CN217792912U - Cleaning robot and cleaning system - Google Patents

Abstract

The disclosure relates to the technical field of smart homes, and provides a cleaning robot and a cleaning system. The cleaning robot includes: a main body; the dust box is arranged on the main body, and the top end of the dust box is not lower than the top end of at least part of the main body; the position determining device is arranged on the main body, at least part of the position determining device is arranged to protrude out of the main body, and the top end of the position determining device is higher than that of the dust box; the cleaning module is arranged on the main body.

Description

Cleaning robot and cleaning system

Technical Field

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

Background

The related art cleaning robot 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 robot and a cleaning system to improve performance of the cleaning robot.

According to a first aspect of the present disclosure, there is provided a cleaning robot including:

a main body;

the dust box is arranged on the main body, and the top end of the dust box is not lower than the top end of at least part of the main body;

the position determining device is arranged on the main body, at least part of the position determining device is arranged to protrude out of the main body, and the top end of the position determining device is higher than that of the dust box; the cleaning module is arranged on the main body.

In one embodiment of the disclosure, the main body includes a top major surface, at least a portion of the position determining device is disposed proud of the top major surface, and the top end of the dirt box is higher than the top major surface.

In one embodiment of the present disclosure, the body further comprises a top convex plane, the top convex plane being higher than the top main plane and lower than the top end of the position determining device;

wherein at least a portion of the dirt box is located below the top raised plane.

In one embodiment of the present disclosure, the body further comprises a transition surface connecting the top major plane and the top convex plane;

wherein the top major plane and the top convex plane are approximately parallel and the transition plane is oblique to the top convex plane.

In one embodiment of the present disclosure, a portion of the dirt box is located below the top major plane.

In one embodiment of the present disclosure, the top end of the position determining device is 0.2mm-10mm higher than the top end of the dust box.

In one embodiment of the present disclosure, the dust box is located behind the position determination device in a cleaning operation direction of the cleaning robot.

In one embodiment of the present disclosure, at least a portion of the dirt box is located outside of the main body.

In one embodiment of the present disclosure, the dust box is detachably provided on the main body.

In one embodiment of the present disclosure, a dust box includes:

a base;

the bottom cover is arranged on the base, and at least one of the base and the bottom cover is connected with the main body;

wherein at least a portion of the base and the bottom cover form a portion of an outer surface of the cleaning robot.

According to a second aspect of the present disclosure, there is provided a cleaning system including the cleaning robot described above, the cleaning system further including 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 cleaning robot from a fourth perspective, according to 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 of another perspective of a portion of a cleaning robot shown 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 structural view 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 dirt tray of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 12 is a schematic view of the 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 structural view of a cyclone separator of a cleaning robot shown in accordance with an exemplary embodiment;

FIG. 19 is a cross-sectional schematic 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 in accordance with 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. 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 structural view 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 one 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 illustrating a cleaning module of a cleaning robot according to another exemplary embodiment;

FIG. 27A is a schematic diagram of a fan assembly of a cleaning robot, according to an exemplary embodiment;

FIG. 27B 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 fan assembly of a cleaning robot shown in accordance with 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 one 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 stop of an integrated pile, according to an exemplary embodiment.

The reference numerals are illustrated below:

1. a pile body; 2. a dust inlet passage; 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 chamber; 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 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. a cleaning 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 adapter; 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; 301. a first roller brush structure; 302. a second roller brush structure;

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. and a fourth link.

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-computer 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 working state and the position of the cleaning robot at present, the current pose of the cleaning robot and the like are comprehensively judged by combining distance information and speed information fed back by sensing devices such as a sensor, a cliff sensor, a magnetometer, an accelerometer, a gyroscope, a speedometer and the like arranged on the buffer 25, and specific next-step action strategies can be given according to different conditions, so that the cleaning robot has better cleaning performance and user experience if the cleaning robot passes a threshold, is used for putting a carpet, is positioned at the cliff, is blocked above or below the carpet, is full of dust boxes, is taken up and the like.

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 suspension system movably secured, such as rotatably attached, to the body 20 and receiving a spring bias biased downwardly and away from the body 20. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain ground contact 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 be further 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 an 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, compared with the main body height of the cleaning robot in the related art, the height of the dust box 10 is made as high as possible without changing the original main body height, so as to increase the dust collecting capacity of the dust box 10 and not increase 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 fact that the top end of the dirt tray 10 is above the top major surface 22 ensures that the dirt tray 10 has sufficient dirt collecting capacity.

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 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 surface 24 is inclined to the top protruding plane 23, so that the appearance design is attractive, the main body 20 can conveniently pass through low obstacles, and the cleaning robot is prevented from being locked. In particular, the transition surface 24 is effective to avoid that obstacles having a height between the top end of the position determining means 21 and said top main plane 22 will block the cleaning robot.

In the embodiment of the present disclosure, a part of the dust box 10 is located below the top main plane 22, and a part of the dust box 10 is located below the top protruding plane 23, so that a part of the dust box 10 can be higher, which facilitates the arrangement of other structures, or the dust collecting space can be locally increased, and another part of the dust box 10 can adapt 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, 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 primary 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 tangential to the first chamber 111, so that dust can reliably enter the transition passage 113 from the first chamber 111, and the gas flow is facilitated, thereby improving the flowability of the dust in the dust storage cavity 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 with dust can be relatively long, thereby avoiding the problem that the transition channel 113 is blocked due to the accumulation of a large amount of dust.

It should be noted that the extension length of the transition channel 113 can be considered as the distance that the airflow flows 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 extension 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 that the transition channel 113 is blocked due to the accumulation of dust.

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, such that the door 12 can horizontally move, for example, the driving mechanism can be an electric push rod, and the door 12 can be 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 part of the outer surface of the cleaning robot, so that after the cleaning robot is docked with the cleaning base station, the dust box 10 is directly docked with the cleaning base station, and therefore, after the door body 12 is opened, the opening of the dust storage cavity 11 is reliably docked with the dust inlet.

In the embodiment of the present 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 body 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 thus 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 body 121 and the second door body 122 are rotatably provided on the dust box 10, respectively, and the respective release of the first chamber 111 and the second chamber 112 can be controlled by controlling the opening of the first door body 121 and the second door body 122, respectively. 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 presently disclosed embodiment, as shown in fig. 12, the dirt 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 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 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 at the same time.

The dust enters the second chamber 112 from the first chamber 111, the dust passing through the cyclone separator 13 enters 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 releases 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 cyclone 131 may separate coarse particles, and the secondary cyclone 132 may separate fine particles, thereby securing the separating 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, 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 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 greater than the area of the second opening 1121, and the area of the second opening 1121 may be greater than the area of the third opening 1122.

As an 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 bottom cover 15 and the base 14 form a first chamber 111 and a second chamber 112, and the door 12 is movably disposed on the bottom cover 15 to release or shield 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 disclosed embodiment, the first door body member 121 and the second door body member 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 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 engaging portion 162 and a second engaging portion 163, two sides of the toggle portion 161 are respectively connected to the first engaging portion 162 and the second engaging 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 toggle portion 161 can drive the first engaging portion 162 and the second engaging portion 163 to move relative to the bottom cover 15, when the first engaging portion 162 and the second engaging portion 163 are connected to the bottom cover 15, the bottom cover 15 is fixed on the base 14, and after the first engaging portion 162 and the second engaging 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 removed from the base 14, or the bottom cover 15 can be hinged to the base 14, and after the first and second clamping portions 162 and 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 dirt tray 10 is detachably disposed on the main body 20, so that the dirt tray 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 of 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 protrudes from 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, and 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 the air, which is generated by the fan assembly 40 and passes through the suction of the dust box 10, is drawn into 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 is more significant for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once 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.

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 be more neatly and neatly stretched towards the same direction under the shaking of high-frequency vibration, so that the whole cleaning effect is more uniform, the cleaning effect is not improved by only applying downward pressure to increase the friction force under the condition of low-frequency rotation, multiple groups of hair tufts cannot be stretched towards the same direction due to the downward pressure, the effect is that the water marks on the surface to be cleaned after the high-frequency vibration cleaning are more uniform, and disordered water marks cannot be left.

The reciprocating motion may be a reciprocating motion in any one or more directions 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 cleaner head motion in the direction of machine travel causes the machine to be constantly propelled forward and backward as it travels, and thus the machine travels erratically and smoothly.

Referring to fig. 4 to 6, in the cleaning robot of 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 connected with the cleaning module 30, the lifting structure being 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 roll 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 lifting structure may be connected to the main body 20, the lifting structure may be connected to the cleaning cover 31, and the roll brush may be connected to the cleaning cover 31, so that the lifting structure drives the roll 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 connecting rod 61 and a second connecting rod 62, the first connecting rod 61 and the second connecting rod 62 are parallel, and both ends of the first connecting rod 61 and the second connecting rod 62 are respectively hinged to the main body 20 and the cleaning cover 31; the second connecting assembly 70 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 protective cover 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 can enable the roller brush to lift up and down when the surface to be cleaned is uneven, so as to ensure the cleaning performance of the cleaning module 30.

The first connecting assembly 60 is connected to the roller 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 assemblies 60 and 70 in 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 the cleaning robot can reduce the driving current of the rolling brush and reduce the load of the rolling brush drive by movably arranging at least part of the cleaning module 30 relative to the main body 20 up and down when cleaning the carpet, so that the cleaning robot can clean the carpet more durably

In the embodiment of the present disclosure, as shown in fig. 21, fig. 24 and fig. 25, the cleaning module 30 further includes a driving structure 36, 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 rolling brush is formed by driving the plurality of rolling brushes to rotate synchronously by the plurality of power portions 361 through the transmission assembly, so that the arrangement of the power portions 361 can be reduced, but the plurality of 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 duct 3111 and an auxiliary duct 3112, the auxiliary duct 3112 is communicated with the dust storage cavity 11, and the rolling brush is disposed in the main duct 3111, so that at least a portion of the auxiliary duct 3112 is disposed in a free manner, so that dust entering the cleaning cover 31 can enter the dust storage cavity 11 through the auxiliary duct 3112, and a large amount of dust is prevented from being stuck to the rolling brush, thereby ensuring the cleaning capability of the cleaning robot.

It should be noted that, the cleaning cover 31 is provided with a main air duct 3111 and an auxiliary air duct 3112, the rolling brush is disposed in the main air duct 3111, and at least a part of the auxiliary air duct 3112 is disposed in a free manner, so that the garbage can move through the auxiliary air 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 this disclosed embodiment, the volume of main wind channel 3111 is greater than the volume of vice wind channel 3112 to can effectively hold the round brush, and can avoid cleaning cover 31's volume not too big, on the basis of guaranteeing cleaning machines people's clean ability, can avoid cleaning module 30 to occupy too big cleaning machines people's space.

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 central 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 central 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 air duct 3112 includes a first air duct section 3113 and a second air duct section 3114, 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 one end of the second air duct section 3114 far away from the first air duct section 3113 is communicated with the air duct opening 312, so that the air 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 in an empty manner along the length direction of the cleaning cover 31, so that dust on the roll brush can enter the auxiliary duct 3112 from the empty position of the main duct 3111 to be discharged, thereby improving the cleaning ability 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. 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 cantilever end, the diameter of the first end being larger than the diameter 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 of a conical structure, and/or the second rolling brush is of 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 a width direction of the cleaning cover 31, the third and fourth rolling brushes 34 and 35 may be arranged along a width direction of the cleaning cover 31, the first and second cleaning groups may be arranged along a length direction of the cleaning cover 31, and the first and second gaps may be arranged along a 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 round brush 32, the second round brush 33, the third round brush 34, and the fourth round brush are all of a tapered structure or 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 arrangement of the first rolling brush 32, the second rolling brush 33, the third rolling brush 34 and the fourth rolling brush 35 improves the cleaning ability by increasing the contact linear speed and the contact time of the blade and the carpet during the cleaning process of the cleaning robot. Compared with the single group of brushes in the related art, the roller brush structure disclosed by the invention comprises the roller brush which is positioned at the rear, and the rotating direction of the roller brush relative to the rotating direction of the roller brush at the front can drive sundries such as hairs to move forwards, so that the cleaning effect of a carpet is improved.

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, thereby allowing the dust to enter 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, that is, one is clockwise, and the other is counterclockwise.

In the embodiment of the present disclosure, as shown in fig. 21, the cleaning module further includes a driving structure 36, the driving structure 36 includes a power 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 multiple rolling brushes to synchronously rotate through the transmission assembly, so that the setting of the power portion 361 can be reduced, but it can be ensured that the multiple 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.

Power portion 361 may be connected to first wheel 362 such that power portion 361 drives first wheel 362 to rotate, first wheel 362 drives third wheel 364 connected to second wheel 363 to rotate by meshing with second wheel 363, third wheel 364 meshes with fourth wheel 365, fourth wheel 365 meshes with fifth wheel 366, sixth wheel 367 and eighth wheel 369 simultaneously, so that sixth wheel 367 drives third roller brush 34 to rotate in the first direction, eighth wheel 369 drives transmission rod 3610 to rotate, and accordingly fifth wheel 366 may drive seventh wheel 368 such that seventh wheel 368 drives first roller brush 32 to rotate in the second direction, thereby enabling the rotation direction of first roller brush 32 to be opposite to the rotation direction of third roller brush 34.

The transmission rod 3610 drives the ninth wheel body 3611 connected with the transmission rod to rotate, the ninth wheel body 3611 is meshed with the tenth wheel body 3612, the tenth wheel body 3612 is meshed with the eleventh wheel body 3613 and the twelfth wheel body 3614 at the same time, 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.

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 round brush 33 is taken as an example.

As shown in fig. 20B and 20C, the cleaning module further includes: a body support 331, the body support 331 being provided on the cleaning cover 31; an adaptor 332 to which the second roll 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 groove 3311 by rotating the adaptor 332, at this time, the main body support 331 can press the buckle 333, so that the buckle 333 and the main body support 331 do not form a clamping relation, 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, and the roll brush, 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, and the roll brush, 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 roll brush 34 may be smaller than the sum of the lengths of the first and second roll brushes 32 and 33.

As an alternative embodiment of the present disclosure, as shown in fig. 26, the cleaning module 30 includes: the cleaning device comprises a cleaning cover 31, a first rolling brush structure 301 and a second rolling brush structure 302, wherein the first rolling brush structure 301 and the second rolling brush structure 302 are arranged in the cleaning cover 31, the first rolling brush structure 301 and the second rolling brush structure 302 both extend along the length direction of the cleaning cover 31, and the first rolling brush structure 301 and the second rolling brush structure 302 are arranged along the width direction of the cleaning cover 31, so that the first rolling brush structure 301 and the second rolling brush structure 302 can reliably clean the surface to be cleaned.

The lengths of the first and second roll brush structures 301 and 302 may be substantially the same.

The rotation directions of the first and second rolling brush structures 301 and 302 may be opposite, so that dust can be rapidly collected into the cleaning module 30. The first and second roll brush structures 301 and 302 may be driven by two independent drive mechanisms to effect rotation. Alternatively, the first and second roll brush structures 301 and 302 may be driven by one driving mechanism to thereby perform rotation. The specific structure of the driving mechanism is not limited, and for example, the first rolling brush structure 301 and the second rolling brush structure 302 can be driven by a motor and a driving wheel assembly, so that the first rolling brush structure 301 and the second rolling brush structure 302 can be driven synchronously by one motor. Alternatively, the rotation of the first and second roll brush structures 301 and 302, etc. is conveniently driven by two motors.

Referring to fig. 27A 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 the air duct 42 is communicated with the fan 41 and the filtering part 43, the air can be reliably discharged into a room, and the arrangement of the air duct 42 can adapt to the arrangement of the inner space of the cleaning robot, so that the utilization rate of the inner space of the cleaning robot is improved to the greatest extent, and the performance of the cleaning robot is improved.

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 disposed adjacent to the fan assembly 40, and the dust box 10 and the fan assembly 40 are disposed 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 spatial adaptability of the air duct 42 by using the installation positions of the blower 41 and the filter 43.

In the embodiment of the present disclosure, as shown in fig. 27A to 28, the air duct 42 includes a first air duct opening 421 and a second air duct opening 422, the first air duct opening 421 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 filter layers 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 as to reliably fix the filter portion 43, prevent the filter portion 43 from being crushed, and ensure reliable filtering of the filter portion 43.

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. 27A to 28, the fan assembly 40 further includes a silencing portion 44, the silencing 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. 27B 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 deadening portion 44 away from the fan 41, so as to achieve re-filtration of the gas discharged from the sound deadening portion 44. While the shield 46 may be coupled to the main body 20 to effectively protect the fan assembly 40, the shield 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, a stop 9 and a drive member 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 in contact with the first door body 121 and the second door body 122 of the door body 12 at the same time, 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 is disposed on the pile body 1, and the fan structure is communicated with the dust bucket 4, so that the dust in the dust box 10 can be sucked into the dust bucket 4 through the fan structure.

The fan structure sets up on stake body 1, and the air inlet of fan structure is linked together with the air current exit end of dirt bucket 4, and the fan structure 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 in, 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 can suck the door 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 removes the in-process that returns clean basic station, and the cleaning robot passes through the incessant searching dust collecting device of signal receiving equipment, and clean basic station includes signal transmission device, for example the incessant transmission communication signal of signal transmission device in certain angle range supplies cleaning robot to catch, when cleaning robot catches communication signal, just can confirm clean basic station's position, removes to clean basic station through navigation function.

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.

Stop member 9 can control when door body 12 opens, and after cleaning machines people docks with clean basic station, stop member 9 can be by the first position removal that contacts with door body 12 to the second position of door body 12 phase separation, stop member 9 removes to the position that does not hinder door body 12 to open dust storage chamber 11 by the position that stops door body 12 to open dust storage chamber 11 promptly, and at this moment, start the fan structure and can make door body 12 release dust storage chamber 11 to this makes the dust in the dust box 10 inhale in the dirt bucket 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 move from the first position to the second position, and the second stopper 92 may remain in the first position, at which time, the fan structure is activated to release the first door member 121 from the first chamber 111, so as to discharge 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 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, so 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, 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.

The motor 931 connects the first gear 932 and the second gear 933 at the same time, the first stopper 91 includes a first rack 911, the second stopper 92 includes a second rack 921, and the first gear 932 and the second gear 933 are respectively engaged with the first rack 911 and the second rack 921, so that the second stopper 92 is separated from the second door body 122 when the first stopper 91 is in contact with the first door body 121, or the second stopper 92 is in contact with the second door body 122 when the first stopper 91 is separated from the first door body 121, so that the first stopper 91 and the second stopper 92 can respectively correspond to the first door body 121 and the second door body 122, and the first chamber 111 and the second chamber 112 of the 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 a certain 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 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 pillar body 1, so that after the door body 12 opens the dust storage cavity 11, the adsorbing member 94 is used for adsorbing the door body 12 to fix the door body 12, thereby ensuring that the dust box 10 is reliably opened.

In the embodiment of the present disclosure, the adsorption member 94 is used for magnetically adsorbing the door 12 to fix the door 12. The door 12 may be provided with a magnetic structure, or the door 12 itself may be a magnetic structure, the number of the adsorption members 94 may be at least two, and the first door part 121 and the second door part 122 may conveniently correspond to at least one adsorption 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 invention 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 (11)

1. A cleaning robot, characterized by comprising:

a main body (20);

the dust box (10), the dust box (10) is arranged on the main body (20), and the top end of the dust box (10) is not lower than the top end of at least part of the main body (20);

a position determining device (21), wherein the position determining device (21) is arranged on the main body (20), at least part of the position determining device (21) is arranged to protrude out 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);

a cleaning module disposed on the main body.

2. The cleaning robot according to claim 1, wherein the main body (20) comprises a top main plane (22), at least a portion of the position determining device (21) is disposed protruding from the top main plane (22), and a top end of the dust box (10) is higher than the top main plane (22).

3. The cleaning robot according to claim 2, characterized in that 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 a top end of the position determining means (21);

wherein at least a portion of the dust box (10) is located below the top raised plane (23).

4. The cleaning robot according to claim 3, characterized in that said main body (20) further comprises a transition surface (24), said transition surface (24) connecting said top main plane (22) and said top raised plane (23);

wherein the top main plane (22) and the top convex plane (23) are approximately parallel, the transition surface (24) being oblique to the top convex plane (23).

5. The cleaning robot according to claim 3, characterized in that a portion of the dust box (10) is located below the top main plane (22).

6. The cleaning robot according to any one of claims 1 to 5, characterized in that the top end of the position determining device (21) is 0.2-10 mm higher than the top end of the dust box (10).

7. The cleaning robot according to any one of claims 1 to 5, characterized in that the dust box (10) is located behind the position determining device (21) in a cleaning running direction of the cleaning robot.

8. The cleaning robot according to any one of claims 1 to 5, characterized in that at least part of the dust box (10) is located outside the main body (20).

9. The cleaning robot according to claim 8, wherein the dust box (10) is detachably provided on the main body (20).

10. The cleaning robot according to claim 9, wherein the dust box (10) comprises:

a base (14);

a bottom cover (15), the bottom cover (15) being disposed on the base (14), at least one of the base (14) and the bottom cover (15) being connected to the main body (20);

wherein at least part of the base (14) and the bottom cover (15) form part of an outer surface of the cleaning robot.

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

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