WO2021068646A1 - 一种尘盒及包括该尘盒的移动机器人及清洁系统 - Google Patents

一种尘盒及包括该尘盒的移动机器人及清洁系统 Download PDF

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Publication number
WO2021068646A1
WO2021068646A1 PCT/CN2020/109541 CN2020109541W WO2021068646A1 WO 2021068646 A1 WO2021068646 A1 WO 2021068646A1 CN 2020109541 W CN2020109541 W CN 2020109541W WO 2021068646 A1 WO2021068646 A1 WO 2021068646A1
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WIPO (PCT)
Prior art keywords
dust box
suction outlet
suction
cover
outlet cover
Prior art date
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PCT/CN2020/109541
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English (en)
French (fr)
Inventor
张绍程
刘慧斌
李孟钦
王利鹏
郑卓斌
王立磊
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广州科语机器人有限公司
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Application filed by 广州科语机器人有限公司 filed Critical 广州科语机器人有限公司
Publication of WO2021068646A1 publication Critical patent/WO2021068646A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used

Definitions

  • the invention belongs to the field of mobile robots, and particularly relates to cleaning robots.
  • intelligent robots Due to the continuous improvement of people’s requirements for the convenience of life, intelligent robots are becoming more and more popular among users all over the world.
  • Various types and functions of intelligent robots are emerging in an endless stream, such as sweeping robots, lawn mower robots, water spraying and spraying robots. .
  • a station unit sucks out and collects accumulated dust from the suction outlet of the self-moving vacuum unit: The accumulated dust in the dust box of the main unit is sucked back into the dust box by the charging base through the suction outlet at the roller brush, because it is sucked
  • the outlet has a structure that is easy to inhale and not easy to suck out, resulting in poor dust removal effect; and there is a roller brush that is easy to entangle the hair and suck out smoothly.
  • the station unit is equipped with a suction outlet for accumulated dust on the dust box of the autonomous mobile vacuum unit, and has a suction outlet cover that controls the opening and closing of the suction outlet. If the opening and closing of the suction outlet cover is driven by a motor, it is necessary to add a motor and
  • the corresponding drive module has obvious disadvantages in terms of structural weight, space utilization, and cost.
  • the station unit is equipped with a suction outlet for accumulated dust on the dust box of the autonomous mobile suction unit, and a suction outlet cover that controls the opening and closing of the suction outlet.
  • the opening and closing of the suction outlet cover is controlled by a mechanical structure. This structure requires a rod to be set on the base station for hooking on the suction outlet cover when the mobile robot returns to the base station. In this technical solution, there is a risk that the suction outlet cover is hooked and opened by an object during the normal walking and cleaning work of the mobile robot, resulting in the possibility of accidental spillage of accumulated dust.
  • a dust box includes a recessed part, a suction outlet, a suction outlet cover, a movable part, a first elastic component, and a casing.
  • the suction outlet is used for discharging garbage in the dust box, and the suction outlet cover is movably installed on the suction outlet
  • the first elastic member is connected to the suction port and the suction port cover for keeping the suction port cover in a closed state, a part of the movable part is located in the recessed part, and another part is located at the suction port cover.
  • the movable part in order to realize that when an object enters the recessed part, the movable part can push the suction outlet cover away.
  • the movable part includes: a trigger part, a following part and a fulcrum, wherein the fulcrum is rotatable It is fixed on the shell, the trigger part is arranged in the concave part, and the follow part is used to push the suction outlet cover.
  • the movable part in order to realize that when an object enters the recessed part, the movable part can push open the suction outlet cover.
  • the movable part includes: a trigger part, a following part, and a connecting rod.
  • the cylindrical hole, the connecting rod passes through the cylindrical hole, the triggering part is arranged in the recessed part, and the following part is used for pushing the suction outlet cover.
  • a second elastic component is installed on the connecting rod.
  • the dust box further includes a rotating shaft, one end of the suction port cover is provided with a cover shaft hole, and the suction port is provided with a mounting hole ,
  • the rotating shaft passes through the cover shaft hole and the mounting hole, wherein the matching mode of the rotating shaft with the cover shaft hole and the mounting hole is interference fit, and the other is clearance fit.
  • the first elastic member is a torsion spring.
  • the present invention also provides a mobile robot, which includes a robot body and the dust box described above.
  • the robot body includes a cleaning device and a driving device.
  • the present invention also provides a cleaning system, including the above-mentioned mobile robot and a base station.
  • the base station includes a raised portion and a docking interface.
  • the raised portion can be docked with the recessed portion for pushing the movable portion, positioning and sucking the interface.
  • the export is corresponding.
  • the base station also includes a vacuum source, a recovery part, a channel, and an air outlet.
  • the channel starts from the opposite interface and passes through the recovery.
  • the part and the vacuum source terminate at the air outlet.
  • the mobile robot further includes a charging electrode
  • the base station also includes a discharging electrode
  • the positions of the charging electrode and the discharging electrode correspond.
  • the beneficial effects of the present invention Compared with the prior art, the dust box provided by the present invention can be used in a mobile robot with automatic garbage dumping function. This structure is not easy to be triggered by other objects during the cleaning process so that the suction outlet cover is Turning on will cause garbage to be spilled, and purely mechanical triggering will not increase additional power consumption and improve user experience.
  • Figure 1 is a first view of the cleaning system of the present invention
  • Figure 2 is a first view of the mobile robot of the present invention
  • Figure 3 is a second view of the mobile robot of the present invention.
  • FIG. 4 is a split diagram of the mobile robot of the present invention.
  • Figure 5 is a partial enlarged view of the dust box of the present invention.
  • Figure 6 is a first perspective view of the base station of the present invention.
  • Figure 7 is a partial enlarged view of the cleaning system of the present invention.
  • Figure 8 is a first view of the dust box of the first embodiment of the present invention.
  • Figure 9 is a second view of the dust box of the first embodiment of the present invention.
  • Figure 10 is a first view of a dust box according to a second embodiment of the present invention.
  • Fig. 11 is a second view of the dust box according to the second embodiment of the present invention.
  • a cleaning system includes a base station 1 and a mobile robot 2.
  • the base station 1 can be used to charge the mobile robot 2 and can also recycle the garbage collected by the mobile robot 2 during its work.
  • the mobile robot 2 has a robot body 22 and a dust box 21.
  • the robot body 22 includes a cleaning device 222, a driving device 223, and a charging electrode 224.
  • the cleaning device 222 may include a rolling brush and a side brush, or Including only one of the two, the driving device 223 drives the mobile robot 2 to travel in the work area, and the cleaning device 222 sweeps hair, dust and other garbage into the suction opening, and is sucked into the dust box 21 by the suction fan inside the mobile robot 2.
  • the dust box 21 is detachably installed at the rear end of the mobile robot 2.
  • the dust box 21 has a casing 218, and the contour of a surface of the casing 218 is matched with the mobile robot 2, as shown in Figs.
  • the robot 2 is generally circular, and the outermost surface of the dust box 21 is set as a curved surface, so that the overall outline of the mobile robot 2 with the dust box 21 installed is a complete circle.
  • the dust box 21 also includes: a receiving cavity 215 for collecting garbage, a recess 211 formed on the outer arc surface and recessed inward, a suction outlet 212 at the bottom, and a suction port 212 rotatably installed on the suction
  • the dust box 21 further includes a rotating shaft 217, one end of the suction outlet cover 213 is rotatably mounted on the suction outlet 212, one end of the suction outlet cover 213 is provided with a cover shaft hole 2131, and the suction outlet 212 is provided with mounting Hole 2121, the suction outlet cover 213 is connected to the suction outlet 212 by the way that the rotation shaft 217 passes through the cover shaft hole 2131 and the mounting hole 2121 at the same time, the rotation shaft 217 is matched with any one of the cover shaft hole 2131 and the installation hole 2121 It is an interference fit, and the other is a clearance fit.
  • a torsion spring 216 is also installed on the rotating shaft 217. Under the elastic force of the torsion spring 216, the suction outlet cover 213 is usually in a closed state.
  • the movable part 214 can be an integrally formed structure, including a triggering part 2141, a following part 2142, a fulcrum 2143, wherein the fulcrum 2143 is rotatably fixed on the housing 218, and the entire movable part 214 can be around The center of the fulcrum 2143 rotates, wherein the triggering portion 2141 is located in the recessed portion 211, and the following portion 2142 is used to push on the suction outlet cover 213.
  • the following portion 2142 can be directly connected to the suction outlet cover 213, or it can abut, or be in suction. When the outlet cover 213 is closed, there is a certain gap between the two, and the movable part 214 can abut against the suction outlet cover 213 when the movable part 214 moves.
  • the recessed portion 211 is an inwardly recessed hole. Since the triggering portion 2141 is located in the recessed portion 211, when an object extends into the recessed portion 211, it can touch the trigger as long as the length is sufficient. Since the movable portion 214 is an integral structure, the entire movable portion 214 will rotate around the fulcrum 2143, and the follower portion 2142 will move toward the suction outlet cover 213, thereby overcoming the elastic force of the torsion spring 216 to perform work. The suction outlet cover 213 is opened by the pushing force, that is, the state of FIG. 8 is changed to FIG. 9.
  • the base station 1 includes a docking port 11, a vacuum source 12, a recovery part 13, a protruding part 14, a discharge electrode 15, a cup holder 16, a channel 17, and an air outlet 18.
  • the charging electrode 224 is in contact with the discharge electrode 15
  • the base station 1 can charge the mobile robot 2.
  • the passage 17 starts from the docking port 11, the path recovery part 13 and the vacuum source 12, and ends at the air outlet 18.
  • air enters from the docking port 11, passes through the recovery part 13, and finally exits from the air outlet 18.
  • a filter device is provided at the exit of the recovery part 13 to remove The dust remains in the recovery part 13 and will not enter the vacuum source 12 along the passage 17 and cause malfunction.
  • the raised portion 14 will dock into the recessed portion 211 until the mobile robot 2 completely enters the base station 2.
  • the positions of the interface 11 and the suction port 12 are aligned, and the protruding part 14 pushes the trigger part 2141, thereby pushing the movable part 214 to rotate around the rotation axis 217, and the following part 213 overcomes the torsion
  • the elastic force of the spring 216 does work to open the suction outlet cover 213, and the torsion spring 216 accumulates elastic potential energy to make the suction outlet 212 and the mating interface 11 butt to form a channel, and then the vacuum source 12 is activated, and the dust box is placed in the cavity 215 through the channel 17.
  • the garbage inhalation and collection unit 13 realizes the function of transferring the garbage in the mobile robot 2 to the base station 1.
  • the raised portion 14 is separated from the recessed portion 211, the raised portion 14 no longer acts on the movable portion 214, and the torsion spring 216 releases the elastic potential energy, so that the suction outlet cover 213 returns to its position, and then pushes upward. 214, the suction port 212 returns to the closed state.
  • the dust box 21 In order to prevent the volume of the mobile robot 2 from being too large, because too large a size will prevent the mobile robot 2 from entering a relatively small space, limiting the cleaning range, and being too large will increase unnecessary energy consumption, so the dust box 21 The capacity of the dust box is also limited, and the garbage in the dust box 21 needs to be dumped once for a few basic cleanings, and the use process is relatively cumbersome.
  • the base station 1 is fixed and does not need to enter a small space, so the increase in the volume of the base station 1 will not cause much impact.
  • the base station 1 used in the present invention can transfer the garbage in the mobile robot 2 to the recycling unit 13.
  • the capacity of the recycling part 13 is greatly increased compared to the dust box 21, which can greatly reduce the frequency of users cleaning up garbage.
  • the opening and closing of the suction outlet cover 213 is controlled by whether there is an object extending into the recess 211.
  • This arrangement can effectively avoid misoperation.
  • the recess 211 is set to be narrow and slender, it is difficult for objects to enter. And even if it enters, it needs to reach a certain length before it can touch the movable part 214.
  • the concave part 211 is arranged on the outer arc surface of the dust box, that is, behind the mobile robot 2, and the mobile robot is in the cleaning process. During the cleaning process, it moves forward most of the time, which can further effectively prevent the suction outlet cover 213 from being opened during the cleaning process, which may cause garbage to be scattered.
  • the shape of the recovery part 13 is similar to a cup, and a handle 131 is provided on the side, and a cup cover 132 is provided on the upper part.
  • the base station 1 also includes a cup holder 16, and the recovery part 13 is detachably installed on the cup.
  • the handle 131 is provided on the seat 16 for easy access. When cleaning the recycling part, only need to hold the handle 131 to separate the recycling part 13 from the cup holder 16 and open the lid 132 to clean up the garbage in the recycling part 13.
  • the movement mode of the movable part 214 may also be other movement modes such as sliding, and the shape is not limited.
  • the movable portion 214 includes a trigger portion 2141, a follower portion 2142, and a connecting rod 2144.
  • the connecting rod 2144 can be movably fixed in the cylindrical hole 2181 formed by the housing 218. In order to avoid shaking, the connecting rod 2144 is also fixed in the cylindrical hole 2181 formed by the housing 218.
  • a second elastic member is added at the gap between the cylindrical hole 2181 and the connecting rod 2144.
  • the spring 219 is used here.
  • the triggering portion 2141 is located in the recessed portion 211.
  • the following portion 2142 is used to push the suction outlet cover 213.
  • the following portion 2142 can directly interact with The suction outlet cover 213 is connected or can be abutted, or there is a certain gap between the two when the suction outlet cover 213 is closed, and it can abut against the suction outlet cover 213 when the movable part 214 moves.
  • the raised part 14 enters the recessed part 211, pushes the trigger part 2141, moves the movable part 214 downwards, compresses the spring 219, and the follow part 2142 pushes open the suction port cover 213, the suction port 212 Complete the docking with the docking interface 11;
  • the raised portion 14 leaves the recessed portion 211, the force acting on the triggering portion 2141 disappears, the spring 219 and the torsion spring 216 release the elastic potential energy, so that the movable portion 214 and the suction The exit cover 213 returns to its position.
  • the spring 219 is used to stabilize the movable portion 214 and return to its position faster after the external force used on it disappears, but only a twist is provided at the installation place of the suction outlet cover 213 and the suction outlet 212.
  • the spring 216 can also perform basic functions.
  • the dust box provided by the present invention can be used for a mobile robot with an automatic garbage dumping function.
  • This structure is not easy to be triggered by other objects during the cleaning process to make the suction outlet cover It is turned on to cause garbage to be scattered, and purely mechanical triggering will not increase additional power consumption and improve user experience.

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  • Electric Vacuum Cleaner (AREA)

Abstract

一种尘盒及包括该尘盒的移动机器人及清洁系统，其中尘盒，包括凹陷部（211）、吸出口（212）、吸出口盖（213）、活动部（214）、第一弹性部件（216）、壳体（218），吸出口（212）用于将尘盒内的垃圾的排出，吸出口盖（213）活动地安装在吸出口（212）上，第一弹性部件（216）连接吸出口（212）和吸出口盖（213），用于将吸出口盖（213）保持在关闭状态，活动部（214）的一部分位于凹陷部（211）内，还有一部分位于吸出口盖（213）处。有益效果：尘盒可以用于具有自动倒垃圾功能的移动机器人，这种结构不容易出现在清扫过程中被其他物体触发使得吸出口盖（213）被打开而造成垃圾洒落的情况，并且纯机械式的触发不会增加额外的电消耗，提高用户体验。

Description

一种尘盒及包括该尘盒的移动机器人及清洁系统
本申请要求于2019年10月10日提交中国专利局，申请号为201910958788.X，申请名称为“一种用于移动机器人的尘盒和包括该尘盒的清洁系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明属于移动机器人领域，尤其涉及清洁机器人。
背景技术
由于现在人们对生活便利性要求不断的提高，智能机器人越来越受世界用户所喜爱，各种类型的，各种功能型的智能机器人都层出不穷，如扫地机器人、割草机器人、洒水喷药机器人。
并且人们不满足于扫地机器人仅具有清扫拖地功能，所以市面上又出现了可以自动回收垃圾的扫地机人，但是现有带收集自主移动吸尘单元中所蓄积灰尘的站单元的清洁机器人存在以下缺点：
1)有站单元从自主移动吸尘单元的吸出口把蓄积灰尘吸出并收集：主机灰尘盒里的灰尘蓄积灰尘通过滚刷处的吸出口被充电座倒吸到集尘盒里收集，因为吸出口存在容易吸入不容易吸出的结构，导致排尘效果不佳；且有滚刷存在容易毛发缠绕，吸出不顺畅。
2)有站单元在自主移动吸尘单元集尘盒上另设置一个蓄积灰尘吸出口，且带控制吸出口开闭的吸出口盖，采用电机驱动吸出口盖的开闭，则需要增加电机以及对应的驱动模块，在结构重量、空间的利用以及成本等方面存在明显的劣势。
3)有站单元在自主移动吸尘单元集尘盒上另设置一个蓄积灰尘吸出口， 且带控制吸出口开闭的吸出口盖，用机械结构来控制吸出口盖的开闭。这种结构需要在基站上设置杆，用于在移动机器人返回基站的途中勾挂于上述吸出口盖。此技术方案存在吸出口盖在移动机器人正常行走清扫工作中被物体勾挂误打开的风险，导致蓄积灰尘意外洒落的可能。
发明内容
为解决背景技术中的技术问题，本发明提供的技术方案如下：
一种尘盒，包括凹陷部、吸出口、吸出口盖、活动部、第一弹性部件、壳体，吸出口用于将尘盒内的垃圾的排出，吸出口盖可活动地安装在吸出口上，第一弹性部件连接吸出口和吸出口盖，用于将吸出口盖保持在关闭状态，活动部的一部分位于凹陷部内，还有一部分位于吸出口盖处。
进一步地，为了实现当有物体进入凹陷部时，活动部可以将吸出口盖推开，在本实施例的一个优化方案中，活动部包括：触发部、跟随部和支点，其中支点可旋转的固定在壳体上，触发部设置在凹陷部内，跟随部用于推动吸出口盖。
进一步地，为了实现当有物体进入凹陷部时，活动部可以将吸出口盖推开，在本实施例的一个优化方案中，活动部包括：触发部、跟随部、连杆，壳体上有柱状孔，连杆穿过柱状孔，触发部设置在凹陷部内，跟随部用于推动吸出口盖。
进一步地，为了避免连杆在柱状孔内摇晃，在本实施例的一个优化方案中，连杆上安装有第二弹性部件。
进一步地，为了吸出口盖可转动的安装在吸出口上，在本实施例的一个优化方案中，尘盒还包括转轴，吸出口盖的一端设置有盖轴孔，吸出口上设置有安装孔，转轴穿过盖轴孔和安装孔，其中转轴与盖轴孔和安装孔两者中任意一个的配合方式是过盈配合，另一个是间隙配合。
进一步地，为了在不受到外力的时候吸出口盖保持在关闭状态，在本实 施例的一个优化方案中，第一弹性部件是扭簧。
本发明还提供了一种移动机器人，包括机器人主体和上述的尘盒，机器人主体包括清洁装置、驱动装置。
本发明还提供了一种清洁系统，包括上述的移动机器人和基站，基站包括凸起部和对接口，凸起部可以与所述凹陷部对接，用于推动活动部，对接口的位置和吸出口是对应的。
进一步地，为了使尘盒里的垃圾被基站收集的更充分，在本实施例的一个优化方案中，基站还包括真空源、回收部、通道、出风口，通道起始于对接口，途经回收部和真空源，终止于出风口。
进一步地，为了使移动机器人在排空尘盒垃圾的同时还可以充电，在本实施例的一个优化方案中，移动机器人还包括充电电极，基站还包括放电电极，并且充电电极和放电电极的位置对应。
本发明的有益效果：与现有技术相比，本发明提供的尘盒可以用于具有自动倒垃圾功能的移动机器人，这种结构不容易出现在清扫过程中被其他物体触发使得吸出口盖被打开而造成垃圾洒落的情况，并且纯机械式的触发不会增加额外的电消耗，提高用户体验。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图是本发明实施例的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明清洁系统的第一视图；
图2为本发明移动机器人的第一视图；
图3为本发明移动机器人的第二视图；
图4为本发明的移动机器人的拆分图；
图5为本发明尘盒的局部放大图；
图6为本发明基站的第一透视图；
图7为本发明清洁系统的局部放大图；
图8为本发明第一实施例尘盒的第一视图；
图9为本发明第一实施例尘盒的第二视图；
图10为本发明第二实施例尘盒的第一视图；
图11为本发明第二实施例尘盒的第二视图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。另外，为了便于说明，本实施例说明中使用了左、右、内、外等方位词，但这并不限制本发明的保护范围。
如图1所示，一种清洁系统，包括基站1和移动机器人2，基站1可以用于给移动机器人2充电，还可以回收移动机器人2工作所收集到的垃圾。
如图2、3、4所示，移动机器人2具有机器人主体22和尘盒21，机器人主体22包括清洁装置222、驱动装置223、充电电极224，清洁装置222可以包括滚刷和边刷，或者仅包括两者之一，驱动装置223驱动移动机器人2在工作区域行进，清洁装置222将毛发、灰尘等垃圾扫入吸口处，被移动机器人2内部的吸风机吸入尘盒21。
尘盒21可拆卸地安装在移动机器人2的后端，尘盒21具有壳体218，壳体218有一个面的轮廓是配合移动机器人2的，如图2、3、4所示，由于移动机器人2大体上是圆形，尘盒21位于最外侧的面便设置成了弧面，使安装了尘盒21的移动机器人2整体轮廓是完整的圆形，为了方便叙述，将这个弧面称作尘盒外侧弧面，尘盒21还包括：用于收集垃圾的容置腔215、位于外侧弧面且向内凹陷形成的凹陷部211、位于底部的吸出口212、可转动地安装在吸出口212的吸出口盖213、以及一部分位于容置腔215内部的活动部214。
如图5所示，尘盒21还包括转轴217，吸出口盖213的一端可转动地安 装在吸出口212上，吸出口盖213的一端设置有盖轴孔2131，吸出口212上设置有安装孔2121，通过转轴217同时穿过盖轴孔2131和安装孔2121的方式将吸出口盖213连接在吸出口212上，转轴217与盖轴孔2131和安装孔2121两者中任意一个的配合方式是过盈配合，另一个是间隙配合。在转轴217上还安装有扭簧216，在扭簧216弹力的作用下，吸出口盖213通常是处于闭合状态的。
如图8、9所示，活动部214可以是一体成型的结构，包括触发部2141，跟随部2142，支点2143，其中支点2143可旋转地固定在壳体218上，整个活动部214可绕着支点2143的中心旋转，其中，触发部2141位于在凹陷部211内，跟随部2142用于推动在吸出口盖213，跟随部2142可以直接与吸出口盖213连接，也可以抵接，或者在吸出口盖213闭合的时候两者之间有一定间隙，当活动部214运动的时候可以抵接到吸出口盖213即可。
如图8、9所示，凹陷部211是向内凹陷的孔，由于触发部2141是位于在凹陷部211内的，所以当有物体伸入凹陷部211时，只要长度足够便可以接触到触发部2141，并且由于活动部214是一体的结构，这时整个活动部214便会绕着支点2143旋转，于是跟随部2142就会朝向吸出口盖213运动，进而克服扭簧216的弹力做功，使吸出口盖213受推力被打开，即从图8的状态向图9的转变。
如图6所示，基站1包括对接口11、真空源12、回收部13、凸起部14、放电电极15、杯座16、通道17、出风口18，当充电电极224与放电电极15接触时，基站1可以给移动机器人2充电。
如图6所示，通道17起始于对接口11，途径回收部13和真空源12，终止于出风口18。如图6中箭头方向所示，当真空源12启动时，空气从对接口11进入，经过回收部13，最后从出风口18排出，在回收部13的出口处设置有过滤装置，用于将尘屑留存在回收部13内，而不会随通道17进入真空源12，造成故障。
如图7所示，在移动机器人2回到基站1的过程中，凸起部14会对接到凹陷部211内，直到移动机器人2完全进入基站2。当移动机器人2完全进入基站2时，对接口11和吸出口12的位置是对准的，并且凸起部14会推动 触发部2141，从而推动活动部214绕转轴217旋转，跟随部213克服扭簧216的弹力做功，使吸出口盖213被打开，扭簧216蓄积弹性势能，使吸出口212和对接口11对接形成通道，随后真空源12启动，通过通道17将尘盒容置腔215内的垃圾吸入回收部13，实现将移动机器人2内的垃圾转移到基站1的功能。
待移动机器人2离开基站1时，凸起部14与凹陷部211分离，凸起部14不再作用于活动部214，扭簧216释放弹性势能，使吸出口盖213归位，进而向上推动活动部214，吸出口212回到被关闭的状态。
为了使移动机器人2的体积不至于过大，因为过大会使移动机器人2不能进入较为狭小的空间，使清扫的范围受限，并且体积过大也会增加不必要的耗能，因此尘盒21的容量也受到了限制，基本清扫几次就需要倒一次尘盒21里面的垃圾，使用过程较为繁琐。而基站1是固定不动的，不需要进入狭小的空间，所以基站1的体积增大不会造成太大影响，本发明采用的基站1可以将移动机器人2内的垃圾转移到回收部13，回收部13的容量较尘盒21有大幅增加，可以大大降低用户清理垃圾的频率。
吸出口盖213的开闭由是否有物体伸入凹陷部211来控制，这样的设置可以有效避免误操作，当凹陷部211设置的较为狭小和细长时，则很难有物体正好可以进入，并且即使进入了也需要达到一定的长度才可以接触到活动部214，更重要的是，凹陷部211是设置在尘盒外侧弧面上的，即移动机器人2的后方，而移动机器人在清扫过程中，大部分时间都是朝前运动的，这样可以进一步有效避免在清扫的过程中吸出口盖213被打开，造成垃圾洒落的情况。
进一步地，如图6所示，回收部13的形状类似于杯子，并且在侧面设置了手柄131，上部设置了杯盖132，基站1还包括杯座16，回收部13可拆卸的安装在杯座16上，设置手柄131是为了方便取放，需要清理回收部的时候仅需握住手柄131使回收部13与杯座16分离，打开杯盖132，便可以清理回收部13内的垃圾。
在一些实施例中，活动部214的运动方式还可以是滑动等其他运动方式，形状也是不受限制的。如图10、11所示，活动部214包括：触发部2141、 跟随部2142和连杆2144，连杆2144可上下活动地固定在壳体218形成的柱状孔2181内，并且为了避免摇晃，还在柱状孔2181与连杆2144的空隙处增加了第二弹性部件，这里采用的弹簧219，触发部2141位于凹陷部211内，跟随部2142用于推动吸出口盖213，跟随部2142可以直接与吸出口盖213连接，也可以抵接，或者在吸出口盖213闭合的时候两者之间有一定间隙，当活动部214运动的时候可以抵接到吸出口盖213即可。
当移动机器人2回到基站1时，凸起部14进入凹陷部211，推动触发部2141，使活动部214整体向下运动，压缩弹簧219，跟随部2142推开吸出口盖213，吸出口212和对接口11完成对接；当移动机器人2离开基站1时，凸起部14离开凹陷部211，作用于触发部2141的力消失，弹簧219和扭簧216释放弹性势能，使活动部214和吸出口盖213归位。
需要注意的是，上述实施例中弹簧219是为了稳定活动部214和当作用于其上的外力消失后可以更快的归位，但是仅在吸出口盖213与吸出口212的安装处设置扭簧216也是可以实现基本功能的。
与现有技术相比，与现有技术相比，本发明提供的尘盒可以用于具有自动倒垃圾功能的移动机器人，这种结构不容易出现在清扫过程中被其他物体触发使得吸出口盖被打开而造成垃圾洒落的情况，并且纯机械式的触发不会增加额外的电消耗，提高用户体验。
所属领域的普通技术人员应当理解：以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种尘盒，其特征在于，包括凹陷部(211)、吸出口(212)、吸出口盖(213)、活动部(214)、第一弹性部件(216)、壳体(218)，所述吸出口(212)用于将尘盒内的垃圾的排出，所述吸出口盖(213)可活动地安装在吸出口(212)上，第一弹性部件(216)连接吸出口(212)和吸出口盖(213)，用于将吸出口盖(213)保持在关闭状态，所述活动部(214)的一部分位于凹陷部(211)内，还有一部分位于吸出口盖(213)处。
  2. 根据权利要求1所述的尘盒，其特征在于，所述活动部(214)包括：触发部(2141)、跟随部(2142)和支点(2143)，其中支点(2143)可旋转的固定在壳体(218)上，所述触发部(2141)设置在所述凹陷部(211)内，所述跟随部(2142)用于推动吸出口盖(213)。
  3. 根据权利要求1所述的尘盒，其特征在于，所述活动部(214)包括：触发部(2141)、跟随部(2142)、连杆(2144)，所述壳体(218)上有柱状孔(2181)，所述连杆(2144)穿过柱状孔(2181)，所述触发部(2141)设置在所述凹陷部(211)内，所述跟随部(2142)用于推动吸出口盖(213)。
  4. 根据权利要求3所述的尘盒，其特征在于，还包括第二弹性部件(219)，所述连杆(2144)上安装有第二弹性部件(219)。
  5. 根据权利要求1所述的尘盒，其特征在于，还包括转轴(217)，所述吸出口盖(213)的一端设置有盖轴孔(2131)，吸出口(212)上设置有安装孔(2121)，所述转轴(217)穿过所述盖轴孔(2131)和安装孔(2121)，其中转轴(217)与盖轴孔(2131)和安装孔(2121)两者中任意一个的配合方式是过盈配合，另一个是间隙配合。
  6. 根据权利要求1所述的尘盒，其特征在于，所述第一弹性部件(216)是扭簧。
  7. 一种移动机器人，其特征在于，包括机器人主体(22)和权利要求1-6 所述的尘盒，所述机器人主体(22)包括清洁装置(222)、驱动装置(223)。
  8. 一种清洁系统，其特征在于，包括权利要求7中所述的移动机器人(2)和基站(1)，所述基站包括凸起部(14)和对接口(11)，所述凸起部(14)可以与所述凹陷部(211)对接，用于推动活动部(214)，所述对接口(11)的位置和吸出口(212)是对应的。
  9. 根据权利要求8所述的清洁系统，其特征在于，所述基站(1)还包括真空源(12)、回收部(13)、通道(17)、出风口(18)，所述通道(17)起始于对接口(11)，途经回收部(13)和真空源(12)，终止于出风口(18)。
  10. 根据权利要求8所述的清洁系统，其特征在于，所述移动机器人(2)还包括充电电极(224)，所述基站(1)还包括放电电极(15)，并且充电电极(224)和放电电极(15)的位置对应。
PCT/CN2020/109541 2019-10-10 2020-08-17 一种尘盒及包括该尘盒的移动机器人及清洁系统 WO2021068646A1 (zh)

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JPH0889457A (ja) * 1994-09-28 1996-04-09 Nippon Yusoki Co Ltd 自動掃除機
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