duct section 3114, and one end of the second air duct section 3114 far from the first air duct section 3113 is communicated with the air duct opening 312, that is, the air duct opening 312 is substantially located at the end side of the sub-air duct 3112, so as to ensure that the air duct opening 312 is disposed at a position deviated from the center of the length direction of the cleaning cover 31.

In this embodiment, the extending direction of the first air duct section 3113 is not parallel to the extending direction of the second air duct section 3114, the flowing direction of the air in the first air duct section 3113 is the extending direction of the first air duct section 3113, the extending direction of the first air duct section 3113 may be the length direction of the cleaning cover 31, the flowing direction of the air in the second air duct section 3114 is the extending direction of the second air duct section 3114, and the extending direction of the second air duct section 3114 may deviate from the length direction of the cleaning cover 31, so that the flowing direction of the air flow in the auxiliary air duct 3112 is a bent passage, and on the basis of ensuring that the dust is reliably discharged into the dust box 10, the arrangement of the air ducts may be more reasonable.

In the disclosed embodiment, the extending direction of the first air channel section 3113 and the extending direction of the second air channel section 3114 may be substantially perpendicular, i.e. the second air channel section 3114 forms an air channel section protruding the first air channel section 3113.

As an alternative embodiment of the present disclosure, the extending direction of the first air duct section 3113 and the extending direction of the second air duct section 3114 are coincident, 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 disclosure, the first air duct section 3113 and the second air duct section 3114 are in arc transition, so that dust can be smoothly introduced into the second air duct section 3114 from the first air duct section 3113, and the dust discharging capability of the auxiliary air duct 3112 is improved.

As an alternative embodiment of the present disclosure, there may be a right angle transition between the first duct section 3113 and the second duct section 3114.

In the embodiment of the disclosure, there are at least two main air ducts 3111, and the auxiliary air duct 3112 is located between adjacent main air ducts 3111, so that dust in the main air duct 3111 can reliably enter the auxiliary air duct 3112, and thus dust in the auxiliary air duct 3112 can enter 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, one auxiliary air duct 3112 is provided 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, a portion of the main duct 3111 is disposed along the length direction of the cleaning cover 31 in an idle manner, so that dust on the roller brush can enter the sub-duct 3112 from the idle position of the main duct 3111 to be discharged, thereby improving the cleaning capability of the cleaning robot.

As an alternative embodiment of the present disclosure, the length of the main duct 3111 corresponds to the length of the roll brush along the length direction of the cleaning cover 31.

In this case, the longitudinal direction of the cleaning cover 31 may be considered to be parallel to the lateral axis of the cleaning robot. The width direction of the cleaning hood 31 may be considered to be parallel to the longitudinal axis of the cleaning robot.

As an optional embodiment of the disclosure, a preset included angle is formed between the transverse shaft of the cleaning robot and the rolling brush, so that when the cleaning robot transversely passes through ground environments such as ceramic tile ground seams and the like, the probability that the rolling brush is clamped by the ground seams is reduced, the cleaning efficiency of the cleaning robot is improved, and the use performance of the cleaning robot is improved. The preset included angle between the transverse shaft and the rolling brush can be an acute angle, and the range of the preset included angle can be 5-70 degrees.

The cleaning module 30 may include a roller brush including a cantilever structure, which is a tapered structure. The first end of the cone-shaped structure is connected to the cleaning cover 31, the second end of the cone-shaped structure is a cantilever end, and the diameter of the first end is larger than that of the second end.

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

The first and second roll brushes 32 and 33 of the first cleaning group are formed with a first gap, and the third and fourth roll brushes 34 and 35 of the second cleaning group are formed with a second gap. The first and second rolling brushes 32 and 33 may be arranged along a length direction of the cleaning cover 31, the third and fourth rolling brushes 34 and 35 may be arranged along a length direction of the cleaning cover 31, the first and second cleaning groups may be arranged along a width direction of the cleaning cover 31, and the first and second gaps may be arranged along a width direction of the cleaning cover 31.

As an alternative embodiment of the present disclosure, the first and second rolling brushes 32 and 33 may be arranged along the width direction of the cleaning cover 31, the third and fourth rolling brushes 34 and 35 may be arranged along the width direction of the cleaning cover 31, the first and second cleaning groups may be arranged along the length direction of the cleaning cover 31, and the first and second gaps may be arranged along the length direction of the cleaning cover 31.

In the disclosed embodiment, the roll brushes may include a first roll brush 32, a second roll brush 33, a third roll brush 34, and a fourth roll brush 35.

The second rolling brush 33 is arranged at an interval with the first rolling brush 32; wherein, the second round brush 33 and the first round brush 32 are arranged along the length direction of the cleaning cover 31, so that a first gap is formed between the second round brush 33 and the first round brush 32, and the first gap can facilitate dust to enter the auxiliary air duct 3112, thereby ensuring the cleaning capability of the first round brush 32 and the second round brush 33, and enabling the dust on the first round brush 32 and the second round brush 33 to be discharged in time.

The third rolling brush 34 and the first rolling brush 32 are provided in the width direction of the cleaning cover 31; the fourth rolling brush 35 and the third rolling brush 34 are arranged at intervals along the length direction of the cleaning cover 31, and the second rolling brush 33 and the second rolling brush are arranged along the width direction of the cleaning cover 31, so that two rows of rolling brushes are formed in the cleaning cover 31, and the cleaning capability of the cleaning module 30 is provided.

The fourth round brush 35 and the third round brush 34 are arranged at intervals along the length direction of the cleaning cover 31, so that a second gap is formed between the fourth round brush 35 and the third round brush 34, the second gap can facilitate dust to enter the auxiliary air duct 3112, the cleaning capability of the fourth round brush 35 and the third round brush 34 is ensured, and the dust on the fourth round brush 35 and the third round brush 34 can be discharged in time.

As an alternative embodiment of the present disclosure, the first and second rolling brushes 32 and 33 may have a tapered structure, and the third and fourth rolling brushes 34 and 35 may have a cylindrical structure, and the tapered structure may be used to wind the hair, and the cylindrical structure has a better cleaning effect and may reduce the cost. The first and second round brushes 32 and 33 may have a cylindrical structure, and the third and fourth round brushes 34 and 35 may have a tapered structure.

As an alternative embodiment of the present disclosure, the first, second, third, and fourth roll brushes 32, 33, 34 are all of a tapered structure or are all of a cylindrical structure.

In the embodiment of the present disclosure, the third rolling brush 34 and the first rolling brush 32 may contact each other in the width direction of the cleaning cover 31, and the third rolling brush 34 and the first rolling brush 32 may be at least point-contacted, thereby improving the cleaning ability of the third rolling brush 34 and the first rolling brush 32.

In the embodiment of the present disclosure, the fourth rolling brush 35 and the second rolling brush 33 may contact each other in the width direction of the cleaning cover 31, and the fourth rolling brush 35 and the second rolling brush 33 may be at least point-contacted, thereby improving the cleaning ability of the fourth rolling brush 35 and the second rolling brush 33.

The circumferential direction of the roller brush comprises blades which are used to achieve cleaning. The first, second, third and fourth rolling brushes 32, 33, 34 and 35 are arranged such that the rear rolling brush can improve the cleaning ability by increasing the linear contact speed and contact time of the blade and the carpet during the cleaning process of the cleaning robot. Compared with the single-group brush in the related art, the present disclosure includes the roller brush located at the rear, and the opposite rotation direction of the roller brush relative to the front can drive the sundries such as the hair to move forward, thereby improving the cleaning effect of the carpet.

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 included angle may be formed between the end of the second rolling brush 33 and the end of the first rolling brush 32, thereby facilitating dust discharge.

The axis of the fourth rolling brush 35 is not parallel to the axis of the third rolling brush 34, so that an included angle may be formed between the end of the fourth rolling brush 35 and the end of the third rolling brush 34, thereby facilitating the discharge of dust.

An included angle formed between the end part of the second rolling brush 33 and the end part of the first rolling brush 32 and an included angle formed between the end part of the fourth rolling brush 35 and the end part of the third rolling brush 34 are arranged oppositely, so that the problem of cleaning and sweeping missing of the rolling brushes can be avoided on the basis of facilitating dust discharge.

In the embodiment of the present disclosure, as shown in fig. 20A, a first gap 38 is formed between the second rolling brush 33 and the first rolling brush 32, a second gap 39 is formed between the fourth rolling brush 35 and the third rolling brush 34, and the first gap 38 and the second gap 39 are arranged in a staggered manner, so that the first rolling brush 32, the second rolling brush 33, the third rolling brush 34, and the fourth rolling brush 35 can form a closed cleaning space in the cleaning process, the problem of missing cleaning is avoided, and dust can 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 smaller than that of the second rolling brush 33, and the length of the third rolling brush 34 is greater than that of the fourth rolling brush 35, so that a first gap may be formed between the second rolling brush 33 and the first rolling brush 32, and a second gap may be formed between the fourth rolling brush 35 and the third rolling brush 34, and the first gap and the second gap are alternately disposed.

As an optional embodiment of the present disclosure, a first gap is formed between the second 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 may be oppositely disposed, but an included angle formed between the end of the second rolling brush 33 and the end of the first rolling brush 32 and an included angle formed between the end of the fourth rolling brush 35 and the end of the third rolling brush 34 are oppositely disposed, so that on the basis of facilitating dust discharge, the problem of cleaning and missing sweeping of the rolling brushes can be avoided.

As an alternative 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 may be oppositely disposed by forming an included angle between the end of the second rolling brush 33 and the end of the first rolling brush 32 and an included angle 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, so that dust can be conveniently separated from the rolling brush on the basis of ensuring that the rolling brush can be reliably cleaned.

In the embodiment of the present disclosure, the first end of the cone-shaped structure is connected to the cleaning cover 31, and the second end of the cone-shaped structure is a cantilever end, so that a gap can be formed between adjacent cone-shaped structures, thereby ensuring that dust can be conveniently separated from the rolling brush, and dust can enter the auxiliary 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 that it can be ensured that the rolling brushes rapidly clean the surface to be cleaned, and the cleaning capability of the cleaning module 30 is improved.

In the embodiment of the present disclosure, the first and second roll brushes 32 and 33 are disposed in one main air duct 3111, and the third and fourth roll brushes 34 and 35 are disposed in the other main air duct 3111, with a sub-air duct 3112 between the two main air ducts 3111.

The first and second round brushes 32 and 33 rotate in the opposite direction to the third and fourth round brushes 34 and 35, so that dust can be rapidly collected in the cleaning module 30, and thus the dust can be introduced into the dust box 10 through the sub-duct 3112.

As an alternative embodiment of the present disclosure, the rotation directions of the first and second roll brushes 32 and 33 are the same as the rotation directions of the third and fourth roll brushes 34 and 35.

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

As shown in fig. 20F, the embodiment of the present invention provides an air path device, which includes a cleaning module 30, a dust storage cavity 11 and a dust collection air duct 73, wherein the cleaning module 30 includes a cleaning cover 31, and it can be understood that the cleaning module 30 further includes a roller brush, and the roller brush is disposed in the cleaning cover 31. The dust storage cavity 11 may be a dust storage cavity 11 formed by the dust box 10, or may be a dust storage cavity 11 formed by the machine main body 20. The dust collection air duct 73 is communicated with the cleaning cover 31 and the dust storage cavity 11, the dust collection air duct 73 comprises an air inlet end and an air outlet end 733 which are communicated, the air inlet end is connected with the cleaning cover 31, and the air outlet end 733 is connected with the dust storage cavity 11. That is, in the present invention, the air flows to the external environment through the cleaning cover 31 of the cleaning module 30, the dust suction duct 73, and the dust storage chamber 11 to form an air path device. Through the third wind channel 731 for the horizontal plane slope setting, utilize the dust absorption wind channel 73 that the slope set up for the air current that flows out through clean cover 31 shunts in the dust absorption wind channel 73 for the horizontal plane slope sets up, can reduce the noise that the air current produced, and then reduces the noise that produces in the cleaning robot working process, improves user's comfort level.

The dust suction duct 73 is inclined with respect to the horizontal plane, and the dust suction duct 73 may be inclined upward with respect to the horizontal plane from a side close to the cleaning cover 31 to a side away from the cleaning cover 31, or the dust suction duct 73 may be inclined downward with respect to the horizontal plane from a side close to the cleaning cover 31 to a side away from the cleaning cover 31. Specifically, the cleaning cover 31 is provided with the air duct opening 312, the air duct opening 312 is communicated with the dust collection air duct 73, when air is discharged through the air duct opening 312 of the cleaning cover 31, part of the air flow can act on the inner wall of the dust collection air duct 73 opposite to the air duct opening 312, and as the dust collection air duct 73 is obliquely arranged relative to the horizontal plane, that is, the inner wall of the dust collection air duct 73 opposite to the air duct opening 312 is obliquely arranged relative to the horizontal plane, in this way, the air flow can be divided after acting on the inner wall of the dust collection air duct 73 opposite to the air duct opening 312, and the purpose of reducing the air flow noise is further achieved.

The utility model provides an air path device, as shown in 20F, dust absorption wind channel 73 is including the third wind channel 731 and the fourth wind channel 732 that are linked together, wherein, wind channel opening 312 has been seted up to clean cover 31, third wind channel 731 is connected with clean cover 31 through wind channel opening 312, fourth wind channel 732 is connected with dust storage cavity 11, wherein, third wind channel 731 sets up or sets up perpendicularly for wind channel opening 312 slope, like this, after gaseous wind channel opening 312 through clean cover 31 discharges, can shunt through the third wind channel 731 for horizontal plane slope setting, then flow into dust storage cavity 11 through fourth wind channel 732, with the purpose of realizing the gas circulation and making an uproar.

The dust collection duct 73 includes a third duct 731 and a fourth duct 732, so that the third duct 731 can be disposed obliquely or vertically with respect to the duct opening 312, and then the structure of the fourth duct 732 is reasonably disposed according to the connection position of the third duct 731 and the dust storage chamber 11, so as to connect the third duct 731 and the dust storage chamber 11, thereby realizing the communication between the cleaning cover 31 and the dust storage chamber 11. The fourth air duct 732 is arranged to enable the third air duct 731 and the dust storage chamber 11 to be communicated in a transition manner under the condition that the third air duct 731 and the cleaning cover 31 have enough inclination angles to reduce airflow noise, so that the overall height of the dust collection air duct 73 is reduced, and the design requirements of the cleaning machine for small size and compact structure are met.

Further, the included angle between the third air chute 731 and the air chute opening 312 may be less than 90 °, equal to 90 °, and greater than 90 ° to meet the requirement that the third air chute 731 be disposed in different directions with respect to the air chute opening 312. Specifically, the contained angle between third wind channel 731 and wind channel opening 312 can set up to be greater than 90, can ensure like this that the air current that flows through clean cover 31 is quick, smooth and easy third wind channel 731 of flowing through to guarantee good effect of crossing wind, simultaneously, the air current shunts in third wind channel 731, can reduce the noise that the air current produced, and then under the circumstances of guaranteeing good clean efficiency, reduce the noise that produces in the cleaning machines people working process, user's comfort level is improved.

The third air duct 731 and the fourth air duct 732 can be of an integrated structure or a split structure, the third air duct 731 and the fourth air duct 732 of the integrated structure can be produced in batch, the production efficiency is improved, and the split third air duct 731 and the split fourth air duct 732 are favorable for reducing the maintenance and replacement cost. Specifically, the split third air duct 731 and the split fourth air duct 732 may be connected by plugging or by other fasteners such as bolts, and a sealing member may be disposed at a connection position of the third air duct 731 and the fourth air duct 732 in order to ensure the tightness of the connection.

Wherein, third wind channel 731 can formula structure or split type structure with clean cover 31 as an organic whole, if third wind channel 731 formula structure as an organic whole with clean cover 31, can batch production, be favorable to improving production efficiency, if third wind channel 731 formula structure with clean cover 31 is split type structure, can reduce the maintenance and trade a cost. Specifically, the split third air passage 731 and the cleaning cover 31 may be connected by bolts or other fasteners, and a sealing member may be disposed at a connection position of the third air passage 731 and the cleaning cover 31 to ensure the sealing property of the connection.

Specifically, the third air duct 731, the fourth air duct 732 and the cleaning cover 31 may be an integrated structure, or the third air duct 731, the fourth air duct 732 and the cleaning cover 31 may be a split structure, or the third air duct 731 and the fourth air duct 732 may be an integrated structure, and as a whole, the third air duct 731 and the cleaning cover 31 are a split structure, or the third air duct 731 and the cleaning cover 31 are an integrated structure, and as a whole, the third air duct 731 and the cleaning cover 31 are a split structure, and as a whole, the third air duct 732 and the fourth air duct 732 are a split structure.

The utility model provides a third wind channel 731, by being close to clean cover 31 to keeping away from clean cover 31's direction, upwards set up for horizontal plane slope, like this, can satisfy the less design demand in cleaning machines people bottom space for third wind channel 731 has sufficient inclination with clean cover 31 in order to reduce the air current noise, simultaneously, has good effect of overfire, in order to ensure that cleaning machines people has good clean efficiency.

Further, the third air duct 731 is an arc-shaped structure, and the third air duct 731 with the arc-shaped structure can ensure that air can smoothly enter the fourth air duct 732 from the cleaning cover 31 and enter the dust storage chamber 11 through the fourth air duct 732, so that the ventilation capability and the ventilation efficiency of the dust collection air duct 73 are improved, the problem of dust blockage and the like is reduced, and the cleaning efficiency of the cleaning robot is ensured. Specifically, the arc-shaped air paths are arranged obliquely upward from the cleaning cover 31 to the fourth air path 732.

The side wall surface of the third air duct 731 includes a curved surface, so that the air flow can smoothly flow in the third air duct 731, thereby avoiding the problems of dust blockage and the like, and facilitating improvement of the flow efficiency and the smoothness of the flow of the air flow.

The utility model provides an in the embodiment, fourth wind channel 732 is approximate horizontal wind channel, and approximate horizontal wind channel can not increase the height of wind path device along vertical direction, and then can satisfy the design demand that the cleaning machines human volume is less, compact structure, simultaneously, can ensure good overfire air efficiency to ensure cleaning machines people's cleaning efficiency.

It is understood that in some possible embodiments, the fourth air duct 732 may be arranged obliquely downward from the third air duct 731 to the dust storage chamber 11, or the fourth air duct 732 may be arranged obliquely upward from the third air duct 731 to the dust storage chamber 11, regardless of the overall height of the air-path device.

The side wall surface of the fourth air duct 732 includes a curved surface, so that the air flow can smoothly flow in the fourth air duct 732, thereby avoiding the problems of dust blockage and the like, and facilitating improvement of the air flow circulation efficiency and smoothness of the air flow.

Optionally, the fourth air duct 732 is made of a soft material, and may be made of soft rubber or silica gel. The cleaning cover (including the rolling brush therein) has the effect of floating up and down relative to the machine body, when an obstacle exists on a cleaned surface, the interaction between the rolling brush and the obstacle can be reduced through the up-and-down floating of the floating main brush structure, and therefore the automatic cleaning equipment is assisted to easily realize obstacle crossing. The dust collection air duct is located between the dust storage cavity and the cleaning cover structure, and the dust collection air duct is required to be flexible because the rigid air duct cannot absorb the floating change of the roller brush. When the fourth air duct is made of soft materials such as soft rubber, the dust collection air duct can be extruded by the floating support to deform in the obstacle crossing process, so that upward floating is smoothly realized. The third air duct (inclined part) in the dust collection air duct is made of hard materials (making air flow smoother), and the fourth air duct is made of soft materials.

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 portion 361 and a transmission assembly, the power portion 361 drives the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35 to synchronously rotate through the transmission assembly, so as to implement reliable cleaning of the surface to be cleaned, and the power portion 361 drives the plurality of rolling brushes to synchronously rotate through the transmission assembly, so that the arrangement of the power portion 361 can be reduced, but it can be ensured that the plurality of rolling brushes synchronously clean, so as to improve the cleaning capability of the cleaning robot.

In the disclosed embodiment, as shown in fig. 24 and 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 sixth wheel body 367, a seventh wheel body 368, an eighth wheel body 369, a transmission rod 3610, a ninth wheel body 3611, a tenth wheel body 3612, an eleventh wheel body 3613, a twelfth wheel body 3614, and a thirteenth wheel body 3615.

The power portion 361 may be connected to the first wheel body 362 so that the power portion 361 drives the first wheel body 362 to rotate, the first wheel body 362 drives the third wheel body 364 connected to the second wheel body 363 to rotate by engaging with the second wheel body 363, the third wheel body 364 is engaged with the fourth wheel body 365, the fourth wheel body 365 is simultaneously engaged with the fifth wheel body 366, the sixth wheel body 367 and the eighth wheel body 369 so that the sixth wheel body 367 drives the third roller brush 34 to rotate in the first direction, the eighth wheel body 369 drives the transmission rod 3610 to rotate, and correspondingly, the fifth wheel body 366 may 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, thereby rotating the first roller brush 32 in the opposite direction to the third roller brush 34.

The driving rod 3610 drives the ninth wheel body 3611 connected with the driving rod to rotate, the ninth wheel body 3611 is meshed with the tenth wheel body 3612, the tenth wheel body 3612 is simultaneously meshed with the eleventh wheel body 3613 and the twelfth wheel body 3614, the eleventh wheel body 3613 drives the fourth roller brush 35 to rotate in the first direction, the twelfth wheel body 3614 is meshed with the thirteenth wheel body 3615, and the thirteenth wheel body 3615 drives the second roller brush 33 to rotate in the second direction, so that the rotation direction of the second roller brush 33 is opposite to the rotation direction of the fourth roller brush 35.

The wheels may be gears, and the power unit 361 may be a motor.

As an alternative embodiment of the present disclosure, the cleaning module 30 may include at least two motors, and each motor may drive one or two of the rolling brushes to rotate, for example, the number of the motors may be 4, and the 4 motors may facilitate the rotation of the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35. The rotational speeds of the first, second, third and fourth roll brushes 32, 33, 34 and 35 may be the same or different.

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

In the disclosed embodiment, the second rolling brush 33 is movably disposed in the axial direction thereof to be detachable from the cleaning cover 31. The second rolling brush 33 may be connected to the cleaning cover 31 by some parts, and in a normal use state, the second rolling brush 33 is reliably fixed to the cleaning cover 31, and when maintenance or replacement of the second rolling brush 33 is required, the second rolling brush 33 is positionally adjusted, so that detachment from the cleaning cover 31 is achieved.

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

As shown in figures 20B and 20C, the cleaning module further comprises: a body support 331, the body support 331 being provided on the cleaning cover 31; an adaptor 332 to which the second rolling brush 33 is coupled, the adaptor 332 being movably disposed with respect to the body support 331 to have a first position coupled to the body support 331 and a second position separated from the body support 331; the elastic piece 334, the elastic piece 334 is connected with the adaptor 332, and is arranged along the axial direction of the second rolling brush 33; when the second rolling brush 33 moves along the axial direction of the adapter 332 and compresses the elastic member 334, the adapter 332 moves from the first position to the second position, the adapter 332 is rotated, and the second rolling brush 33 can be separated from the main body support 331 along the axial direction of the adapter 332.

The main body support 331 is provided with a card slot 3311, the adaptor 332 is provided with a buckle 333, and when the adaptor 332 moves from the first position to the second position, the buckle 333 can be separated from the card slot 3311; when the adaptor 332 is located at the second position, the adaptor 332 is rotated to disengage the latch 333 from the slot 3311.

The second rolling brush 33 can be connected to the adaptor 332, the adaptor 332 is provided with a buckle 333, one end of the adaptor 332 is connected to an elastic member 334, the main body support 331 is connected to the cleaning cover 31 through a power adaptor 335, the adaptor 332 can be connected to the main body support 331 through the buckle 333, the elastic member 334 is clamped between the adaptor 332 and the power adaptor 335, the adaptor 332 is driven to move along the length direction of the second rolling brush 33, that is, the adaptor 332 is driven to move along the axial direction of the second rolling brush 33, so that the buckle 333 is separated from the buckle on the main body support 331, and the adaptor 332 and the second rolling brush 33 can be rotated, at this time, the buckle 333 is separated from the clamping groove 3311, so that the adaptor 332 can be detached from the main body support 331, and the second rolling brush 33 can be detached from the cleaning cover 31.

A portion of the adaptor 332 may be inserted into the main body support 331, and the latch 333 may be located in the latch slot 3311, so as to be latched to the main body support 331, and at this time, the second rolling brush 33 is reliably fixed to the cleaning cover 31. The elastic member 334 is compressed, so that the clamping between the buckle 333 and the main body support 331 is released, the buckle 333 can be separated from the clamping slot 3311 by rotating the adaptor 332, at this time, the main body support 331 can extrude the buckle 333, so that the buckle 333 and the main body support 331 cannot form a clamping relationship, and therefore the adaptor 332 can be pulled out from the main body support 331, and the second rolling brush 33 can be detached from the cleaning cover 31.

The main body support 331 has a tapered tube structure, so that the latch 333 and the main body support 331 can be released by compressing the elastic member 334, and the latch 333 can be disengaged from the slot 3311 by rotating the adaptor 332, after all, the latch 333 enters a large-diameter position from a small-diameter position, and thus can be disengaged from the slot 3311.

The adaptor 332 may be provided with a plurality of snaps 333, and the snaps 333 may be elastically deformable. The elastic member 334 may be a spring, a rubber ring, or the like. The thirteenth wheel body 3615 may be connected to the power adaptor 335 to drive the second roller brush 33 to rotate.

It should be noted that the axial direction of the second round brush 33 may include a left-to-right direction and a right-to-left direction.

As an alternative embodiment of the present disclosure, the roll brush of the cleaning module may include only the first roll brush 32 and the second roll brush 33, i.e., the cleaning robot may be a two-brush cleaning robot. The first and second rolling brushes 32 and 33 may be provided on the cleaning cover 31 at intervals in a length direction of the cleaning cover 31.

As an alternative embodiment of the present disclosure, the roll brush of the cleaning module may include only the first roll brush 32, the second roll brush 33, and the third roll brush 34, i.e., the cleaning robot may be a three-brush cleaning robot. The first and second rolling brushes 32 and 33 may be provided on the cleaning cover 31 at intervals in a length direction of the cleaning cover 31, and the third rolling brush 34 and the first rolling brush 32 may be provided on the cleaning cover 31 in a width direction of the cleaning cover 31. Both ends of the third roll brush 34 may be substantially flush with the ends of the first roll brush 32 and the second roll brush 33. Alternatively, the length of the third brush roll 34 may be less than the sum of the lengths of the first and second brush rolls 32 and 33.

Referring to fig. 26 to 29, in the cleaning robot according to the embodiment of the present disclosure, the fan assembly 40 includes a fan 41, an air duct 42, and a filter 43, one end of the air duct 42 is communicated with the fan 41, the other end of the air duct 42 is communicated with the dust storage cavity 11, and the filter 43 is disposed between the dust storage cavity 11 and the air duct 42, so that the filter 43 can reliably filter the air discharged into the room. Because wind channel 42 communicates fan 41 and filter 43, not only can make gas reliably discharge indoor to because the setting of wind channel 42 can adapt to the arrangement of cleaning machines people inner space, furthest improves the utilization ratio of cleaning machines people inner space, with this performance that improves cleaning machines people.

In the embodiment of the present disclosure, the dust box 10 includes a first chamber 111 and a second chamber 112 which are communicated, the first chamber 111 is communicated with the cleaning module 30, the cyclone separator 13 is disposed in the second chamber 112, and the fan assembly 40 is communicated 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 is adjacent to the fan assembly 40, and the dust box 10 and the fan assembly 40 are arranged along the circumferential direction of the main body 20, so that not only the structural distribution is reasonable, but also the communication path between the dust box 10 and the fan assembly 40 can be shortened.

It should be noted that the air duct 42, which is an air flow passage connecting the fan 41 and the filter unit 43, can be structurally adjusted according to the distribution of components in the inner space of the cleaning robot, so as to adapt to the position and structural form of the inner space of the cleaning robot. For example, the fan 41 and the filter part 43 may be disposed in a staggered manner, and the fan 41 and the filter part 43 may be arranged along the circumferential direction of the cleaning robot, and at this time, the air duct 42 may effectively adapt to the arrangement of the fan 41 and the filter part 43, thereby ensuring that the inner space of the cleaning robot is utilized to the maximum extent.

The exhaust port 1123 of the dust storage chamber 11 is communicated with the filter unit 43, and the filter unit 43 is pressed between the air duct 42 and the dust box 10. Under the action of the fan 41, dust can enter the dust inlet 1112 of the dust storage cavity 11 from the cleaning module 30, and enter the dust storage cavity 11 to separate particles, and finally, the air enters the filter part 43 through the air outlet 1123 to be filtered, so as to pass through the air duct 42 and enter the fan 41 and be discharged out of the cleaning robot, so as to collect the dust.

In the disclosed embodiment, the walls of the air chute 42 include at least one of curved surfaces and flat surfaces. The wall surface of the air duct 42 includes a curved surface, which not only facilitates air circulation, but also improves the space adaptability of the air duct 42 by using the installation positions of the fan 41 and the filter unit 43.

In the embodiment of the present disclosure, as shown in fig. 26 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 is communicated with the fan 41, and the second air duct opening 422 is communicated with the dust storage cavity 11; the second air duct opening 422 is a curved opening, so that the second air duct opening can be matched with the curved filtering portion 43, thereby ensuring reliable matching of the structure, and increasing the filtering area of the filtering portion 43, thereby increasing the filtering capacity of the filtering portion 43.

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

In the disclosed embodiment, as shown in fig. 29, the filter portion 43 includes a plurality of filter layers 431 stacked one on another. The filter layer 431 has a sheet structure, and a plurality of sheet structures are overlapped, so that not only can the filtering capacity of the filter part 43 be increased, but also the size of the filter part 43 in the thickness direction is not excessively large, and the occupancy rate of the inner space of the cleaning robot is reduced.

As shown in connection with fig. 29, the filter layers 431 may be three layers, and the thickness of each filter layer 431 may be uniform, or the thickness of each filter layer 431 may not be uniform. The areas of the respective filter layers 431 may be uniform, or the areas of the respective filter layers 431 may not be uniform.

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

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

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

In the embodiment of the present disclosure, as shown in fig. 29, the filter portion 43 further includes a frame 432, the filter layer 431 is disposed in the frame 432, and the frame 432 is clamped between the air duct 42 and the dust storage chamber 11, so that the filter portion 43 is reliably fixed, the filter portion 43 is prevented from being crushed, and reliable filtering of the filter portion 43 can be ensured.

In the disclosed embodiment, the filter layers 431 are three layers, and the area of the filter layer 431 in the middle is largest, so that it can be reliably fixed with the frame 432. The three filter layers 431 can be of electrostatic cotton, filter cotton and sponge structures, the dust holding capacity of the filter part 43 can be increased, and the frame 432 can be of a soft rubber structure, so that the air duct 42 and the dust storage cavity 11 can be effectively compressed, and reliable filtering is realized.

In the embodiment of the present disclosure, as shown in fig. 26 to 28, the fan assembly 40 further includes a noise reduction portion 44, where the noise reduction portion 44 is disposed on a side of the fan 41 away from the air duct 42 to communicate with an air outlet of the fan 41; the sound deadening portion 44 includes the sound channel through hole 441 and the sound absorbing hole 442, and can reduce noise of the blower 41 and noise of air flow.

After the air is discharged from the blower 41 and enters the silencer 44, a part of the air is directly radiated to the environment from the sound channel through hole 441, and the other part of the air enters the silencer 44 through the sound absorption hole 442 on the wall surface of the sound channel through hole 441 and is absorbed by the silencer, so that the purpose of reducing noise is achieved. The sound attenuating portion 44 may be sound attenuating cotton or a porous material.

In the embodiment of the present disclosure, the plurality of sound channel through holes 441 are provided, and the plurality of sound channel through holes 441 are arranged at intervals in the height direction of the silencer 44, so that it is ensured that gas can be discharged into the room, and the aim of noise reduction of the silencer 44 can be reliably achieved.

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 the aperture of the second port, the first port of the sound channel through hole 441 is communicated with the air outlet of the fan 41, and the second port of the sound channel through hole 441 is communicated with the outside, so that effective exhaust can be achieved, and a noise reduction effect can be ensured. Wherein the aperture of the first port may be smaller than the aperture of the second port.

In the disclosed embodiment, as shown in fig. 27 and 28, the fan assembly 40 further includes a filter 45 and a protective cover 46, and the filter 45 is disposed at an end of the sound attenuating portion 44 away from the fan 41, so as to achieve re-filtration of the gas discharged from the sound attenuating portion 44. While the protective cover 46 may be coupled to the main body 20 to effectively protect the fan assembly 40, the protective cover 46 may be a mesh structure to ensure reliable exhaust.

As shown in fig. 30 to 33, the cleaning base station comprises a pile body 1, a dirt bucket 4, a fan structure 7, a stop 9 and a drive 93.

Pile body 1 is including advancing dirt passageway 2, and it has into dirt mouth 3 to advance dirt passageway 2, advances dirt mouth 3 to be used for being linked together with the opening of storing up dirt chamber 11 to make the dust in the storing up dirt chamber 11 can enter into in the dirt passageway 2 through advancing dirt mouth 3, and dirt bucket 4 sets up on pile body 1, and dirt bucket 4 is linked together with advancing dirt passageway 2, thereby can make dirt bucket 4 be used for collecting the dust in cleaning machines people's the dirt box 10.

In the embodiment of the present disclosure, the stop member 9 is disposed on the pile body 1, and the stop member 9 is configured to contact with or separate from the door body 12, so that when the stop member 9 contacts with the door body 12, the door body 12 can be prevented from opening the dust storage cavity 11, and when the stop member 9 separates from the door body 12, the door body 12 can open the dust storage cavity 11.

The stopper 9 may be simultaneously in contact with the first door body 121 and the second door body 122 of the door body 12, or the stopper 9 may be in contact with one of the first door body 121 and the second door body 122 and separated from the other.

In the embodiment of the present disclosure, the fan structure 7 is disposed on the pile body 1, and the fan structure 7 is communicated with the dust bucket 4, so that dust in the dust box 10 can be sucked into the dust bucket 4 through the fan structure 7.

Fan structure 7 sets up on stake body 1, and fan structure 7's air inlet is linked together with the air current exit end of dirt bucket 4, and fan structure 7 produces the negative pressure to this guarantees that the dust in the dirt box 10 can enter into dirt passageway 2 through entering dirt mouth 3, and makes the air current form the circulation. The dust in the dust box 10 here includes impurities in the dust box. The fan structure 7 can suck the door body 12 of the dust box 10 open.

Specifically, when the cleaning robot completes cleaning, the electric quantity of the cleaning robot is insufficient or the dust box of the cleaning robot is fully loaded with garbage and the like, 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.

The cleaning robot moves and returns the in-process of clean basic station, and cleaning robot passes through the incessant searching dust collecting device of signal receiving equipment, and clean basic station includes signal transmission device, for example signal transmission device incessant transmission communication signal in certain angle range supplies cleaning robot to catch, when cleaning robot catches communication signal, just can confirm the position of clean basic station, moves to clean basic station through navigation feature.

Furthermore, if the cleaning robot is started from the cleaning base station when cleaning is started, the position of the cleaning base station can be recorded on the map, so that the cleaning robot can preferentially go to the recorded position of the cleaning base station on the map in the process of returning to the cleaning base station, the position of the cleaning base station is determined based on the signal transmitting device of the cleaning base station, and the cleaning robot can move to the cleaning base station through the navigation function, so that the time for searching the cleaning base station is shortened, and the efficiency for returning to the cleaning base station is improved.

In the disclosed embodiment, the stop member 9 is disposed on the pile body 1, and the stop member 9 is movably disposed with respect to the pile body 1 to have a first position and a second position; when the stop member 9 is located at the first position, the stop member 9 stops the door body 12 from releasing the dust storage cavity 11, and when the stop member 9 is located at the second position, the door body 12 can release the opening, so that the dust inlet 3 can be communicated with the opening. The door body 12 is capable of releasing the opening, i.e., the dust storage chamber 11 is in an open state. When the stop member 9 can control the door body 12 to open, after the cleaning robot is docked with the cleaning base station, the stop member 9 can be moved to the second position separated from the door body 12 from the first position contacting with the door body 12, that is, the stop member 9 is moved to the position not hindering the door body 12 to open the dust storage cavity 11 from the position where the door body 12 opens the dust storage cavity 11, at this moment, the fan structure 7 is started, so that the door body 12 can release the dust storage cavity 11, and thereby the dust in the dust box 10 is sucked into the dust barrel 4.

In the embodiment of the present disclosure, as shown in fig. 32 and 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 piece 121 and the second door piece 122, respectively, so that the first door piece 121 and the second door piece 122 can independently open the first opening 1111 of the first chamber 111, and the second opening 1121 and the third opening 1122 of the second chamber 112, respectively.

After the cleaning robot is docked with the cleaning base station, the first stopper 91 may be moved from the first position to the second position, and the second stopper 92 may remain in the first position, at which time, the blower structure 7 may be activated to cause the first door member 121 to release the first chamber 111, thereby discharging the dust in the first chamber 111 into the dust bucket 4. The second stopper 92 is movable from the first position to the second position, and the first stopper 91 is movable from the second position to the first position, and the fan structure 7 causes the second door member 122 to release the second chamber 112, thereby discharging the dust in the second chamber 112 into the dust bucket 4.

The first chamber 111 and the second chamber 112 are opened in a staggered manner, so that dust in the cleaning robot can be conveniently and reliably sucked into the dust barrel 4.

In the embodiment of the present disclosure, as shown in fig. 32 and 33, the cleaning base station further includes a driving member 93, the driving member 93 is in driving connection with the first stopper 91, and the driving member 93 is in driving connection with the second stopper 92, so that when the first stopper 91 is located at the first position, the second stopper 92 is located at the second position, or when the first stopper 91 is located at the second position, the second stopper 92 is located at the first position, so that the first chamber 111 and the second chamber 112 can be opened in a staggered manner, and dust in the cleaning robot can be conveniently and reliably sucked into the dust barrel 4.

The driving member 93 may include a motor 931, a first gear 932 and a second gear 933, the motor 931 may connect the first gear 932 and the second gear 933 by a driving shaft, and the first gear 932 is engaged with a first rack 911 of the first stopper 91, and the second gear 933 is engaged with a second rack 921 of the second stopper 92, such that when the motor 931 operates, the first gear 932 and the second gear 933 rotate in the same direction, and the first rack 911 and the second rack 921 may rotate in different directions, such that when the first stopper 91 is located at the first position, the second stopper 92 is located at the second position, or when the first stopper 91 is located at the second position, the second stopper 92 is located at the first position.

Motor 931 connects first gear 932 and second gear 933 at the same time, first stopper 91 includes first rack 911, second stopper 92 includes second rack 921, first gear 932 and second gear 933 are respectively engaged with first rack 911 and second rack 921, so that when first stopper 91 is brought into contact with first door body 121, second stopper 92 is separated from second door body 122, or when first stopper 91 is separated from first door body 121, second stopper 92 is brought into contact with second door body 122, so that first stopper 91 and second stopper 92 can be made to correspond to first door body 121 and second door body 122, respectively, and first chamber 111 and second chamber 112 of dust storage chamber 11 can be selectively opened.

In the embodiment of the present disclosure, the dust storage cavity 11 includes a first chamber 111 and a second chamber 112, 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 from each other, the second opening 1121 communicates with a portion of the second chamber 112 located outside the cyclone separator 13, and the third opening 1122 communicates with a portion of the second chamber 112 located inside the cyclone separator 13, that is, the dust storage cavity 11 may be considered to include three chambers, while the door 12 includes a first door member 121 and a second door member 122, the first door member 121 corresponds to the first opening 1111, and the second door member 122 corresponds to both the second opening 1121 and the third opening 1122.

After the cleaning robot is docked with the cleaning base station, the first stopper 91 may abut against the first door member 121, the cleaning base station may suck the garbage in the second chamber 112 into the dust bin 4, the motor 931 operates, the second stopper 92 may abut against the second door member 122, and the cleaning base station may suck the garbage in the first chamber 111 into the dust bin 4. Alternatively, after the cleaning robot is docked with the cleaning base station, the second stopper 92 may abut against the second door member 122, the cleaning base station may suck the garbage in the first chamber 111 into the dust bin 4, the motor 931 operates, the first stopper 91 may abut against the first door member 121, and the cleaning base station may suck the garbage in the second chamber 112 into the dust bin 4. Because the first chamber 111 and the second chamber 112 are respectively opened, the area is relatively small, and under the condition that the negative pressure is not changed, the suction force is increased, so that the cleaning base station can collect dust on the cleaning robot more cleanly.

In the embodiment of the present disclosure, the stop member 9 may further include a first micro switch and a second micro switch, the first micro switch and the second micro switch are disposed on the pile body 1, when the first stop member 91 moves to the target position, that is, when the first stop member 91 moves to the first position, the first stop member 91 may trigger the first micro switch, so as to stop the motor 931, and when the first stop member 91 moves to the second position, the first stop member 91 may trigger the second micro switch, so as to stop the motor 931, so as to ensure that the stop member 9 can reliably realize stopping and releasing of the door body 12. Alternatively, the second stopper 92 may correspond to the first and second micro switches, which is not limited herein.

As an alternative 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 fig. 30 and 31, the adsorbing member 94 is disposed on the pile body 1, so that after the door body 12 opens the dust storage cavity 11, the adsorbing member 94 is used to connect with the door body 12, thereby ensuring that the dust box 10 is reliably opened.

In the disclosed embodiment, the suction member 94 is configured to magnetically couple with the door body 12. The door 12 may be provided with a magnetic structure, or the door 12 itself may be a magnetic structure.

Suction members 94 may be at least two and first door member 121 and second door member 122 may advantageously correspond to at least one suction member 94.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and example embodiments be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that 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

1. A cleaning apparatus, comprising: a main body (20); a cleaning module (30), the cleaning module (30) being disposed on the main body (20); the cleaning module (30) comprises:

a cleaning cover (31);

a drive structure (36);

a first roll brush (32);

a second rolling brush (33), wherein the second rolling brush (33) and the first rolling brush (32) are arranged on the cleaning cover (31) at intervals along the length direction of the cleaning cover (31);

a third rolling brush (34), the third rolling brush (34) being provided on the cleaning cover (31); the third rolling brush (34) and the first rolling brush (32) are arranged along the width direction of the cleaning cover (31);

a fourth rolling brush (35), the fourth rolling brush (35) being provided on the cleaning cover (31); the fourth rolling brush (35) and the third rolling brush (34) are arranged at intervals along the length direction of the cleaning cover (31), and the fourth rolling brush and the second rolling brush (33) are arranged along the width direction of the cleaning cover (31);

a first gap is formed between the second 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 in a staggered mode.

2. The cleaning apparatus according to claim 1, wherein the length of the first rolling brush (32) is smaller than the length of the second rolling brush (33), and the length of the third rolling brush (34) is larger than the length of the fourth rolling brush (35).

3. A cleaning device according to claim 2, characterized in that at least one of the first (32), second (33), third (34) and fourth (35) rolling brushes is of a conical configuration.

4. A cleaning device according to claim 3, characterized in that the axis of the second rolling brush (33) is not parallel to the axis of the first rolling brush (32); and/or the axis of the fourth roller brush (35) is not parallel to the axis of the third roller brush (34).

5. A cleaning device according to claim 4, characterized in that a first end of the cone-shaped structure is connected to the cleaning hood (31) and a second end of the cone-shaped structure is a cantilevered end;

wherein the diameter of the first end is greater than the diameter of the second end.

6. A cleaning device according to claim 5, characterized in that the first (32), the second (33), the third (34) and the fourth (35) roller brush are rotated synchronously.

7. A cleaning device according to claim 6, characterized in that the direction of rotation of the first (32) and second (33) roller brushes is opposite to the direction of rotation of the third (34) and fourth (35) roller brushes.

8. The cleaning apparatus according to claim 7, wherein the driving structure (36) comprises a power part (361) and a transmission assembly, and the power part (361) drives the first rolling brush (32), the second rolling brush (33), the third rolling brush (34) and the fourth rolling brush (35) to rotate synchronously through the transmission assembly.

9. The cleaning apparatus according to claim 1, wherein at least one of the second rolling brush (33) and the first rolling brush (32) is detachably provided on the cleaning cover (31).

10. A cleaning device according to claim 9, characterized in that the second brush roll (33) is movably arranged in the direction of its axis to be detachable from the cleaning hood (31).

11. The cleaning apparatus defined in claim 10, wherein the cleaning module further comprises:

a body support (331), the body support (331) being provided on the cleaning cover (31);

an adaptor (332), to which the second roller brush (33) is connected, the adaptor (332) being arranged movably with respect to the main body support (331) so as to have a first position of connection with the main body support (331) and a second position of disengagement from the main body support (331);

the elastic piece (334) is connected with the adapter piece (332) and is arranged along the axial direction of the second rolling brush (33);

wherein, when the second rolling brush (33) moves along the axial direction of the adapter (332) along with the elastic member (334) is compressed, the adapter (332) moves from the first position to the second position, the adapter (332) is rotated, and the second rolling brush (33) can be separated from the main body support (331) along the axial direction of the adapter (332).

12. The cleaning apparatus according to claim 11, wherein a slot (3311) is provided on the main body support (331), a catch (333) is provided on the adaptor (332), the catch (333) being disengageable from the slot (3311) when the adaptor (332) is moved from the first position to the second position;

when the adapter (332) is located at the second position, the adapter (332) is rotated to enable the buckle (333) to be disengaged from the clamping groove (3311).

13. A cleaning system comprising the cleaning apparatus of any of claims 1-12, the cleaning apparatus further comprising a cleaning base.