WO2021129117A1 - Station de collecte de poussière et système de nettoyage - Google Patents

Station de collecte de poussière et système de nettoyage Download PDF

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Publication number
WO2021129117A1
WO2021129117A1 PCT/CN2020/124146 CN2020124146W WO2021129117A1 WO 2021129117 A1 WO2021129117 A1 WO 2021129117A1 CN 2020124146 W CN2020124146 W CN 2020124146W WO 2021129117 A1 WO2021129117 A1 WO 2021129117A1
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WO
WIPO (PCT)
Prior art keywords
dust
hook
dust collection
cleaning device
autonomous cleaning
Prior art date
Application number
PCT/CN2020/124146
Other languages
English (en)
Chinese (zh)
Inventor
王攀
丁铁
周威
程福萍
栾谦聪
Original Assignee
美智纵横科技有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201922360060.5U external-priority patent/CN211723007U/zh
Priority claimed from CN201911354255.7A external-priority patent/CN113017485A/zh
Priority claimed from CN201922357493.5U external-priority patent/CN211609616U/zh
Priority claimed from CN201922361504.7U external-priority patent/CN211674035U/zh
Priority claimed from CN201911353655.6A external-priority patent/CN113017484A/zh
Priority claimed from CN201911354281.XA external-priority patent/CN113017486A/zh
Application filed by 美智纵横科技有限责任公司 filed Critical 美智纵横科技有限责任公司
Publication of WO2021129117A1 publication Critical patent/WO2021129117A1/fr

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Classifications

    • 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
    • A47L11/40—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

Definitions

  • the application number is 201911354281.X and the application date is December 25, 2019.
  • the application date is December 25, 2019.
  • the application number is 201911353655.6.
  • the application date is December 25, 2019.
  • the application number is 201922360060.5, and the application date is a Chinese patent application on December 25, 2019; 6.
  • This application relates to the technical field of cleaning equipment, in particular to a dust collection station and a cleaning system.
  • sweeping robots can achieve autonomous cleaning and reduce the burden of people doing housework, and are loved by consumers.
  • the capacity of the dust box used to contain the dust inside the robot is limited. After the dust box is full, people need to bend over to take the dust box for cleaning. This not only restricts the autonomous cleaning time of the sweeping robot, but also increases the number of human interventions.
  • the embodiments of the present application expect to provide a dust collection station and cleaning system that can better collect dust from autonomous cleaning equipment.
  • the first aspect of the embodiments of the present application provides a dust collection station for collecting cleaning impurities of an autonomous cleaning device, the autonomous cleaning device including a main body and a drive wheel installed at the bottom of the main body;
  • a negative pressure dust collection channel is formed in the dust collection station, and the dust collection station includes:
  • a bearing device for bearing the driving wheel is configured with a dust collection suction port communicating with the negative pressure dust collection channel;
  • the lifting mechanism is provided with the lifting mechanism on at least one side of the dust collection suction port, and the lifting mechanism protrudes from the top surface of the supporting device for supporting the main body.
  • the lifting mechanism includes:
  • a supporting base, the supporting base is arranged on the top of the carrying device;
  • a movable part protruding at least partially from the top surface of the lifting base for supporting the main body part, and the movable part is movably connected with the lifting base so that the movable part and The friction between the main body parts is rolling friction or static friction.
  • the movable part can move relative to the lifting base under the drive of the main body part; or, the dust collection station includes a driving mechanism, and the driving mechanism is drivingly connected with the movable part to The movable part is driven to move relative to the lifting base.
  • the second aspect of the embodiments of the present application provides a cleaning system, including an autonomous cleaning device and any one of the above-mentioned dust collection stations;
  • the autonomous cleaning equipment also includes a dust box for containing cleaning impurities, the dust box is located in the main body, the bottom end of the dust box is configured with a dust outlet, the dust outlet can be selectively opened or Closed, when the dust exhaust port is in communication with the dust collection suction port, the cleaning impurities in the dust box can enter the negative pressure dust collection channel through the dust exhaust port and the dust collection suction port in sequence;
  • the main body portion is supported on the lifting mechanism.
  • the dust collecting and suction opening is provided with the lifting mechanism along opposite sides perpendicular to the traveling direction of the autonomous cleaning device, and in the traveling track of the driving wheel on the carrying device, two The lifting mechanism is located between the two driving wheels;
  • the autonomous cleaning equipment also includes a universal wheel installed at the bottom of the main body part, and the driving wheel is on the carrying device In the traveling track, the universal wheel passes through the dust collection suction port.
  • the third aspect of the present application provides a cleaning system, including an autonomous cleaning device and any one of the above-mentioned dust collection stations;
  • the autonomous cleaning device also includes a dust box for containing cleaning impurities, a dust exhaust port is formed at the bottom end of the dust box, and the dust exhaust port can be selectively opened or closed.
  • the dust collection station further includes a sealing component, the sealing component is arranged around the dust collection suction port, when the autonomous cleaning device moves to the dust discharge position, the dust discharge port and the dust collection suction port pass through the The sealing components are connected.
  • the sealing assembly includes a flexible sealing element, and the flexible sealing element is provided on opposite sides of the dust collection port; the autonomous cleaning device further includes a stopper for preventing the flexible sealing element from toppling The stopper, the stopper is provided on the bottom side of the main body or the bottom side of the dust box; when the autonomous cleaning device moves to the dust discharge position, the flexible seal is under negative pressure Abut against one side of the stopper.
  • the sealing assembly further includes a sealing plate, and the other opposite sides of the dust collection port are provided with the sealing plate, and the two sealing plates and the two flexible sealing elements are jointly enclosed to communicate with each other.
  • the opposite ends of the flexible sealing member slide in contact with the sealing plate.
  • the stoppers are provided on opposite sides of the dust exhaust port, and the maximum distance between the two stoppers is less than the minimum distance between the two flexible seals, when the The autonomous cleaning device moves to the dust-discharging position, and the two stoppers are located between the two flexible seals; the stoppers are in the shape of a flat plate, and the flexible seals can seal and abut against the stoppers.
  • the fourth aspect of the embodiments of the present application provides a cleaning system, which includes an autonomous cleaning device, any one of the above-mentioned dust collection stations, a driven mechanism, and a first drive mechanism.
  • the dust collection station is used to collect the power of the autonomous cleaning device. Clean up impurities:
  • the autonomous cleaning equipment also includes a dust box and a cover plate; the dust box is used to contain cleaning impurities, and the bottom end of the dust box is configured with a dust exhaust port for communicating with the dust collection suction port; the cover plate and the Rotating connection of dust box;
  • the driven mechanism is fixed on the cover plate
  • the first driving mechanism and the driven mechanism are drivingly matched to drive the driven mechanism to move to drive the cover plate to rotate to a position where the dust exhaust port is opened.
  • the first driving mechanism includes a transmission component and a motor
  • the motor has a motor shaft
  • the transmission component is rotatably connected with the motor shaft
  • opposite ends of the cover plate are configured to connect with the dust
  • the box is rotatably connected with a rotating shaft
  • the driven mechanism is fixedly connected with the rotating shaft
  • the transmission component is drivingly matched with the driven mechanism to drive the rotating shaft to drive the cover plate to rotate.
  • the driven mechanism is a shift block
  • the transmission component is a cam, and the cam is eccentrically connected to the motor shaft for rotation.
  • the motor shaft drives the cam to rotate
  • the circumferential surface of the cam can abut the shift block to drive the motor shaft.
  • the dial block drives the rotation shaft to rotate; or
  • the driven mechanism is a driven gear, the driven gear is coaxially fixedly connected with the rotating shaft, the transmission component is a driving gear, the driving gear is coaxially fixedly connected with the motor shaft, the driving gear Mesh with the driven gear; or
  • the driven mechanism is a driven pulley, and the driven pulley is coaxially and fixedly connected with the rotating shaft.
  • the transmission component includes a driving pulley and the driving pulley is wound around the driving pulley and the driven pulley.
  • the driving pulley is coaxially and fixedly connected with the motor shaft, and the motor shaft drives the driving pulley to rotate so that the traction belt drives the driven pulley and the rotating shaft to rotate synchronously .
  • the first driving mechanism includes a first electromagnet
  • the first electromagnet is arranged on the carrying device
  • the driven mechanism includes a first magnetic member
  • the first electromagnet When the dust exhaust port needs to be opened, the first electromagnet is in a energized state, and the first magnetic member and the first electromagnet generate magnetic force to drive the cover plate to rotate to the position of opening the dust exhaust port.
  • the driven mechanism includes a second magnetic member; the cover plate has a first rotation centerline, the cover plate rotates around the first rotation centerline, the first magnetic member and the The second magnetic member is disposed on opposite sides of the cover plate along the vertical to the first rotation center line, and one of the first magnetic member and the second magnetic member is connected to the first electromagnet
  • the magnetic force between the two is an attractive force
  • the magnetic force between the other and the first electromagnet is a repulsive force.
  • the attractive force and the repulsive force together drive the cover plate to rotate to open the dust outlet. position.
  • the first driving mechanism further includes a pressing switch and a lock
  • the opposite ends of the cover plate are configured with a rotating shaft that is rotatably connected with the dust box, and one of the pressing switch and the lock Is fixedly connected to the rotating shaft; the other of the push switch and the lock is fixedly connected to the dust box, when the rotating shaft drives the cover plate to rotate to the position of opening the dust outlet, the push switch Inserted into the lock catch and locked with the lock catch.
  • the rotating shaft drives the cover plate to rotate in the direction of closing the dust discharge opening, the rotating shaft drives the push switch to disengage from the lock catch.
  • the driven mechanism includes a hooking portion provided on the bottom side of the cover plate, the hooking portion having an opening groove and a first notch communicating with the opening groove;
  • the first driving mechanism includes:
  • the first end of the hook is rotatably connected with the carrying device; while the autonomous cleaning device passes through the dust collection suction port in the direction close to the dust collection station, the second end of the hook passes through The first notch is snapped into the opening groove to drive the hooking portion to drive the cover plate to rotate to a position where the dust discharge opening is opened; the autonomous cleaning device is in a direction away from the dust collection station During the movement, the second end of the hook is separated from the opening groove through the first notch;
  • a reset mechanism which is connected between the bearing device and the hook to drive the hook to reset.
  • the hook has a second centerline of rotation, and when the hook is in the initial position, the hook can rotate forward or reverse about the second centerline of rotation;
  • the reset mechanism includes a rotation along the hook The first torsion spring and the second torsion spring on opposite sides in the direction, the first end of the first torsion spring abuts the hook, and the second end of the first torsion spring is fixedly connected to the carrying device;
  • the first end of the second torsion spring abuts against the hook, and the second end of the second torsion spring is fixedly connected to the carrying device.
  • the hook portion includes a hook body fixed to the cover plate and a baffle fixedly connected to the hook body, and the hook body and the baffle surround the opening A groove and the first groove, a second groove is formed on the baffle, and both the first groove and the opening groove are in communication with the second groove;
  • the hook includes:
  • the first rod member when the autonomous cleaning device passes the dust collection suction port in the direction close to the dust collection station, the first rod member is locked into the opening groove, and the first rod member Abutting with the baffle to drive the hook body connected with the baffle to drive the cover to rotate;
  • the top end of the connecting part is connected with the first rod, and the bottom end of the connecting part is rotatably connected with the carrying device.
  • the connecting The portion partially extends from the first slot or the second slot to the outside of the opening slot.
  • the bearing device includes:
  • a carrier body, the negative pressure dust collection channel and the dust collection suction port are both constructed on the carrier body, and a mounting groove is formed in the negative pressure dust collection channel of the carrier body;
  • a mounting seat the mounting seat is slidably disposed in the mounting groove, the hook is rotatably disposed on the first top surface of the mounting seat, and the mounting seat can slide along the direction of travel of the autonomous cleaning device;
  • the autonomous cleaning device further includes a resetting member connected between the cover plate and the dust box to drive the cover plate to rotate to a position where the dust exhaust port is closed;
  • the cover plate rotates around a rotating shaft provided at both ends of the cover plate, the reset member is a third torsion spring, and the third torsion spring is sleeved on the rotating shaft.
  • the lifting mechanism can support the self-cleaning equipment
  • the main body part prevents the universal wheel connected with the main body part from falling into the dust collecting mouth of the carrying device and being jammed, which ensures that the autonomous cleaning equipment can move and walk normally on the carrying device.
  • FIG. 1 is a schematic structural diagram of a cleaning system according to an embodiment of the application
  • Figure 2 is a schematic structural diagram of an autonomous cleaning device according to an embodiment of the application.
  • FIG. 3 is a schematic structural diagram from another perspective of the cleaning system according to an embodiment of the application.
  • Fig. 4 is an enlarged view at position B of Fig. 1, showing the seal
  • Figure 5 is a schematic diagram of an autonomous cleaning device moving to a dust collection station according to an embodiment of the application, and the main body is supported on the lifting mechanism so that the universal wheel passing through the dust collection suction port is in a suspended state;
  • FIG. 6 is an enlarged view of the position E of 2 in another viewing angle
  • Figure 7 is a cross-sectional view at position C-C in Figure 3.
  • the autonomous cleaning device part in the figure only shows the dust box and the part associated with the dust box;
  • Figure 8 is an enlarged view of position D in Figure 7, showing the seal and the dust exhaust channel;
  • Figure 9 is a structural diagram of the target mechanism and the actuator of an embodiment of the application.
  • the target mechanism in the figure is a shift block, and the transmission part of the actuator is a cam.
  • the cover is opened by the cam and the shift block, and the seal is shown in the figure. ;
  • Fig. 10 is a schematic diagram of the structure of the target mechanism and the actuator shown in Fig. 9 from another perspective, and the dust collection station is omitted in the figure;
  • FIG. 11 is a schematic diagram of the structure of the target mechanism and the actuator according to an embodiment of the application.
  • the target mechanism is an iron-containing device
  • the actuator is a first electromagnet.
  • the cover is opened by the first electromagnet and the iron-containing device. Shows the seal;
  • Figure 12 is a schematic structural diagram of the structure shown in Figure 11 from another perspective, the figure omits the dust collection station and the first electromagnet located on the dust collection station;
  • the target mechanism is a hook
  • the actuator includes a hook, a mounting seat, and a reset mechanism.
  • the cover is opened through the hook and the hook;
  • Fig. 14 is a schematic structural diagram of the actuator shown in Fig. 13 from another perspective;
  • Figure 15 is a schematic structural diagram of the hook in the actuator shown in Figure 13 from another perspective;
  • FIG. 16 is a schematic structural diagram of a hook in an executing mechanism according to an embodiment of the application.
  • FIG. 17 is a schematic diagram of the structure of setting multiple actuators according to an embodiment of the application.
  • FIG. 18 is a schematic structural diagram of a hooking portion according to an embodiment of the application.
  • the hooking portions shown in the figure correspond to the actuator shown in FIG. 17 in a one-to-one correspondence.
  • Figure 19 is an enlarged view of position B in Figure 1, showing the flexible seal and the sealing plate;
  • Figure 20 is an enlarged view of position D in Figure 7, showing the flexible seal and the transition sealing channel;
  • the target mechanism in the figure is a shift block, and the transmission part of the actuator is a cam.
  • the cover is opened by the cam and the shift block.
  • the figure shows the flexible Seals
  • Figure 22 is a schematic structural diagram of the target mechanism and the actuator according to an embodiment of the application.
  • the target mechanism is an iron-containing device
  • the actuator is a first electromagnet.
  • the cover is opened by the first electromagnet and the iron-containing device. Shows a flexible seal;
  • FIG. 23 is a schematic structural diagram of a cleaning system according to an embodiment of the application, and the figure shows the carrying body and the second top surface of the carrying device;
  • the driven mechanism is a shift block
  • the transmission part of the first drive mechanism is a cam
  • the cover is opened by the cam and shift block. Shows the flexible seal and the motor of the first drive mechanism
  • Figure 25 is a schematic structural view of the driven mechanism and the first drive mechanism shown in Figure 24 from another perspective, and the dust collection station is omitted in the figure;
  • 26 is a schematic diagram of the structure of the driven mechanism and the first driving mechanism according to an embodiment of the application, wherein the driven mechanism includes a first magnetic member;
  • Figure 27 is a schematic structural view of the structure shown in Figure 26 from another perspective, the figure omits the dust collection station and the first electromagnet located on the dust collection station;
  • 28 is a schematic diagram of the structure of the driven mechanism and the first driving mechanism according to an embodiment of the application, wherein the driven mechanism includes a second magnetic member;
  • Figure 29 is a schematic structural diagram of the structure shown in Figure 28 from another perspective, the figure omits the dust collection station and the first electromagnet located on the dust collection station;
  • the driven mechanism is a hooking part
  • the first driving mechanism includes a hook and a reset mechanism, and the cover is opened through the hook and the hooking part;
  • FIG. 31 is a schematic structural diagram of the first driving mechanism and the limiting portion of the carrying body shown in FIG. 30 from another perspective;
  • FIG. 32 is a schematic structural diagram of a plurality of first driving mechanisms according to an embodiment of the application.
  • FIG. 33 is a schematic structural diagram of a hooking portion according to an embodiment of the application.
  • the hooking portion shown in the figure corresponds to the first driving mechanism shown in FIG. 32 one by one;
  • Fig. 34 is an enlarged view of the position F of Fig. 23, showing the flexible sealing member and the sealing plate.
  • orientation or positional relationship is based on the orientation or positional relationship shown in FIG. 1. It should be understood that these orientation terms It is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the application.
  • an embodiment of the present application provides a cleaning system.
  • the cleaning system includes an autonomous cleaning device 1 and a dust collection station 2, and the dust collection station 2 is used to collect cleaning impurities from the autonomous cleaning device 1.
  • the autonomous cleaning device 1 of the embodiment of the present application please refer to FIGS. 1, 2, 3, and 8, and includes a driving wheel 12 with a main body 15 installed at the bottom of the main body 15.
  • the main body 15 can realize the cleaning function
  • the driving wheel 12 realizes the function of driving the main body 15 to move.
  • the number of driving wheels 12 is at least two.
  • the number of driving wheels 12 in this embodiment is described by taking two as an example, and the two driving wheels 12 are arranged at intervals.
  • the autonomous cleaning device 1 further includes a dust box 11 for accommodating cleaning impurities.
  • the dust box 11 is located in the main body 15 and the dust box 11 realizes the function of collecting and cleaning impurities.
  • the bottom end of the dust box 11 is configured with a dust outlet 111, and the dust outlet 111 can be selectively opened or closed. Specifically, when the dust outlet 111 is in an open state, at least part of the cleaning impurities in the dust box 11 can fall from the dust outlet 111, and when the dust outlet 111 is in a closed state, the cleaning impurities are collected in the dust box. It should be noted that when the autonomous cleaning device is in the cleaning process, the dust outlet 111 is in a closed state.
  • the dust box 11 is provided with an air inlet 112, and the autonomous cleaning device 1 cleans up impurities such as dust on the ground and enters the dust box 11 through the air inlet 112 during the cleaning work.
  • the autonomous cleaning device 1 further includes a universal wheel 13 installed at the bottom of the main body 15.
  • the universal wheel 13 is arranged in front of the driving wheel 12 along the direction of advancement of the autonomous cleaning device, and the universal wheel 13 can change direction, thereby changing the direction of travel of the autonomous cleaning device 1.
  • the universal wheel 13 is located between the two driving wheels 12. It can be understood that the trajectory of the universal wheel 13 may be located in the middle of the trajectory of the two driving wheels 12 , It can also deviate from the middle, there is no restriction here.
  • a triangular support is formed between the two drive wheels 12 and the universal wheels 13 arranged at intervals, so that the autonomous cleaning device 1 has better stability during the movement.
  • the span between the two drive wheels 12 arranged at intervals is relatively large.
  • the dust box 11 in the traveling track of the autonomous cleaning device 1, the dust box 11 is located between the two driving wheels 12. In this way, the dust box 11 can be made to have a larger volume, and the opening area of the dust exhaust port 111 of the dust box 11 can be enlarged accordingly, which is beneficial for cleaning the impurities in the dust box 11 to discharge the dust box 11.
  • a negative pressure dust collection channel is formed in the dust collection station 2.
  • the dust collection station 2 includes a lifting mechanism 24 and a carrying device for carrying the driving wheels 12 twenty one.
  • the supporting device 21 is configured with a dust collection suction port 211 communicating with the negative pressure dust collection channel.
  • the universal wheel 13 will pass through the dust collection suction port 211.
  • the universal wheel 13 passes through the dust-collecting suction port 211, and the universal wheel 13 may fall into the dust-collecting suction port 211 and get stuck.
  • at least one side of the dust collection suction port 211 is provided with a lifting mechanism 24, and the lifting mechanism 24 protrudes from the top surface 212 of the carrying device 21 for the main body 15.
  • the lifting mechanism 24 supports the main body 15 to prevent the universal wheel 13 from falling into the dust collection opening 211 of the carrying device 21 and being jammed, that is, When the universal wheel 13 passes through the dust collection suction port 211, the universal wheel 13 is in a suspended state, which ensures that the autonomous cleaning device 1 can move and walk normally on the carrying device 21, and the driving wheel 12 continues to drive the autonomous cleaning device 1 to move, so that The universal wheel 13 can pass through the dust collection suction port 211 basically without obstacles until the autonomous cleaning device moves to the target position.
  • the cleaning impurities in the dust box 11 can enter the negative pressure dust collection channel through the dust exhaust port 111 and the dust collection suction port 211 in sequence. Specifically, when the dust exhaust port 111 is connected to the dust collection suction port 211, a negative pressure environment is formed in the negative pressure dust collection channel, and the cleaning impurities in the dust box 11 are sucked into the negative pressure dust collection channel under the action of negative pressure, and then emptied. The cleaning impurities in the dust box 11 are collected in the dust collection station 2. After the accumulated amount of cleaning impurities is large, the cleaning impurities collected in the dust collection station 2 are cleaned at once, for example, one month or two months Clean up the cleaning impurities in the dust collection station 2 once.
  • the autonomous cleaning device 1 may be a sweeping robot, or other devices that perform autonomous cleaning of walls, for example, which is not limited here.
  • the autonomous cleaning device 1 is a sweeping robot as an example for description.
  • the dust collection station 2 also includes a dust collection motor 25 and a collection device.
  • the dust collection motor 25 is used to form a negative pressure in the negative pressure dust collection channel, and the collection device communicates with the negative pressure dust collection channel to accommodate the negative pressure.
  • the dust suction motor 25 can adopt mute technology, which has a good mute effect.
  • the collection device may be a collection box or a collection bag for collecting cleaning impurities.
  • the dust collection station 2 also includes a column 27 arranged on the carrying device 21, the dust suction motor 25 can be arranged in the column 27, and the negative pressure dust collection channel also extends into the column 27, that is to say, the cleaning of the dust collection station 2 Impurities can be placed in the column 27.
  • the traveling direction of the autonomous cleaning device 1 is the direction in which the autonomous cleaning device 1 advances or retreats. Specifically, based on FIG. 1 or FIG. 5, the traveling direction of the autonomous cleaning device 1 is the direction indicated by arrow A in FIG. 1 or FIG. 5.
  • the lifting mechanism 24 can be provided only on the side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1. In this way, it can be ensured that the universal wheel 13 passing through the dust collection suction port 211 does not Interference with the lifting agency 24 will occur.
  • the lifting mechanism 24 is provided on the opposite sides of the dust collection suction port 211 along the direction perpendicular to the traveling direction of the autonomous cleaning device 1, so that the lifting mechanism 24 can support the main body 15 more stably, The force of the supporting main body 15 is more balanced.
  • a lifting mechanism 24 may also be provided on at least one side of the dust collection suction port 211 along the traveling direction of the autonomous cleaning device 1, as long as the lifting mechanism 24 is placed in a position that can avoid the position of the universal wheel 13.
  • the movement trajectory is such that the moving universal wheel 13 does not interfere with the lifting mechanism 24.
  • the specific structure of the lifting mechanism 24 is not limited, as long as it can play the role of lifting the main body 15.
  • the lifting mechanism 24 may be a fixed structure, and sliding friction is formed between the lifting mechanism 24 and the main body 15.
  • the lifting mechanism 24 of this structure can support the main body 15 and can prevent the universal wheel from falling into the dust collection opening 211 of the carrying device 21 and being jammed, and ensuring that the autonomous cleaning device 1 can be normally mounted on the carrying device 21 Move and walk.
  • the lifting mechanism 24 includes a lifting base 242 and a movable part 241.
  • the lifting base 242 is provided on the top of the supporting device 21, the movable piece 241 at least partially protrudes from the top surface 212 of the supporting device 21 to support the main body portion 15, and the movable piece 241 is movably connected with the lifting base 242 to enable movement
  • the friction between the member 241 and the main body 15 is rolling friction or static friction, which can prevent the main body 15 from wearing or scratching the bottom surface of the main body 15 due to sliding friction between the lifting mechanism 24 and the main body 15. This embodiment will be described with this structure as an example.
  • movable connection refers to a connection mode in which the movable part 241 and the lifting base 242 have relative movement.
  • the movable part 241 can slide, rotate, and rotate relative to the lifting base 242. Scroll and so on.
  • the movement of the movable piece 241 relative to the lifting base 242 can be active or passive, as long as the movement of the movable piece 241 is compatible with the movement of the main body 15 so that no sliding friction occurs between the movable piece 241 and the main body 15 .
  • the movable member 241 can move relative to the lifting base 242 under the drive of the main body 15. At this time, the movable member 241 moves passively.
  • the dust collection station 2 further includes a driving mechanism, which is drivingly connected with the movable part 241 to drive the movable part 241 to move relative to the lifting base 242. At this time, the movable part 241 is actively moving.
  • the active movement of the movable part 241 can also assist the autonomous cleaning device 1 to travel.
  • the driving mechanism drivingly connected to the movable member 241 may be provided on the lifting base 242 or on the carrying device 21.
  • the movable part 241 is not limited.
  • the movable member 241 is a roller
  • the roller is rotatably connected with the lifting base 242
  • the rotation axis of the roller is perpendicular to the traveling direction of the autonomous cleaning device 1, and the friction between the roller and the main body 15 is rolling friction.
  • the traveling resistance of the autonomous cleaning device 1 can be reduced.
  • the roller can also be driven by a driving mechanism.
  • the number of rollers can be one or more.
  • the multiple rollers are arranged along the traveling direction of the autonomous cleaning device 1, which can facilitate the lifting mechanism 24 to support the autonomous cleaning device 1 along the traveling direction of the autonomous cleaning device 1.
  • a plurality of rollers can also be arranged in an oblique direction to the traveling direction of the autonomous cleaning device 1.
  • the movable member 241 may also be a ball.
  • a groove is formed on the lifting base 242, and the ball is movably arranged in the groove.
  • the balls can be driven by the main body 15 to roll.
  • the friction between the balls and the main body 15 is rolling friction.
  • the movable member 241 may also be a transmission belt, which is arranged along the traveling direction of the autonomous cleaning device 1.
  • the dust collection station 2 includes two rollers rotatably connected with the lifting base 242, the transmission belt is arranged on the roller, the main body 15 can be supported on the transmission belt, and static friction can be formed between the main body 15 and the transmission belt.
  • the roller can use a driving mechanism to move its rotation to drive the transmission belt to move, and the moving speed of the transmission belt is adapted to the moving speed of the autonomous cleaning device 1 to maintain static friction between the autonomous cleaning device 1 and the transmission belt.
  • the dust collection station 2 further includes a charging terminal 22 for charging the autonomous cleaning device 1, and the charging terminal 22 is arranged on the carrying device 21.
  • the dust exhaust port 111 of the autonomous cleaning device 1 is connected to the dust collection suction port 211 of the dust collection station 2, and the charging device on the autonomous cleaning device 1 is in contact with the charging terminal 22 to contact the autonomous cleaning device 1
  • the cleaning device 1 is charged.
  • the top surface 212 of the carrying device 21 is an inclined surface, and the top surface 212 gradually rises along the traveling direction of the autonomous cleaning device 1. In this way, when the autonomous cleaning device 1 moves to the top surface 212 of the carrying device 21, the autonomous cleaning device 1 inclines with the inclination of the top surface 212, which facilitates the autonomous cleaning device 1 to move to the dust collection station 2 smoothly.
  • the top surface of the carrying device 21 may also be a horizontal plane.
  • the dust collection station 2 further includes a positioning portion 23 for stopping and positioning the driving wheel 12, the positioning portion 23 is provided on the top of the carrying device 21, and the positioning portion 23
  • the structure is as follows: when the driving wheel 12 is located at the target position, the driving wheel 12 and the positioning portion 23 stop and cooperate, and at this time, the dust exhaust port 111 is located at a position capable of communicating with the dust collection suction port 211.
  • the positioning part 23 can quickly align and position the dust discharge port 111 of the autonomous cleaning device 1 and the dust collection suction port 211 of the dust collection station 2.
  • the dust collection suction port 211 is provided with positioning portions 23 along opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1, and the dust collection suction port 211 is provided on opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1.
  • a lifting mechanism 24 is provided, and the minimum distance between the two positioning portions 23 is greater than the maximum distance between the two lifting mechanisms 24.
  • the two lifting mechanisms 24 are located between the two driving wheels 12, so, that is, the two lifting mechanisms are arranged as close as possible to the dust collection suction opening 211. The movement of the driving wheel 12 is prevented from interference.
  • the positioning parts 23 on both sides of the dust collection suction opening 211 can respectively position the driving wheels 12 on the corresponding sides, and the two driving wheels 12 of the autonomous cleaning device 1 can be positioned more reliably.
  • the number of positioning parts 23 can be two, and the number of driving wheels 12 can be two, and the positioning parts 23 on either side of the dust collection opening 211 are used to position the driving wheels 12 on that side.
  • the positioning portion 23 is provided only on one side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the structure of the positioning portion 23 is not limited, as long as it can stop the driving wheel 12.
  • the positioning portion 23 has an arc-shaped stop surface 231 adapted to the driving wheel 12, and the arc-shaped stop surface 231 is used to stop and cooperate with the driving wheel 12.
  • the surface on the positioning portion 23 that is matched with the stop of the driving wheel 12 may also take other forms, for example, a vertical stop surface or an L-shaped stop surface.
  • the positioning portion 23 has a non-slip structure 232 at the moving end of the arc stop surface 231.
  • the anti-slip structure 232 may be an anti-slip strip arranged along the traveling direction of the autonomous cleaning device 1, and the anti-slip structure 232 may also be an anti-slip grid, etc., which is not limited here.
  • the dust collection station 2 further includes a sealing member 26, and the end of the sealing member 26 facing the supporting device 21 is hermetically connected to the supporting device 21, and the sealing member 26 is away from the supporting device. One end of 21 protrudes from the top surface 212.
  • the structure around the dust exhaust port 111 can be in sealed contact with the sealing member 26 to form a dust exhaust channel with better sealing effect between the dust exhaust port 111 and the dust collection suction port 211 28. In order to maintain the negative pressure effect in the negative pressure dust collection channel, reduce or avoid air leakage.
  • the autonomous cleaning device 1 further includes a stopper 16 for preventing the seal 26 from falling down, and the stopper 16 is provided on the main body 15 or the dust box 11.
  • the position of the stopper 16 is set such that when the dust exhaust port 111 is in communication with the dust collection suction port 211, the sealing member 26 abuts against the side of the stopper 16 away from the dust exhaust port 111.
  • the sealing member 26 since the sealing member 26 abuts against the stopper 16, the sealing member 26 will not fall toward the side of the dust discharge channel 28 due to the negative pressure in the negative pressure dust collection channel, thereby avoiding the sealing member 26 is dumped to cause air leakage in the dust discharge channel 28, or aggravate the degree of air leakage in the dust discharge channel 28.
  • the main body 15 includes a bottom plate 151 and a bracket 152 arranged at the bottom of the bottom plate 151.
  • the end of the sealing member 26 facing away from the carrying device 21 can be in sealing contact with the bottom of the bracket 152, please refer to FIG. 6 and 8,
  • the bottom plate 151 is configured with a first escape opening 1511 that can communicate with the dust exhaust opening 111 at a position corresponding to the dust exhaust opening 111
  • the bracket 152 is configured with a second escape opening 1521
  • the first escape opening 1511 and the first escape opening 1511 The two avoidance openings 1521 are connected
  • the stopper 16 is arranged at the bottom of the bracket 152, and the stopper 16 is located outside the second avoidance opening 1521.
  • the end of the sealing member 26 away from the carrying device 21 is in sealing contact with the bottom of the bracket 152 to achieve the seal between the sealing member 26 and the bracket 152, and the sealing member 26 can abut against the stopper 16 provided at the bottom of the bracket 152.
  • the seal 26 is prevented from falling down toward the dust discharge channel 28.
  • the stopper 16 is located outside the second escape opening 1521, so that the second escape opening 1521 is sealed by the sealing member 26 on the side of the sealing member 26 facing the dust exhaust channel 28, which reduces the possibility of air leakage through the second escape opening 1521 .
  • the main body 15 may not include the bracket 152, and the end of the sealing member 26 away from the carrying device 21 can be in sealing contact with the bottom of the bottom plate 151, the stopper 16 is provided at the bottom of the bottom plate 151, and the stopper 16 Located outside the first escape 1511.
  • the end of the sealing member 26 away from the carrying device 21 is in sealing contact with the bottom of the bottom plate 151 to achieve the seal between the sealing member 26 and the bottom plate 151, and the sealing member 26 can abut against the stopper 16 provided at the bottom of the bottom plate 151.
  • the seal 26 is prevented from falling down toward the dust discharge channel 28.
  • the stopper 16 is located outside the first avoidance opening 1511, so that the first avoidance opening 1511 is sealed by the sealing member 26 on the side of the sealing member 26 facing the dust exhaust channel 28, which reduces the possibility of air leakage through the first avoidance opening 1511 .
  • the sealing element 26 when the sealing element 26 abuts against the stopper 16, the sealing element 26 and the stopper 16 are in sealing contact.
  • Such a structure can strengthen the sealing performance of the dust discharge channel 28 and reduce the possibility of air leakage of the dust discharge channel 28.
  • the abutment surface of the sealing member 26 and the abutment surface of the stopper 16 may both be flat surfaces, and the abutment surface of the sealing member 26 and the abutment surface of the stopper 16 abut and fit to form a sealed contact.
  • the abutting surface of the sealing member 26 may be a concave arc surface
  • the abutting surface of the stopper 16 may be a convex arc surface
  • the concave arc surface abuts and fits the convex arc surface to form a sealed contact.
  • the sealing element 26 is made of elastic soft material. In this way, when the parts protruding to the bottom of the autonomous cleaning device 1, such as the universal wheel 13 pass through the sealing element 26, the sealing element 26 can be pressed down without being The seal 26 is blocked. After the universal wheel 13 passes the seal 26, the seal 26 can return to a position capable of sealing under the action of its own elasticity.
  • the sealing member 26 may surround the dust collecting suction opening 211 for a whole circumference; it may also be a part of the surrounding dust collecting suction opening 211, and the above-mentioned dust exhaust channel 28 is enclosed by the sealing member 26 and other structures.
  • the dust collection suction port 211 is provided with seals 26 on opposite sides along the traveling direction of the autonomous cleaning device 1, and is sealed by the lifting base 242 along opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1. That is to say, in this embodiment, the dust exhaust channel 28 is jointly enclosed by the sealing member 26 and the lifting base 242 on both sides.
  • the autonomous cleaning device 1 further includes a cover plate 14 for selectively opening or closing the dust exhaust port 111.
  • the cover plate 14 is rotatably connected with the dust box 11.
  • the cover plate 14 can be rotatably connected to the bottom end of the dust box 11.
  • the cleaning system also includes a target mechanism for driving the cover 14 to move to open or close the dust outlet 111 and an actuator for driving the target mechanism to move to drive the cover 14 to move.
  • the target mechanism is fixed on the cover 14.
  • the position of the actuator is not specifically limited. According to the actual situation, the actuator can be set to a number of different positions, which will be described in detail in the following according to different embodiments.
  • the target mechanism fixed on the cover plate 14 is driven by the actuator to move so that the target mechanism drives the cover plate 14 to move to the position of opening or closing the dust outlet 111, thereby correspondingly opening or closing the dust outlet 111, realizing the dust outlet
  • the automatic opening or closing of 111 improves work efficiency and avoids unnecessary human intervention.
  • the actuator includes a transmission component for driving the rotation of the target mechanism and a driving component 41 for driving the rotation of the transmission component to rotate the target mechanism connected to the transmission component.
  • the transmission part can be connected to the target mechanism, and the driving part 41 is drivingly connected to the transmission part.
  • the driving component 41 drives the transmission component to rotate, the rotating transmission component drives the target mechanism to rotate, and the rotation of the target mechanism drives the cover plate 14 fixedly connected to the target mechanism to rotate to the position of opening or closing the dust outlet 111, so that the cover plate 14 is opened or Close the dust outlet 111.
  • the driving component 41 may be a motor or other equipment capable of providing driving power.
  • the motor as the driving component 41 adopts mute technology, which has a good mute effect.
  • the drive component 41 drives the transmission component forward or reverse through forward or reverse rotation, not only can the cover plate 14 open or close the dust outlet 111, but also can control the forward rotation stroke or reverse rotation stroke of the cover plate 14.
  • the opening degree of the dust outlet 111 is adjusted accordingly.
  • Such a structure allows the cover plate 14 to accurately open or close the dust outlet 111, with high reliability, and the opening degree of the dust outlet 111 is adjustable.
  • the actuator adopts the driving connection form of the transmission part and the driving part 41, so that the driving part 41 can actively open or close the dust discharge port 111.
  • This structure has relatively low requirements for the positioning of the dust discharge port 111 and the dust collection suction port 211, even if When the autonomous cleaning device 1 is traveling, the dust outlet 111 is slightly deviated from the position of the dust collecting inlet 211, which does not affect the driving part 41 to drive the transmission part to open or close the dust outlet 111. Therefore, this structure has a high degree of error tolerance for the position when the autonomous cleaning device 1 cleans and discharges impurities.
  • the target mechanism, the driving part 41 and the transmission part are all located outside the dust box 11, the cover 14 is configured with a rotating shaft connected to the dust box 11, one end of the rotating shaft is located outside the dust box 11 and fixedly connected to the target mechanism.
  • the target mechanism, drive components, and transmission components can all be installed outside the dust box 11, making the installation of the drive components 41 and the transmission components more convenient, and at the same time avoiding the cleaning impurities in the dust box 11 from affecting the drive components 41 and 41. Interference of moving parts such as transmission parts during operation.
  • the target mechanism is the shift block 31
  • the transmission component is the cam 42
  • the cam 42 can rotate to abut against the shift block 31
  • the drive component 41 can drive the cam 42 rotates to rotate the shift block 31 abutting the cam 42.
  • the driving component 41 drives the cam 42 to rotate in a clockwise direction.
  • the cam 42 has not yet abutted the shift block 31, and the cam 42 rotates in the clockwise direction until it abuts the shift block 31 and continues. Rotate in the clockwise direction, so that the driving block 31 drives the cover plate 14 to rotate in the counterclockwise direction to open the cover plate 14.
  • the autonomous cleaning device 1 also includes a third elastic member 17 for driving the cover plate 14 to close the dust outlet 111 (the third elastic member 17 is not shown in FIGS. 9 and 10, and the third elastic member 17 is shown in FIG. 12),
  • the third elastic member 17 is respectively connected with the cover plate 14 and the dust box 11 so that the cover plate 14 has a tendency to close the dust outlet 111.
  • the cover plate 14 has the function of automatically closing the dust outlet 111.
  • the third elastic member 17 may be a torsion spring, a spring, or other devices with certain elasticity.
  • the driving component 41 drives the cam 42 to rotate in a counterclockwise direction.
  • the cam 42 can always keep abutting against the shift block 31, and the cam 42 can also rotate to the end The position where the shift block 31 is detached.
  • the force exerted by the cam 42 on the shifting block 31 is reduced, and the cover plate 14 is moved to the position of closing the dust outlet 111 under the action of the third elastic member 17, so as to realize the opening of the dust outlet 111. shut down.
  • the shift block 31, the cam 42 and the driving component 41 are all located outside the dust box 11, the shift block 31 is fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 may be provided on the dust box 11 or on the main body 15. When space conditions permit, the driving part 41 may also be arranged on the carrying device 21.
  • the shift block 31, the driving part 41 and the cam 42 are all located outside the dust box 11.
  • the cover plate 14 is configured with a rotating shaft that is rotatably connected with the dust box 11, and one end of the rotating shaft is located outside the dust box 11 and is fixedly connected to the shift block 31.
  • the corresponding cam 42 and the driving member 41 for driving the cam 42 to rotate can be installed outside the dust box 11, making the installation of the cam 42 and the driving member 41 for driving the cam 42 to rotate more convenient.
  • the driving part 41 can be fixed on the main body 15 or on the dust box 11. In this way, the driving part 41, the cam 42 drivingly connected to the driving part 41, and the shift block 31 fixed to the cover plate 14 are all set in the autonomous
  • the cleaning device 1 moves along with the autonomous cleaning device 1.
  • the driving component 41 can also be fixed to the carrying device 21, such as fixed in the negative pressure dust collection channel of the carrying device 21.
  • the transmission component drivingly connected with the driving component 41 may be a driving gear
  • the target mechanism may be a driven gear
  • the driven gear as the target mechanism is fixed on the cover plate 14.
  • the driven gear can be fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 drives the driving gear to rotate, and the driving gear rotates to drive the driven gear meshed with the driving gear to rotate, thereby driving the cover plate 14 to rotate to the position of opening or closing the dust outlet.
  • the third elastic member 17 may not be provided, and the driving member 41 drives the driving gear to rotate forward or reverse to realize the opening or closing of the cover 14.
  • the transmission component drivingly connected to the driving component 41 may include a driving pulley and a traction belt.
  • the target mechanism is a driven pulley.
  • the traction belt is wound around the driving pulley and the driven pulley.
  • the wheels are drivingly connected with the driving part 41.
  • the driven pulley as the target mechanism is fixed on the cover plate 14.
  • the driven gear can be fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 drives the driving pulley to rotate, the rotating driving pulley drives the traction belt to move, the moving traction belt drives the driven pulley to rotate, and the rotating driven pulley fixed on the cover 14 drives the cover 14 to rotate, thereby
  • the cover plate 14 opens or closes the dust outlet 111.
  • the third elastic member 17 may not be provided, and the driving member 41 drives the driving pulley to rotate forward or reverse to realize the opening or closing of the cover 14.
  • the target mechanism is the ferrous device 32
  • the actuator includes a first electromagnet 43 for attracting the ferrous device 32 to move the ferrous device 32
  • the first electromagnet The iron 43 is arranged in the negative pressure dust collection channel, and the first electromagnet 43 is located at a position corresponding to the dust collection suction port 211.
  • the first electromagnet 43 is arranged in the negative pressure dust collection channel, and the first electromagnet 43 is energized to attract the iron-containing component 32 to move toward the dust collection suction port 211, thereby opening the dust discharge port 111.
  • the cover plate 14 needs to be closed, the first electromagnet 43 is de-energized and no longer attracts the iron-containing component 32.
  • the cover plate 14 is driven by the third elastic member 17 to move to a position where the dust outlet 111 is closed.
  • the first electromagnet 43 When the dust exhaust port 111 moves to a position that can communicate with the dust collection suction port 211, the first electromagnet 43 can be energized, and the energized first electromagnet 43 generates a magnetic force to attract the iron-containing component 32, which may be an iron piece , The iron-containing component 32 fixed on the cover plate 14 is attracted by the first electromagnet 43 to move, thereby driving the cover plate 14 to move. Since the first electromagnet 43 is located in the negative pressure dust collection channel and corresponding to the dust collection suction port 211, the iron-containing component 32 attracted by the first electromagnet will drive the cover 14 to overcome the force of the third elastic member 17 The dust collection suction port 211 moves, thereby opening the cover plate 14.
  • the first electromagnet 43 may be continuously energized to continuously attract the iron-containing component 32, so as to achieve the purpose of keeping the dust outlet 111 in an open state.
  • the first electromagnet 43 can be de-energized, and the cover plate 14 is moved to a position to close the dust outlet 111 under the action of the third elastic member 17 to close the dust outlet 111.
  • the cover plate 14 is configured with a rotating connection position 141, and the cover plate 14 includes a first cover plate 142 and a second cover plate 143.
  • the first cover plate 142 is located on one side of the rotating connection position 141
  • the second cover plate 143 is located on the other side of the rotating connection position 141
  • the area of the second cover plate 143 is larger than the area of the first cover plate 142
  • the iron-containing component 32 is arranged at On the second cover 143.
  • the second cover plate 143 with a larger area moves toward the dust collection opening 211 following the iron-containing device 32, and the first cover plate 142 with a smaller area moves toward the dust box 11, so that the dust box 11 is cleaned of impurities
  • the impact of the discharge is relatively small, which is conducive to cleaning the impurities out of the dust box 11.
  • the actuator also includes a clamping member 45 and a buckle 44, the clamping member 45 is connected to the cover plate 14; the buckle 44 is used to position the clamping member 45, the buckle 44 is arranged on the dust box 11, the buckle 44 can be connected with the card
  • the connecting member 45 is clamped so that the cover plate 14 is located at the position where the dust outlet 111 is opened.
  • the buckle 44 can be clamped with the clamping member 45 to position the clamping member 45, so that the cover connected to the clamping member 45 can be positioned.
  • the plate 14 is maintained at the position where the dust discharge port 111 is opened.
  • the cover plate 14 is influenced by the first electromagnet 43 to follow the iron-containing component 32 to rotate, and the clamping member 45 rotates following the cover plate 14 to squeeze into the buckle 44 to be clamped with the buckle 44. Since it is not necessary for the first electromagnet 43 to be continuously energized to keep the cover 14 in the state of opening the dust outlet, when the cover 14 is continuously opened, after the buckle 44 is engaged with the clamping member 45, the first electromagnet 43 The power can be cut off, and the cleaning impurities are discharged from the dust outlet 111 through the dust collection suction port 211 into the negative pressure dust collection channel. The metal garbage will not be disturbed by the attraction of the first electromagnet 43, which is beneficial to pass through the negative pressure dust collection channel. Collect and clean up impurities.
  • the buckle 44 of this embodiment is a push-type buckle.
  • the first electromagnet 43 is energized and the cover 14 is The first electromagnet 43 continues to rotate under the influence of the first electromagnet 43 so that the clamping member 45 fixed on the cover plate 14 is pressed against the buckle 44, thereby opening the buckle 44, and the clamping member 45 fixed on the cover plate 14 and the buckle 44 is separated.
  • the first electromagnet 43 is de-energized again, and the cover plate 14 is moved to the position of closing the dust outlet 111 under the action of the third elastic member 17 to close the dust outlet 111.
  • the clamping member 45 and the buckle 44 are both located outside the dust box 11; one end of the rotating shaft of the cover plate 14 is located outside the dust box 11 and is fixedly connected to the clamping member 45.
  • Both the clip 45 and the clip 44 are located outside the dust box 11, which can prevent cleaning impurities from being scattered on the clip 45 and the clip 44, and can prevent the clip 45 and the clip 44 from accumulating dust and affect the clip 45 and the clip 44.
  • the normal snap connection of the snap 44 is the normal snap connection of the snap 44.
  • the target mechanism is the hook portion 34;
  • the actuator includes a hook 46, a mounting seat 47, and a reset mechanism 48.
  • the hook 46 is used to drive the hook portion 34 to move, and one end of the hook 46 can be connected to or disconnected from the hook portion 34.
  • the mounting seat 47 is arranged in the negative pressure dust collection channel, and the other end of the hook 46 is rotatably connected with the mounting seat 47.
  • the reset mechanism 48 is used to enable the hook 46 to move toward the preset position when the hook 46 deviates from the preset position.
  • the reset mechanism 48 is connected to the hook 46, and the reset mechanism 48 connected to the hook 46 is also connected to the mounting base or the carrying device 21 .
  • the autonomous cleaning device 1 moves forward along the traveling direction of the autonomous cleaning device 1 to the dust collection station 2 so that the dust outlet 111 is connected to the dust collection suction port 211, the hook 46 can be connected to the hooking part 34, and the hook 46 is connected to the hooking part. After 34 is connected, the autonomous cleaning device 1 continues to move along the direction of travel of the autonomous cleaning device 1.
  • the hook 46 pulls the hook portion 34 to drive the cover plate 14 to move, and the cover plate 14 overcomes the effect of the third elastic member 17 under the drive of the hook portion 34 The force moves to the position where the dust outlet 111 is opened.
  • the autonomous cleaning device 1 retreats and moves out of the dust collection station 2 in the traveling direction of the autonomous cleaning device 1, and the force exerted by the hook 46 on the hooking portion 34 is gradually reduced until the hook 46 is separated from the hooking portion 34
  • the cover plate 14 is driven by the third elastic member 17 to move to a position to close the dust outlet 111 to close the dust outlet 111.
  • the reset mechanism 48 is connected to the hook 46 and is used for resetting the hook 46 so that the hook 46 can move toward a preset position.
  • the hook 46 rotatably connected to the mounting seat 47 rotates away from the preset position in any one of the two opposite rotation directions, the hook 46 can be moved toward the preset position under the drive of the reset mechanism 48, thus
  • the hook 46 rotatably connected with the mounting base 47 can rotate and swing in two opposite rotation directions, which is advantageous when the autonomous cleaning device 1 is moved in or out, and can prevent the hook 46 from being jammed by other parts of the autonomous cleaning device 1.
  • the hook 46 can be pressed down to make the hook 46 deviate from the preset position so as to prevent the part of the protruding structure on the autonomous cleaning device 1 from being caught by the hook 46.
  • the hook 46 can be moved toward the preset position under the drive of the reset mechanism 48, such as moving back to the preset position.
  • the hooking portion 34 moves to the position corresponding to the hook 46, The hook 46 can still be connected with the hook portion 34. Therefore, this structural form prevents the hook 46 from being caught by the hook 46 except for the hook 46 on the autonomous cleaning device 1 while ensuring that the hooking portion 34 can be connected to the hook 46.
  • the structure of the reset mechanism 48 can be various.
  • the reset mechanism 48 may include a first elastic member 481 capable of applying a force to the hook 46.
  • One end of the first elastic member 481 is fixed to the hook 46, and the other end of the first elastic member 481 is connected to the mounting seat 47.
  • the carrying device 21 is fixed; when the hook 46 deviates from the preset position, the force exerted by the first elastic member 481 on the hook 46 causes the hook 46 to rotate toward the preset position.
  • the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position in either direction of the two opposite rotation directions.
  • the first elastic member 481 After the hook 46 deviates from the preset position, when the interference of the external force is removed, the first elastic member 481 The force exerted on the hook 46 can drive the hook 46 to move to a preset position. Since both ends of the first elastic member 481 are fixed, the first elastic member 481 can apply different forces to the hook 46 according to the direction in which the hook 46 deviates from the preset position or is in a stretched state or a compressed state.
  • the reset mechanism 48 may include a first elastic member 481 and a second elastic member 482 that can apply a force to the hook 46.
  • One end of the first elastic member 481 is connected to the hook 46, and the other end of the first elastic member 481 is connected to the mounting seat 47 or the carrying device 21.
  • One end of the second elastic element 482 is connected to the hook 46, and the other end of the second elastic element 482 is connected to the mounting base 47 or the carrying device 21.
  • the hook 46 When the hook 46 deviates from the preset position, the combined force formed by the force exerted on the hook 46 by the first elastic member 481 and the force exerted on the hook 46 by the second elastic member 482 makes the hook 46 have a tendency to rotate toward the preset position.
  • the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position in either direction of the two opposite rotation directions.
  • the first elastic member 481 After the hook 46 deviates from the preset position, when the interference of the external force is removed, the first elastic member 481
  • the combined force formed by the force exerted on the hook 46 and the force exerted on the hook 46 by the second elastic member 482 can drive the hook 46 to move to a preset position.
  • the first elastic member 481 may be a first torsion spring. One end of the first torsion spring abuts against the hook 46, and the other end of the first torsion spring contacts the mounting seat 47 or the carrying device. 21 Fixed connection.
  • the second elastic member 482 is a second torsion spring, one end of the second torsion spring abuts against the hook 46, and the other end of the second torsion spring is fixedly connected to the mounting seat 47 or the carrying device 21.
  • the end of the first torsion spring that is in contact with the hook 46 is located on one side of the hook 46, and the end of the second torsion spring that is in contact with the hook 46 is located on the other side of the hook 46;
  • One end of the device 21 fixedly connected is located on one side of the hook 46, and one end of the second torsion spring fixedly connected to the mounting seat 47 or the carrying device 21 is located on the other side of the hook.
  • the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring can be multiple, in addition to the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring, the positional connection relationship of the first torsion spring
  • the relationship and the positional connection relationship of the second torsion spring can also have the following forms.
  • first torsion spring and one end of the second torsion spring are both fixed to the hook 46; the other end of the first torsion spring and the other end of the second torsion spring are both fixed to the mounting seat 47, or the other end of the first torsion spring One end and the other end of the second torsion spring are both fixed to the carrying device 21.
  • first torsion spring that abuts the hook 46 and the end of the first torsion spring that abuts the mounting seat 47 or the carrying device 21 are both located on one side of the hook 46, and the second torsion spring abuts the hook 46
  • One end of the second torsion spring and the end of the second torsion spring contacting the mounting seat 47 or the carrying device 21 are both located on the other side of the hook.
  • the reset mechanism 48 may not adopt the form of an elastic member.
  • the hook 46 is configured with a rotating connecting shaft that is rotatably connected to the mounting base 47, and the resetting mechanism 48 may be a motor or the like with a rotating connecting shaft.
  • the drive is connected to a power component capable of driving the rotation of the connecting shaft, and the hook 46 is driven to swing in two opposite directions of rotation through the forward and reverse rotation of the motor to prevent the autonomous cleaning device 1 from being caught by the hook 46 except for the hook portion 34 .
  • the hook 46 includes a working part 461 and a connecting part 462.
  • the working part 461 is used to drive the hooking part 34 to move, and the working part 461 can be connected to or disconnected from the hooking part 34.
  • One end of the connecting part 462 is connected to the working part 461, and the other end of the connecting part 462 is rotatably connected to the mounting seat 47.
  • the hook 46 is connected to the hooking part 34 through the working part 461, and the process of moving the autonomous cleaning device 1 along the traveling direction of the autonomous cleaning device 1 to the dust collecting station 2 so that the dust outlet 111 is connected to the dust collecting inlet 211
  • the working part 461 pulls the hooking part 34 so that the cover plate 14 fixed to the hooking part 34 opens the dust outlet 111.
  • the connecting portion 462 is rotatably connected with the mounting seat 47.
  • the connecting portion 462 may include a connecting plate 4623, and the connecting plate 4623 is connected to the first elastic member 481 and/or the second elastic member 482.
  • the first elastic member 481 is a first torsion spring
  • one end of the first torsion spring is in contact with the connecting plate 4623
  • the second elastic member 482 is a second torsion spring
  • one end of the second torsion spring is in contact with the connecting plate 4623.
  • the working part 461 may be a first rod
  • the connecting part 462 may include a second rod 4621 and a third rod 4622.
  • the second rod 4621 is parallel to the first rod
  • one end of the third rod 4622 is connected to the middle of the length of the first rod
  • the other end of the third rod 4622 is connected to the length of the second rod 4621.
  • the middle position is connected.
  • the hook 46 of this structure is actually an I-shaped hook 46.
  • the connecting plate 4623 may be provided on the third rod 4622.
  • the working part 461 may be a first rod
  • the connecting part 462 may be a mounting plate.
  • the mounting plate is configured with a protruding connecting ear 4624.
  • the first rod and the connecting ear 4624 Fixed connection.
  • the shape of the hook 46 may be configured into the shape of a hook.
  • each actuator includes a hook 46, a mounting seat 47, and a reset mechanism 48.
  • two hooks are fixedly connected to the cover 14
  • the connecting portion 34, the two hooks 46 and the two hooking portions 34 correspond one-to-one.
  • the shape of the hook portion 34 may be configured into a hook shape, and the hook 46 may be hooked by the hook-shaped hook portion 34.
  • the hook portion 34 includes a hook body and a baffle 342.
  • the hooking body is fixed to the cover 14.
  • the hooking body is configured with a hooking groove 3411 and a first notch 3412 communicating with the hooking groove 3411.
  • the working part 461 can be moved into or out of the hooking groove 3411 through the first notch 3412.
  • the baffle 432 is used to prevent the working part 461 from escaping from the hook groove 3411.
  • the baffle 342 is provided on the hooking main body.
  • the baffle 342 is located at the bottom of the hook groove 3411.
  • the baffle 342 is configured with a second notch 3421 for avoiding the connecting portion 462.
  • the second notch 3421 communicates with the first notch 3412 and the hook groove 3411 respectively.
  • the autonomous cleaning device 1 moves backward in the traveling direction of the autonomous cleaning device 1 to gradually move the autonomous cleaning device 1 out of the dust collection station 2, the working part 461 located in the hook groove 3411 gradually moves toward the first slot 3412 The movement finally moves out of the hook groove 3411 from the first notch 3412, so that the hook 46 is separated from the hook portion 34.
  • the mounting base 47 can move relative to the bearing device 21; the actuator also includes a limiting member 49 for limiting the mounting seat 47, the limiting member 49 and the bearing The device 21 is fixedly connected.
  • the connecting portion 34 is pulled to drive the mounting seat 47 to move, and the limiting member 49 restricts the stroke of the mounting seat 47 to prevent the mounting seat 47 from following the movement of the hooking portion 34 under the drive of the hook 46, causing the hook 46 to be unable to pull the cover 14 to open.
  • the implementing mechanism further includes a buffer member 40, one end of the buffer member 40 is connected with the limiting member 49, and the other end of the buffer member 40 is connected with the mounting seat 47.
  • the arrangement of the buffer member 40 on the one hand, can avoid the direct collision between the mounting seat 47 and the limiting member 49; on the other hand, the mounting seat 47 moves with the hook 46 and the hook portion 34, so that the hook 46 pulls the hook portion 34 at first
  • the force is small, as the cover plate 14 gradually rotates in the direction of opening the dust outlet 111 and the mounting seat 47 gradually approaches the limiting member 49 to compress the buffer member 40, and the limiting member 49 is applied to the mounting seat 47 through the buffer member 40
  • the force of the hook 46 connected to the mounting seat 47 is continuously increased, and the force of the hook 46 connected to the mounting seat 47 to pull the hook portion 34 is also continuously increased.
  • the force of the hook 46 to pull the hook portion 34 is increased from small to large.
  • Pull the hook portion 34 step by step so that the hook portion 34 drives the cover plate 14 to move to the position where the dust outlet 111 is opened. That is to say, the buffer member 40 cooperates with the mounting seat 47 that can move relative to the carrying device 21 and pulls the hook 46.
  • the movement of the hooking portion 34 has a certain buffering effect. This avoids that when the mounting seat 47 is immobile, after the hook 46 is connected to the hooking portion 34, the force of the hook 46 pulling the hooking portion 34 to move suddenly changes to the maximum, causing a hard impact between the hook 46 and the hooking portion 34 The problem.
  • an embodiment of the present application provides a cleaning system.
  • the cleaning system includes an autonomous cleaning device 1 and a dust collection station 2, and the dust collection station 2 is used to collect cleaning impurities from the autonomous cleaning device 1.
  • the autonomous cleaning device 1 of the embodiment of the present application please refer to FIG. 1, FIG. 2, FIG. 3, and FIG. 20, and includes a main body 15 and a dust box 11.
  • the main body 15 can realize the cleaning function.
  • the dust box 11 is located in the main body 15, and the dust box 11 realizes the function of collecting and cleaning impurities, that is, it is used to contain the cleaning impurities.
  • a dust outlet 111 is formed at the bottom end of the dust box 11, and the dust outlet 111 can be selectively opened or closed. Specifically, when the dust outlet 111 is in an open state, at least part of the cleaning impurities in the dust box 11 can fall from the dust outlet 111. When the dust outlet 111 is in a closed state, the cleaning impurities are collected in the dust box 11. It should be noted that when the autonomous cleaning device is in the cleaning process, the dust outlet 111 is in a closed state.
  • the autonomous cleaning device 1 may be a sweeping robot, or other devices that perform autonomous cleaning of walls, for example, which is not limited here.
  • the autonomous cleaning device 1 is a sweeping robot as an example for description.
  • the autonomous cleaning device 1 further includes a universal wheel 13, which is installed on the bottom side of the main body 15 Driven to move downward, the universal wheel 13 can change direction, thereby changing the traveling direction of the autonomous cleaning device 1.
  • the autonomous cleaning device 1 further includes two drive wheels 12 arranged at intervals, and the drive wheels 12 are installed on the bottom side of the main body 15.
  • the driving wheel 12 realizes the function of driving the main body 15 to move.
  • the universal wheel 13 is arranged in front of the driving wheel 12 in the advancing direction of the autonomous cleaning device.
  • the universal wheel 13 is located between the two driving wheels 12. It can be understood that the trajectory of the universal wheel 13 may be located in the middle of the trajectory of the two driving wheels 12 , It can also deviate from the middle, there is no restriction here.
  • a triangular support is formed between the two drive wheels 12 and the universal wheels 13 arranged at intervals, so that the autonomous cleaning device 1 has better stability during the movement.
  • the span between the two drive wheels 12 arranged at intervals is relatively large.
  • the dust box 11 in the traveling track of the autonomous cleaning device 1, the dust box 11 is located between the two driving wheels 12. In this way, the dust box 11 can be made to have a larger volume, and the opening area of the dust exhaust port 111 of the dust box 11 can be enlarged accordingly, which is beneficial for cleaning the impurities in the dust box 11 to discharge the dust box 11.
  • the driving wheel 12 is at the target position.
  • an air inlet 112 is formed on the dust box 11, and the autonomous cleaning device 1 cleans impurities such as dust on the ground through the air inlet 112 during the cleaning work. Enter into the dust box 11.
  • the autonomous cleaning device 1 further includes a stopper 16, and the stopper 16 may be provided on the bottom side of the main body 15 or the bottom side of the dust box.
  • stoppers 16 may be provided on opposite sides of the dust outlet 111.
  • the stopper 16 may be in the shape of a flat plate.
  • the main body 15 may include a bottom plate 151 and a bracket 152.
  • the bracket 152 is disposed on the bottom side of the bottom plate 151, and the stopper 16 is disposed on the bottom side of the bracket 152, so that the bracket 152 and the stopper 16 disposed on the bottom side of the bracket 152 protrude toward the bottom side of the bottom plate 151.
  • the bottom plate 151 is formed at a position corresponding to the dust exhaust port 111 with a first escape port 1511 that can communicate with the dust exhaust port 111
  • the bracket 152 is formed with a second escape port 1521, and the first escape port 1511 and the second escape port 1521 communicate with each other.
  • the cleaning impurities discharged from the dust discharge port 111 can be discharged from the autonomous cleaning device 1 through the first avoidance port 1511 and the second avoidance port 1521.
  • the stopper 16 may be located outside the second escape port 1521, for example, the stopper 16 is provided on opposite sides of the second escape port 1521.
  • the main body 15 may not be provided with the bracket 152.
  • the stopper 16 may be provided on the bottom plate 151, and the stopper 16 may be located outside the first escape opening 1511, for example, the stopper 16 is provided on opposite sides of the first escape opening 1511.
  • the stopper 16 may also be provided on the bottom side of the dust box 11, and the stopper 16 is located outside the dust exhaust port 111, for example, the stopper 16 is provided on opposite sides of the dust exhaust port 111. .
  • stoppers 16 are provided on opposite sides of the dust outlet 111 along the traveling direction of the autonomous cleaning device 1.
  • the traveling direction of the autonomous cleaning device 1 is the direction in which the autonomous cleaning device 1 advances or retreats. Specifically, based on FIG. 1 or FIG. 5, the traveling direction of the autonomous cleaning device 1 is the direction shown by arrow A in FIG. 1 or FIG. 5.
  • a negative pressure dust collection channel is formed in the dust collection station 2, and the dust collection station 2 includes a carrying device 21 and a sealing assembly.
  • the carrying device 21 is used to carry the autonomous cleaning equipment 1, and the carrying device 21 is formed with a dust collection suction port 211 communicating with the negative pressure dust collection channel, and the sealing assembly is ringed around the dust collection suction port 211.
  • the dust exhaust port 111 and the dust collection suction port 211 are connected through a sealing assembly, and the cleaned impurities in the dust box 11 can enter the negative pressure dust collection channel through the dust exhaust port 111, the sealing assembly and the dust collection suction port 211 in sequence.
  • the dust exhaust port 111 and the dust collection suction port 211 are connected through a sealing assembly, a negative pressure environment is formed in the negative pressure dust collection channel, and the cleaning impurities in the dust box 11 are sucked into the negative pressure dust collection channel under the action of negative pressure, and then The cleaning impurities in the dust box 11 are emptied.
  • the cleaning impurities are collected in the dust collection station 2. After the accumulated amount of cleaning impurities is large, the cleaning impurities collected in the dust collection station 2 are cleaned at once, for example, one month or two Clean up the impurities in the dust collection station 2 once a month.
  • the sealing assembly In the trajectory of the autonomous cleaning equipment 1, some parts of the autonomous cleaning equipment 1 may pass through the sealing assembly, and the parts passing through the sealing assembly will depress the sealing assembly, so the sealing assembly will not hinder the progress of the parts passing through the sealing assembly.
  • the autonomous cleaning device 1 moves to the dust discharge position, the parts passing through the sealing assembly have been removed from the sealing assembly, and the sealing assembly is restored to a normal state that connects the dust discharge port 111 and the dust collection suction port 211.
  • the arrangement of the seal assembly allows the dust outlet 111 and the dust collection suction port 211 to be connected through the seal assembly without hindering the movement of the components passing through the seal assembly, avoiding the process of cleaning impurities from the dust exhaust port 111 to the dust collection suction port 211 In the dust.
  • the dust exhaust port 111 and the dust collection suction port 211 are connected through the sealing assembly, and the cleaning impurities in the dust box 11 of the autonomous cleaning device 1 pass through the dust exhaust port 111, the sealing assembly and the dust collection in turn
  • the port 211 is discharged into the dust collection station 2. In this way, it is no longer necessary for the operator to bend over to take the dust box 11 for cleaning, which avoids frequent human intervention to the autonomous cleaning device 1 and also reduces the workload of the user.
  • the component of the autonomous cleaning device 1 passing through the sealing assembly is a universal wheel 13.
  • the sealing assembly may include a flexible sealing member 501, and the flexible sealing member 501 is provided on opposite sides of the dust collecting port 211.
  • the stopper 16 is used to prevent the flexible seal 501 from toppling.
  • the flexible seal 501 abuts against one side of the stopper 16 under the force of negative pressure. In this way, the flexible sealing element 501 and the stopper 16 abut against each other to prevent the flexible sealing element 501 from falling under the negative pressure.
  • flexible seals 501 are provided on opposite sides of the dust collection suction port 211 along the traveling direction of the autonomous cleaning device 1.
  • the flexible sealing member 501 can seal and abut against the stopper 16. It is beneficial to improve the air tightness of the sealing assembly and reduce the leakage of the sealing assembly.
  • the structural shape of the stopper 16 is not limited to a flat plate shape.
  • the abutting surface of the flexible sealing member 501 and the abutting surface of the stopper 16 may both be flat, and the abutting surface of the flexible sealing member 501 and The abutting surface of the stopper 16 abuts and fits to form a sealed abutment.
  • the abutting surface of the flexible sealing element 501 may be a concave arc surface
  • the abutting surface of the stopper 16 may be a convex arc surface
  • the concave arc surface and the convex arc surface abut and fit to form a sealed abutment.
  • the sealing assembly is formed with a transition sealing channel 502.
  • the flexible sealing member 501 may surround the dust collecting and suction opening 211, and the flexible sealing member 501 is connected end to end to form a transition sealing channel 502 in a direction surrounding the dust collecting and suction opening 211.
  • the sealing assembly further includes a sealing plate 29.
  • the other opposite sides of the dust collecting opening 211 are provided with sealing plates 29, two sealing plates 29 and two flexible sealing members 501
  • a transitional sealing channel 502 that connects the dust collection suction port 211 and the dust discharge port 111 is jointly enclosed, and opposite ends of the flexible seal 501 are in sliding contact with the sealing plate 29.
  • the universal wheel 13 moves along the traveling direction of the autonomous cleaning device 1.
  • the universal wheel 13 can pass between two oppositely arranged sealing plates 29. Therefore, the universal wheel 13 does not contact the two sealing plates 29.
  • the sealing plate 29 with relatively hard texture does not hinder the movement of the universal wheel 13 in the traveling direction of the autonomous cleaning device 1.
  • a relatively hard sealing plate 29 is used.
  • the channel 502 is not excessively deformed.
  • the dust collection suction port 211 is provided with sealing plates 29 on opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the opposite ends of the flexible sealing member 501 are in sliding contact with the sealing plate 29, on the one hand, the flexible sealing member 501 and the sealing plate 29 have better sealing performance; on the other hand, the flexible sealing member 501 is along the traveling direction of the autonomous cleaning device 1
  • the deformation of ⁇ is not restricted by the sealing plate 29, so that the flexible sealing member 501 can be pressed down when the universal wheel 13 passes through the flexible sealing member 501.
  • the dust collection station 2 further includes a lifting mechanism 24 provided on the carrying device 21, and the dust collection suction opening 211 At least one of the other two opposite sides is provided with a lifting mechanism 24, and the lifting mechanism 24 protrudes from the top surface 212 of the supporting device 21 to support the main body 15.
  • the lifting mechanism 24 protrudes from the top surface 212 of the supporting device 21 to support the main body 15.
  • the dust collection suction port 211 is provided with a lifting mechanism 24 along at least one side perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the autonomous cleaning device 1 needs to clean up the cleaning impurities in the dust box 11, when the autonomous cleaning device 1 moves to the dust collection station 2, specifically, the driving wheel 12 moves along the top surface of the carrying device 21, and when it moves to the main body
  • the lifting mechanism 24 supports the main body 15 to prevent the universal wheel 13 from falling into the dust collection opening 211 of the carrying device 21 and being jammed, that is, When the universal wheel 13 passes through the dust collection port 211, the universal wheel 13 is in a suspended state, which ensures that the autonomous cleaning device 1 can move and walk normally on the carrying device 21.
  • the driving wheel 12 continues to drive the autonomous cleaning device 1 to move, so that The universal wheel 13 can pass through the dust collection suction port 211 basically without obstacles until the driving wheel 12 moves to the target position.
  • the sealing plate 29 and at least part of the structure of the lifting mechanism 24 are integrally formed.
  • the sealing plate 29 may be integrally formed with the lifting base 242, that is, the sealing plate 29 and the lifting base 242 form an integral body.
  • Such a structural form objectively makes full use of the lifting base 242 and the flexible sealing member 501 to form the transition sealing channel 502, which improves the utilization rate of parts and reduces the manufacturing cost of the equipment.
  • the lifting mechanism 24 can be provided only on the side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1. In this way, it can be ensured that the universal wheel 13 passing through the dust collection suction port 211 does not Interference with the lifting agency 24 will occur.
  • the lifting mechanism 24 is provided on the opposite sides of the dust collection suction port 211 along the direction perpendicular to the traveling direction of the autonomous cleaning device 1, so that the lifting mechanism 24 can support the main body 15 more stably, The force of the supporting main body 15 is more balanced.
  • lifting mechanisms 24 are provided on opposite sides of the dust collection suction port 211 along the direction perpendicular to the traveling direction of the autonomous cleaning device 1.
  • a lifting mechanism 24 may also be provided on at least one side of the dust collection suction opening 211, as long as the lifting mechanism 24 is placed in a position that can avoid the movement trajectory of the universal wheel 13 so that the universal The wheel 13 does not interfere with the lifting mechanism 24.
  • the specific structure of the lifting mechanism 24 is not limited, as long as it can play the role of lifting the main body 15.
  • the lifting mechanism 24 may be a fixed structure, and sliding friction is formed between the lifting mechanism 24 and the main body 15.
  • the lifting mechanism 24 of this structure can support the main body 15 and can prevent the universal wheel from falling into the dust collection opening 211 of the carrying device 21 and being jammed, and ensuring that the autonomous cleaning device 1 can be normally mounted on the carrying device 21 Move and walk.
  • the lifting mechanism 24 includes a lifting base 242 and a movable part 241.
  • the lifting base 242 is provided on the top of the supporting device 21, the movable piece 241 at least partially protrudes from the top surface 212 of the supporting device 21 to support the main body portion 15, and the movable piece 241 is movably connected with the lifting base 242 to enable movement
  • the friction between the member 241 and the main body 15 is rolling friction or static friction, which can prevent the main body 15 from wearing or scratching the bottom surface of the main body 15 due to sliding friction between the lifting mechanism 24 and the main body 15. This embodiment will be described with this structure as an example.
  • movable connection refers to a connection mode in which the movable part 241 and the lifting base 242 have relative movement.
  • the movable part 241 can slide, rotate, and rotate relative to the lifting base 242. Scroll and so on.
  • the movement of the movable piece 241 relative to the lifting base 242 can be active or passive, as long as the movement of the movable piece 241 is compatible with the movement of the main body 15 so that no sliding friction occurs between the movable piece 241 and the main body 15 .
  • the movable member 241 can move relative to the lifting base 242 under the drive of the main body 15. At this time, the movable member 241 moves passively.
  • the dust collection station 2 further includes a driving mechanism, which is drivingly connected with the movable part 241 to drive the movable part 241 to move relative to the lifting base 242. At this time, the movable part 241 is actively moving.
  • the active movement of the movable part 241 can also assist the autonomous cleaning device 1 to travel.
  • the driving mechanism drivingly connected to the movable member 241 may be provided on the lifting base 242 or on the carrying device 21.
  • the movable part 241 is not limited.
  • the movable member 241 is a roller
  • the roller is rotatably connected with the lifting base 242
  • the rotation axis of the roller is perpendicular to the traveling direction of the autonomous cleaning device 1, and the friction between the roller and the main body 15 is rolling friction.
  • the traveling resistance of the autonomous cleaning device 1 can be reduced.
  • the roller can also be driven by a driving mechanism.
  • the number of rollers can be one or more.
  • the multiple rollers are arranged along the traveling direction of the autonomous cleaning device 1, which can facilitate the lifting mechanism 24 to support the autonomous cleaning device 1 along the traveling direction of the autonomous cleaning device 1.
  • multiple rollers can also be arranged obliquely to the direction of travel of the autonomous cleaning device 1.
  • the movable member 241 may also be a ball.
  • a groove is formed on the lifting base 242, and the ball is movably arranged in the groove.
  • the balls can be driven by the main body 15 to roll.
  • the friction between the balls and the main body 15 is rolling friction.
  • the movable member 241 may also be a transmission belt, which is arranged along the traveling direction of the autonomous cleaning device 1.
  • the dust collection station 2 includes two rollers rotatably connected with the lifting base 242, the transmission belt is arranged on the roller, the main body 15 can be supported on the transmission belt, and static friction can be formed between the main body 15 and the transmission belt.
  • the roller can use a driving mechanism to move its rotation to drive the transmission belt to move, and the moving speed of the transmission belt is adapted to the moving speed of the autonomous cleaning device 1 to maintain static friction between the autonomous cleaning device 1 and the transmission belt.
  • the maximum distance between the two stoppers 16 is less than the minimum distance between the two flexible seals 501.
  • the end of the flexible sealing member 501 facing the carrying device 21 sealingly abuts against the carrying device 21, and the end of the flexible sealing member 501 facing away from the carrying device 21 can sealingly abut against the main body 15. In this way, the air tightness of the transition sealing passage 502 is further improved.
  • the end of the flexible sealing member 501 facing away from the carrying device 21 may be sealed and abutted with the bottom plate 151, or may be sealed and abutted with the bracket 152.
  • the end of the flexible sealing member 501 facing away from the carrying device 21 may abut against the bottom side of the dust box 11.
  • the flexible sealing member 501 Since the bracket 152 and the stopper 16 provided on the bottom side of the bracket 152 protrude toward the bottom side of the bottom plate 151, it is advantageous for the flexible sealing member 501 to abut against the bracket 152 in a sealed manner.
  • the main reason is that in actual situations, the dust box 11 located in the main body 15 may all be above the bottom plate 151 without protruding from the bottom plate 151 to the bottom side. At this time, the flexible sealing member 501 is difficult to abut against the dust box 11 in a sealed manner. Then, the flexible sealing member 501 and the bracket 152 can be sealed and abutted.
  • the dust collection station 2 also includes a dust collection motor 25 and a collection device.
  • the dust collection motor 25 is used to form a negative pressure in the negative pressure dust collection channel, and the collection device communicates with the negative pressure dust collection channel to accommodate the negative pressure.
  • the dust suction motor 25 can adopt mute technology, which has a good mute effect.
  • the collection device may be a collection box or a collection bag for collecting cleaning impurities.
  • the dust collection station 2 also includes a column 27 arranged on the carrying device 21, the dust suction motor 25 can be arranged in the column 27, and the negative pressure dust collection channel also extends into the column 27, that is to say, the cleaning of the dust collection station 2 Impurities can be placed in the column 27.
  • the dust collection station 2 further includes a charging terminal 22 for charging the autonomous cleaning device 1, and the charging terminal 22 is arranged on the carrying device 21.
  • the driving wheel 12 is located at the target position, and the charging device on the autonomous cleaning device 1 contacts the charging terminal 22 to charge the autonomous cleaning device 1.
  • the top surface 212 of the supporting device 21 is a slope, and the top surface 212 gradually rises along the moving end of the supporting device 21 toward the dust collection suction opening 211. In this way, when the autonomous cleaning device 1 moves to the top surface 212 of the carrying device 21, the autonomous cleaning device 1 inclines with the inclination of the top surface 212, which facilitates the autonomous cleaning device 1 to move to the dust collection station 2 smoothly.
  • the top surface of the carrying device 21 may also be a horizontal plane.
  • the dust collection station 2 further includes a positioning portion 23 for stopping and positioning the driving wheel 12.
  • the positioning portion 23 is provided on the top of the carrying device 21, and the positioning portion 23
  • the structure is as follows: when the autonomous cleaning device 1 moves to the dust discharge position, the driving wheel 12 is located at the target position, and the driving wheel 12 is in engagement with the positioning portion 23. At this time, the dust discharge port 111 is located at the dust collection suction port. 211 is connected to the location.
  • the positioning part 23 can quickly align and position the dust discharge port 111 of the autonomous cleaning device 1 and the dust collection suction port 211 of the dust collection station 2.
  • the other opposite sides of the dust collection suction opening 211 are provided with positioning portions 23, and the other opposite sides of the dust collection suction opening 211 are both provided with a lifting mechanism 24, and the distance between the two positioning portions 23 is The minimum distance is greater than the maximum distance between the two lifting mechanisms 24.
  • the two lifting mechanisms 24 are located between the two driving wheels 12, so, that is to say, the two lifting mechanisms are arranged as close as possible to the dust collection suction opening 211, so that The movement of the driving wheel 12 is prevented from interference.
  • the positioning parts 23 on both sides of the dust collection suction opening 211 can respectively position the driving wheels 12 on the corresponding sides, and the two driving wheels 12 of the autonomous cleaning device 1 can be positioned more reliably.
  • the number of positioning parts 23 can be two, and the number of driving wheels 12 can be two, and the positioning parts 23 on either side of the dust collection opening 211 are used to position the driving wheels 12 on that side.
  • the dust collection suction port 211 is provided with positioning parts 23 along opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1; the dust collection suction port 211 is provided with support on opposite sides perpendicular to the travel direction of the autonomous cleaning device 1 Lift institutions 24.
  • the positioning portion 23 is provided only on one side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the structure of the positioning portion 23 is not limited, as long as it can stop the driving wheel 12.
  • the positioning portion 23 has an arc-shaped stop surface 231 adapted to the driving wheel 12, and the arc-shaped stop surface 231 is used to stop and cooperate with the driving wheel 12.
  • the surface on the positioning portion 23 that is matched with the stop of the driving wheel 12 may also take other forms, for example, a vertical stop surface or an L-shaped stop surface.
  • the positioning portion 23 has a non-slip structure 232 located at the moving end of the arc stop surface 231.
  • the anti-skid structure 232 can be an anti-skid strip arranged along the traveling direction of the autonomous cleaning device 1, and the anti-skid structure 232 can also be an anti-skid grid, etc., which is not limited here.
  • the autonomous cleaning device 1 further includes a cover plate 14 for selectively opening or closing the dust outlet 111.
  • the cover plate 14 is rotatably connected with the dust box 11.
  • the cover plate 14 can be rotatably connected to the bottom end of the dust box 11.
  • the cleaning system also includes a target mechanism for driving the cover plate 14 to move to open or close the dust outlet 111 and an actuator for driving the target mechanism to move to drive the cover plate 14 to move.
  • the target mechanism is fixed on the cover plate 14.
  • the position of the actuator is not specifically limited. According to the actual situation, the actuator can be set to a number of different positions, which will be described in detail in the following according to different embodiments.
  • the target mechanism fixed on the cover plate 14 is driven by the actuator to move so that the target mechanism drives the cover plate 14 to move to the position of opening or closing the dust outlet 111, thereby correspondingly opening or closing the dust outlet 111, realizing the dust outlet
  • the automatic opening or closing of 111 improves work efficiency and avoids unnecessary human intervention.
  • the actuator includes a transmission component for driving the rotation of the target mechanism and a driving component 41 for driving the rotation of the transmission component to rotate the target mechanism connected to the transmission component.
  • the transmission part can be connected to the target mechanism, and the driving part 41 is drivingly connected to the transmission part.
  • the driving component 41 drives the transmission component to rotate, the rotating transmission component drives the target mechanism to rotate, and the rotation of the target mechanism drives the cover plate 14 fixedly connected to the target mechanism to rotate to the position of opening or closing the dust outlet 111, so that the cover plate 14 is opened or Close the dust outlet 111.
  • the driving component 41 may be a motor or other equipment capable of providing driving power.
  • the motor as the driving component 41 adopts mute technology, which has a good mute effect.
  • the drive component 41 drives the transmission component forward or reverse through forward or reverse rotation. Not only can the cover plate 14 open or close the dust outlet 111, but also the forward or reverse stroke of the cover plate 14 can be controlled accordingly.
  • the opening degree of the dust outlet 111 is adjusted accordingly.
  • Such a structure allows the cover plate 14 to accurately open or close the dust outlet 111, which has high reliability, and the opening degree of the dust outlet 111 is adjustable.
  • the actuator adopts the driving connection form of the transmission part and the driving part 41, so that the driving part 41 can actively open or close the dust discharge port 111.
  • This structure has relatively low requirements for the positioning of the dust discharge port 111 and the dust collection suction port 211, even if When the autonomous cleaning device 1 is traveling, the dust outlet 111 is slightly deviated from the position of the dust collecting inlet 211, which does not affect the driving part 41 to drive the transmission part to open or close the dust outlet 111. Therefore, this structure has a high degree of error tolerance for the position when the autonomous cleaning device 1 cleans and discharges impurities.
  • the target mechanism, the driving part 41 and the transmission part are all located outside the dust box 11, the cover plate 14 is formed with a rotating shaft connected to the dust box 11, one end of the rotating shaft is located outside the dust box 11 and fixedly connected to the target mechanism.
  • the target mechanism, drive components, and transmission components can all be installed outside the dust box 11, making the installation of the drive components 41 and the transmission components more convenient, and at the same time avoiding the cleaning impurities in the dust box 11 from affecting the drive components 41 and 41. Interference of moving parts such as transmission parts during operation.
  • the target mechanism is the shift block 31, and the transmission component is the cam 42.
  • the cam 42 can rotate to abut against the shift block 31, and the drive component 41 can drive the cam. 42 rotates to rotate the shift block 31 abutting the cam 42.
  • the driving component 41 drives the cam 42 to rotate in the clockwise direction. In this process, it may be that the cam 42 has not yet abutted the shift block 31, and the cam 42 rotates in the clockwise direction until it abuts the shift block 31 and continues. Rotate in the clockwise direction, so that the driving block 31 drives the cover plate 14 to rotate in the counterclockwise direction to open the cover plate 14.
  • the autonomous cleaning device 1 also includes a third elastic member 17 for driving the cover plate 14 to close the dust outlet 111 (the third elastic member 17 is not shown in FIGS. 10 and 21, and the third elastic member 17 is shown in FIG. 12),
  • the third elastic member 17 is respectively connected with the cover plate 14 and the dust box 11 so that the cover plate 14 has a tendency to close the dust outlet 111.
  • the cover plate 14 has the function of automatically closing the dust outlet 111.
  • the third elastic member 17 may be a torsion spring, a spring, or other devices with certain elasticity.
  • the driving part 41 drives the cam 42 to rotate counterclockwise.
  • the cam 42 can always keep abutting against the shift block 31, and the cam 42 can also rotate to the end The position where the shift block 31 is detached.
  • the force exerted by the cam 42 on the shifting block 31 is reduced, and the cover plate 14 is moved to the position of closing the dust outlet 111 under the action of the third elastic member 17, so as to realize the opening of the dust outlet 111. shut down.
  • the shift block 31, the cam 42 and the driving component 41 are all located outside the dust box 11, the shift block 31 is fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 may be provided on the dust box 11 or on the main body 15. When space conditions permit, the driving part 41 may also be arranged on the carrying device 21.
  • the shift block 31, the driving part 41 and the cam 42 are all located outside the dust box 11.
  • the cover plate 14 is formed with a rotating shaft that is rotatably connected to the dust box 11, and one end of the rotating shaft is located outside the dust box 11 and is fixedly connected to the shift block 31.
  • the corresponding cam 42 and the driving component 41 for driving the cam 42 to rotate can be installed outside the dust box 11, making the installation of the cam 42 and the driving component 41 for driving the cam 42 to rotate more convenient.
  • the driving part 41 can be fixed on the main body 15 or on the dust box 11. In this way, the driving part 41, the cam 42 drivingly connected to the driving part 41, and the shift block 31 fixed to the cover plate 14 are all set in the autonomous
  • the cleaning device 1 moves along with the autonomous cleaning device 1.
  • the driving component 41 can also be fixed to the carrying device 21, such as fixed in the negative pressure dust collection channel of the carrying device 21.
  • the transmission component drivingly connected with the driving component 41 may be a driving gear
  • the target mechanism may be a driven gear
  • the driven gear as the target mechanism is fixed on the cover plate 14.
  • the driven gear can be fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 drives the driving gear to rotate, and the driving gear rotates to drive the driven gear meshed with the driving gear to rotate, thereby driving the cover plate 14 to rotate to the position of opening or closing the dust outlet.
  • the third elastic member 17 may not be provided, and the driving member 41 drives the driving gear to rotate forward or reverse to realize the opening or closing of the cover 14.
  • the transmission component drivingly connected to the driving component 41 may include a driving pulley and a traction belt.
  • the target mechanism is a driven pulley.
  • the traction belt is wound around the driving pulley and the driven pulley.
  • the wheels are drivingly connected with the driving part 41.
  • the driven pulley as the target mechanism is fixed on the cover plate 14.
  • the driven gear can be fixed on the rotating shaft of the cover plate 14, and the rotating shaft of the cover plate 14 is rotatably connected with the dust box 11.
  • the driving component 41 drives the driving pulley to rotate, the rotating driving pulley drives the traction belt to move, the moving traction belt drives the driven pulley to rotate, and the rotating driven pulley fixed on the cover 14 drives the cover 14 to rotate, thereby
  • the cover plate 14 opens or closes the dust outlet 111.
  • the third elastic member 17 may not be provided, and the driving member 41 drives the driving pulley to rotate forward or reverse to realize the opening or closing of the cover 14.
  • the target mechanism is the ferrous device 32.
  • the actuator includes a first electromagnet 43 for attracting the ferrous device 32 to move the ferrous device 32, and the first electromagnet
  • the iron 43 is arranged in the negative pressure dust collection channel, and the first electromagnet 43 is located at a position corresponding to the dust collection suction port 211.
  • the first electromagnet 43 is arranged in the negative pressure dust collection channel, and the first electromagnet 43 is energized to attract the iron-containing component 32 to move toward the dust collection suction port 211, thereby opening the dust discharge port 111.
  • the cover plate 14 needs to be closed, the first electromagnet 43 is de-energized and no longer attracts the iron-containing component 32.
  • the cover plate 14 is driven by the third elastic member 17 to move to a position where the dust outlet 111 is closed.
  • the first electromagnet 43 When the dust exhaust port 111 moves to a position that can communicate with the dust collection suction port 211, the first electromagnet 43 can be energized, and the energized first electromagnet 43 generates a magnetic force to attract the iron-containing component 32, which may be an iron piece , The iron-containing component 32 fixed on the cover plate 14 is attracted by the first electromagnet 43 to move, thereby driving the cover plate 14 to move. Since the first electromagnet 43 is located in the negative pressure dust collection channel and corresponding to the dust collection suction port 211, the iron-containing component 32 attracted by the first electromagnet will drive the cover 14 to overcome the force of the third elastic member 17 The dust collection suction port 211 moves, thereby opening the cover plate 14.
  • the first electromagnet 43 may be continuously energized to continuously attract the iron-containing component 32, so as to achieve the purpose of keeping the dust outlet 111 in an open state.
  • the first electromagnet 43 can be de-energized, and the cover plate 14 is moved to a position to close the dust outlet 111 under the action of the third elastic member 17 to close the dust outlet 111.
  • the cover plate 14 is formed with a rotating connection position 141, and the cover plate 14 includes a first cover plate 142 and a second cover plate 143.
  • the first cover plate 142 is located on one side of the rotating connection position 141
  • the second cover plate 143 is located on the other side of the rotating connection position 141
  • the area of the second cover plate 143 is larger than the area of the first cover plate 142
  • the iron-containing component 32 is arranged at On the second cover 143.
  • the second cover plate 143 with a larger area moves toward the dust collecting opening 211 following the iron-containing device 32, and the first cover plate 142 with a smaller area moves toward the dust box 11, so that the dust box 11 is cleaned of impurities
  • the impact of the discharge is relatively small, which is conducive to cleaning the impurities out of the dust box 11.
  • the actuator also includes a clamping member 45 and a buckle 44, the clamping member 45 is connected to the cover plate 14; the buckle 44 is used to position the clamping member 45, the buckle 44 is arranged on the dust box 11, the buckle 44 can be connected with the card
  • the connecting member 45 is clamped so that the cover plate 14 is located at the position where the dust outlet 111 is opened.
  • the buckle 44 can be clamped with the clamping member 45 to position the clamping member 45, so that the cover connected to the clamping member 45 can be positioned.
  • the plate 14 is maintained at the position where the dust discharge port 111 is opened.
  • the cover plate 14 is influenced by the first electromagnet 43 to follow the iron-containing component 32 to rotate, and the clamping member 45 rotates following the cover plate 14 to squeeze into the buckle 44 to be clamped with the buckle 44. Since it is not necessary for the first electromagnet 43 to be continuously energized to keep the cover 14 in the state of opening the dust outlet, when the cover 14 is continuously opened, after the buckle 44 is engaged with the clamping member 45, the first electromagnet 43 The power can be cut off, and the cleaning impurities are discharged from the dust outlet 111 through the dust collection suction port 211 into the negative pressure dust collection channel. The metal garbage will not be disturbed by the attraction of the first electromagnet 43, which is beneficial to pass through the negative pressure dust collection channel. Collect and clean up impurities.
  • the buckle 44 of this embodiment is a push-type buckle.
  • the first electromagnet 43 is energized and the cover 14 is The first electromagnet 43 continues to rotate under the influence of the first electromagnet 43 so that the clamping member 45 fixed on the cover plate 14 is pressed against the buckle 44, thereby opening the buckle 44, and the clamping member 45 fixed on the cover plate 14 and the buckle 44 is separated.
  • the first electromagnet 43 is de-energized again, and the cover plate 14 is moved to the position of closing the dust outlet 111 under the action of the third elastic member 17 to close the dust outlet 111.
  • the clamping member 45 and the buckle 44 are both located outside the dust box 11; one end of the rotating shaft of the cover plate 14 is located outside the dust box 11 and is fixedly connected to the clamping member 45.
  • Both the clip 45 and the clip 44 are located outside the dust box 11, which can prevent cleaning impurities from being scattered on the clip 45 and the clip 44, and can prevent the clip 45 and the clip 44 from accumulating dust and affect the clip 45 and the clip 44.
  • the normal snap connection of the snap 44 is the normal snap connection of the snap 44.
  • the target mechanism is the hook portion 34;
  • the actuator includes a hook 46, a mounting seat 47, and a reset mechanism 48.
  • the hook 46 is used to drive the hook portion 34 to move, and one end of the hook 46 can be connected to or disconnected from the hook portion 34.
  • the mounting seat 47 is arranged in the negative pressure dust collection channel, and the other end of the hook 46 is rotatably connected with the mounting seat 47.
  • the reset mechanism 48 is used to enable the hook 46 to move toward the preset position when the hook 46 deviates from the preset position.
  • the reset mechanism 48 is connected to the hook 46, and the reset mechanism 48 connected to the hook 46 is also connected to the mounting base or the carrying device 21 .
  • the autonomous cleaning device 1 moves forward along the traveling direction of the autonomous cleaning device 1 to the dust collection station 2 so that the dust outlet 111 is connected to the dust collection suction port 211, the hook 46 can be connected to the hooking part 34, and the hook 46 is connected to the hooking part. After 34 is connected, the autonomous cleaning device 1 continues to move along the direction of travel of the autonomous cleaning device 1.
  • the hook 46 pulls the hook portion 34 to drive the cover plate 14 to move, and the cover plate 14 overcomes the effect of the third elastic member 17 under the drive of the hook portion 34 The force moves to the position where the dust outlet 111 is opened.
  • the autonomous cleaning device 1 retreats and moves out of the dust collection station 2 in the traveling direction of the autonomous cleaning device 1, and the force exerted by the hook 46 on the hooking portion 34 is gradually reduced until the hook 46 is separated from the hooking portion 34
  • the cover plate 14 is driven by the third elastic member 17 to move to a position to close the dust outlet 111 to close the dust outlet 111.
  • the reset mechanism 48 is connected to the hook 46 and is used for resetting the hook 46 so that the hook 46 can move toward a preset position.
  • the hook 46 rotatably connected to the mounting seat 47 rotates away from the preset position in any one of the two opposite rotation directions, the hook 46 can be moved toward the preset position under the drive of the reset mechanism 48, thus
  • the hook 46 rotatably connected with the mounting base 47 can rotate and swing in two opposite rotation directions, which is advantageous when the autonomous cleaning device 1 is moved in or out, and can prevent the hook 46 from being jammed by other parts of the autonomous cleaning device 1.
  • the hook 46 can be pressed down to make the hook 46 deviate from the preset position so as to prevent the part of the protruding structure on the autonomous cleaning device 1 from being caught by the hook 46.
  • the hook 46 can be moved toward the preset position under the drive of the reset mechanism 48, such as moving back to the preset position.
  • the hooking portion 34 moves to the position corresponding to the hook 46, The hook 46 can still be connected with the hook portion 34. Therefore, this structural form prevents the hook 46 from being caught by the hook 46 except for the hook 46 on the autonomous cleaning device 1 while ensuring that the hooking portion 34 can be connected to the hook 46.
  • the structure of the reset mechanism 48 can be various.
  • the reset mechanism 48 may include a first elastic member 481 capable of applying a force to the hook 46.
  • One end of the first elastic member 481 is fixed to the hook 46, and the other end of the first elastic member 481 is connected to the mounting seat 47.
  • the carrying device 21 is fixed; when the hook 46 deviates from the preset position, the force exerted by the first elastic member 481 on the hook 46 causes the hook 46 to rotate toward the preset position.
  • the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position in either direction of the two opposite rotation directions.
  • the first elastic member 481 After the hook 46 deviates from the preset position, when the interference of the external force is removed, the first elastic member 481 The force exerted on the hook 46 can drive the hook 46 to move to a preset position. Since both ends of the first elastic member 481 are fixed, the first elastic member 481 can apply different forces to the hook 46 according to the direction in which the hook 46 deviates from the preset position or is in a stretched state or a compressed state.
  • the reset mechanism 48 may include a first elastic member 481 and a second elastic member 482 that can apply a force to the hook 46.
  • One end of the first elastic member 481 is connected to the hook 46, and the other end of the first elastic member 481 is connected to the mounting seat 47 or the carrying device 21.
  • One end of the second elastic element 482 is connected to the hook 46, and the other end of the second elastic element 482 is connected to the mounting base 47 or the carrying device 21.
  • the hook 46 When the hook 46 deviates from the preset position, the combined force formed by the force exerted on the hook 46 by the first elastic member 481 and the force exerted on the hook 46 by the second elastic member 482 makes the hook 46 have a tendency to rotate toward the preset position.
  • the hook 46 rotatably connected to the mounting seat 47 can deviate from the preset position in either direction of the two opposite rotation directions.
  • the first elastic member 481 After the hook 46 deviates from the preset position, when the interference of the external force is removed, the first elastic member 481
  • the combined force formed by the force exerted on the hook 46 and the force exerted on the hook 46 by the second elastic member 482 can drive the hook 46 to move to a preset position.
  • the first elastic member 481 may be a first torsion spring. One end of the first torsion spring abuts against the hook 46, and the other end of the first torsion spring contacts the mounting seat 47 or the carrying device. 21 Fixed connection.
  • the second elastic member 482 is a second torsion spring, one end of the second torsion spring abuts against the hook 46, and the other end of the second torsion spring is fixedly connected to the mounting seat 47 or the carrying device 21.
  • the end of the first torsion spring that is in contact with the hook 46 is located on one side of the hook 46, and the end of the second torsion spring that is in contact with the hook 46 is located on the other side of the hook 46;
  • One end of the device 21 fixedly connected is located on one side of the hook 46, and one end of the second torsion spring fixedly connected to the mounting seat 47 or the carrying device 21 is located on the other side of the hook.
  • the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring can be multiple, in addition to the positional connection relationship of the first torsion spring and the positional connection relationship of the second torsion spring, the positional connection relationship of the first torsion spring
  • the relationship and the positional connection relationship of the second torsion spring can also have the following forms.
  • first torsion spring and one end of the second torsion spring are both fixed to the hook 46; the other end of the first torsion spring and the other end of the second torsion spring are both fixed to the mounting seat 47, or the other end of the first torsion spring One end and the other end of the second torsion spring are both fixed to the carrying device 21.
  • first torsion spring that abuts the hook 46 and the end of the first torsion spring that abuts the mounting seat 47 or the carrying device 21 are both located on one side of the hook 46, and the second torsion spring abuts the hook 46
  • One end of the second torsion spring and the end of the second torsion spring contacting the mounting seat 47 or the carrying device 21 are both located on the other side of the hook.
  • the reset mechanism 48 may not adopt the form of an elastic member.
  • the hook 46 is formed with a rotating connection shaft that is rotatably connected to the mounting seat 47, and the reset mechanism 48 may be a motor or the like with a rotating connection shaft.
  • the drive is connected to a power component capable of driving the rotation of the connecting shaft, and the hook 46 is driven to swing in two opposite directions of rotation through the forward and reverse rotation of the motor to prevent the autonomous cleaning device 1 from being caught by the hook 46 except for the hook portion 34 .
  • the hook 46 includes a working part 461 and a connecting part 462.
  • the working part 461 is used to drive the hooking part 34 to move, and the working part 461 can be connected to or disconnected from the hooking part 34.
  • One end of the connecting part 462 is connected to the working part 461, and the other end of the connecting part 462 is rotatably connected to the mounting seat 47.
  • the hook 46 is connected to the hooking part 34 through the working part 461, and the process of moving the autonomous cleaning device 1 along the traveling direction of the autonomous cleaning device 1 to the dust collecting station 2 so that the dust outlet 111 is connected to the dust collecting inlet 211
  • the working part 461 pulls the hooking part 34 so that the cover plate 14 fixed to the hooking part 34 opens the dust outlet 111.
  • the connecting portion 462 is rotatably connected with the mounting seat 47.
  • the connecting portion 462 may include a connecting plate 4623, and the connecting plate 4623 is connected to the first elastic member 481 and/or the second elastic member 482.
  • the first elastic member 481 is a first torsion spring
  • one end of the first torsion spring is in contact with the connecting plate 4623
  • the second elastic member 482 is a second torsion spring
  • one end of the second torsion spring is in contact with the connecting plate 4623.
  • the working part 461 may be a first rod
  • the connecting part 462 may include a second rod 4621 and a third rod 4622.
  • the second rod 4621 is parallel to the first rod
  • one end of the third rod 4622 is connected to the middle of the length of the first rod
  • the other end of the third rod 4622 is connected to the length of the second rod 4621.
  • the middle position is connected.
  • the hook 46 of this structure is actually an I-shaped hook 46.
  • the connecting plate 4623 may be provided on the third rod 4622.
  • the working part 461 may be a first rod
  • the connecting part 462 may be a mounting plate.
  • the mounting plate is formed with a protruding connecting ear 4624.
  • the first rod and the connecting ear 4624 Fixed connection.
  • the shape of the hook 46 may be configured into the shape of a hook.
  • each actuator includes a hook 46, a mounting seat 47, and a reset mechanism 48.
  • two hooks are fixedly connected to the cover 14
  • the connecting portion 34, the two hooks 46 and the two hooking portions 34 correspond one-to-one.
  • the shape of the hook portion 34 may be configured into a hook shape, and the hook 46 may be hooked by the hook-shaped hook portion 34.
  • the hook portion 34 includes a hook body and a baffle 342.
  • the hooking body is fixed to the cover 14.
  • the hooking body is formed with a hooking groove 3411 and a first notch 3412 communicating with the hooking groove 3411.
  • the working part 461 can be moved into or out of the hooking groove 3411 through the first notch 3412.
  • the baffle 432 is used to prevent the working part 461 from leaving the hook groove 3411.
  • the baffle 342 is arranged on the hooking main body.
  • the baffle 342 is located on the bottom side of the hook groove 3411.
  • the baffle 342 is formed with a second notch for avoiding the connecting portion 462.
  • the second notch 3421 is respectively communicated with the first notch 3412 and the hook groove 3411.
  • the working part 461 of the hook 46 is connected to the hook part 34.
  • the autonomous cleaning device 1 moves backward in the traveling direction of the autonomous cleaning device 1 to gradually move the autonomous cleaning device 1 out of the dust collection station 2, the working part 461 located in the hook groove 3411 gradually moves toward the first slot 3412 The movement finally moves out of the hook groove 3411 from the first notch 3412, so that the hook 46 is separated from the hook portion 34.
  • the mounting base 47 can move relative to the bearing device 21; the actuator also includes a limiting member 49 for limiting the mounting seat 47, the limiting member 49 and the bearing The device 21 is fixedly connected.
  • the connecting portion 34 is pulled to drive the mounting seat 47 to move, and the limiting member 49 restricts the stroke of the mounting seat 47 to prevent the mounting seat 47 from following the movement of the hooking portion 34 under the drive of the hook 46, causing the hook 46 to be unable to pull the cover 14 to open.
  • the implementing mechanism further includes a buffer member 40, one end of the buffer member 40 is connected with the limiting member 49, and the other end of the buffer member 40 is connected with the mounting seat 47.
  • the arrangement of the buffer member 40 on the one hand, can avoid the direct collision between the mounting seat 47 and the limiting member 49; on the other hand, the mounting seat 47 moves with the hook 46 and the hook portion 34, so that the hook 46 pulls the hook portion 34 at first
  • the force is small, as the cover plate 14 gradually rotates in the direction of opening the dust outlet 111 and the mounting seat 47 gradually approaches the limiting member 49 to compress the buffer member 40, and the limiting member 49 is applied to the mounting seat 47 through the buffer member 40
  • the force of the hook 46 connected to the mounting seat 47 is continuously increased, and the force of the hook 46 connected to the mounting seat 47 to pull the hook portion 34 is also continuously increased.
  • the force of the hook 46 to pull the hook portion 34 is increased from small to large.
  • Pull the hook portion 34 step by step so that the hook portion 34 drives the cover plate 14 to move to the position where the dust outlet 111 is opened. That is to say, the buffer member 40 cooperates with the mounting seat 47 that can move relative to the carrying device 21 and pulls the hook 46.
  • the movement of the hooking portion 34 has a certain buffering effect. This avoids that when the mounting seat 47 is immobile, after the hook 46 is connected to the hooking portion 34, the force of the hook 46 pulling the hooking portion 34 to move suddenly changes to the maximum, causing a hard impact between the hook 46 and the hooking portion 34 The problem.
  • an embodiment of the present application provides a cleaning system
  • the cleaning system includes an autonomous cleaning device 1, a set Dust station 2, driven mechanism and first driving mechanism.
  • the dust collection station 2 is used to collect the cleaning impurities of the autonomous cleaning equipment 1.
  • the autonomous cleaning device 1 includes a dust box 11 and a cover 14.
  • the dust box 11 realizes the function of collecting and cleaning impurities, that is, it is used to contain the cleaning impurities.
  • the bottom end of the dust box 11 is configured with a dust discharge port 111 for communicating with the dust collection suction port 211; the cover plate 14 is rotatably connected with the dust box 11, and is driven
  • the mechanism is fixed on the cover plate 14. When the dust outlet 111 needs to be opened, the first driving mechanism and the driven mechanism are driven to cooperate to drive the driven mechanism to move to drive the cover plate 14 to rotate to the position where the dust outlet 111 is opened.
  • the first driving mechanism can drive the driven mechanism to drive the cover plate 14 to rotate to the position where the dust discharge port 111 is opened, so that the dust discharge port 111 is opened, and the work efficiency is improved. , Avoid unnecessary human intervention. Specifically, when the dust outlet 111 is in an open state, at least part of the cleaned impurities in the dust box 11 can fall from the dust outlet 111.
  • the autonomous cleaning device 1 may be a sweeping robot, or other devices that perform autonomous cleaning of walls, for example, which is not limited here.
  • the autonomous cleaning device 1 is a sweeping robot as an example for description.
  • the autonomous cleaning device 1 further includes a main body 15, and the dust box 11 is arranged in the main body 15.
  • the main body 15 serves as the main structure of the autonomous cleaning device 1 and can realize a cleaning function.
  • opposite ends of the cover plate 14 are configured with rotating shafts that are rotatably connected with the dust box 11.
  • the cover plate 14 has a first rotation center line 510, and the cover plate 14 rotates around the first rotation center line 510.
  • the autonomous cleaning device 1 further includes a universal wheel 13, which is installed on the bottom side of the main body 15 and moves under the drive of the main body 15, and the universal wheel 13 can Change the direction, and then change the traveling direction of the autonomous cleaning device 1.
  • the autonomous cleaning device 1 further includes two drive wheels 12 arranged at intervals, and the drive wheels 12 are installed on the bottom side of the main body 15.
  • the driving wheel 12 realizes the function of driving the main body 15 to move.
  • the universal wheel 13 is arranged in front of the driving wheel 12 in the advancing direction of the autonomous cleaning device 1.
  • the universal wheel 13 is located between the two driving wheels 12. It can be understood that the trajectory of the universal wheel 13 may be located in the middle of the trajectory of the two driving wheels 12 , It can also deviate from the middle, there is no restriction here.
  • a triangular support is formed between the two drive wheels 12 and the universal wheels 13 arranged at intervals, so that the autonomous cleaning device 1 has better stability during the movement.
  • the span between the two drive wheels 12 arranged at intervals is relatively large.
  • the dust box 11 in the traveling track of the autonomous cleaning device 1, the dust box 11 is located between the two driving wheels 12. In this way, the dust box 11 can be made to have a larger volume, and the opening area of the dust exhaust port 111 of the dust box 11 can be enlarged accordingly, which is beneficial for cleaning the impurities in the dust box 11 to discharge the dust box 11.
  • the driving wheel 12 is at the target position.
  • an air inlet 112 is formed on the dust box 11, and the autonomous cleaning device 1 cleans impurities such as dust on the ground through the air inlet 112 during the cleaning work. Enter into the dust box 11.
  • the autonomous cleaning device 1 further includes a stopper 16, and the stopper 16 may be provided on the bottom side of the main body 15 or the bottom side of the dust box 11.
  • stoppers 16 may be provided on opposite sides of the dust outlet 111.
  • the stopper 16 may be in the shape of a flat plate.
  • the main body 15 may include a bottom plate 151 and a bracket 152.
  • the bracket 152 is disposed on the bottom side of the bottom plate 151, and the stopper 16 is disposed on the bottom side of the bracket 152, so that the bracket 152 and the stopper 16 disposed on the bottom side of the bracket 152 protrude toward the bottom side of the bottom plate 151.
  • the bottom plate 151 is formed at a position corresponding to the dust exhaust port 111 with a first escape port 1511 that can communicate with the dust exhaust port 111
  • the bracket 152 is formed with a second escape port 1521, and the first escape port 1511 and the second escape port 1521 communicate with each other.
  • the cleaning impurities discharged from the dust discharge port 111 can be discharged from the autonomous cleaning device 1 through the first avoidance port 1511 and the second avoidance port 1521.
  • the stopper 16 may be located outside the second escape port 1521, for example, the stopper 16 is provided on opposite sides of the second escape port 1521.
  • the main body 15 may not be provided with the bracket 152.
  • the stopper 16 may be provided on the bottom plate 151, and the stopper 16 may be located outside the first escape opening 1511, for example, the stopper 16 is provided on opposite sides of the first escape opening 1511.
  • the stopper 16 may also be provided on the bottom side of the dust box 11, and the stopper 16 is located outside the dust exhaust port 111, for example, the stopper 16 is provided on opposite sides of the dust exhaust port 111. .
  • stoppers 16 are provided on opposite sides of the dust outlet 111 along the traveling direction of the autonomous cleaning device 1.
  • the autonomous cleaning device 1 further includes a reset member 503 for driving the cover 14 to close the dust outlet 111 (the reset member 503 is not shown in FIGS. 24 and 25, and the reset member 503 is shown in FIG. 27)
  • the reset member 503 is connected between the cover plate 14 and the dust box 11 to drive the cover plate 14 to rotate to a position where the dust outlet 111 is closed.
  • the resetting member 503 drives the cover plate 14 to rotate to a position where the dust outlet 111 is closed.
  • the cover plate 14 has the function of automatically closing the dust outlet 111.
  • the restoring member 503 may be a third torsion spring, and the third torsion spring is sleeved on the rotating shaft of the cover plate 14.
  • the traveling direction of the autonomous cleaning device 1 is the advancing or retreating direction of the autonomous cleaning device 1. Specifically, based on FIG. 5 or FIG. 23, the traveling direction of the autonomous cleaning device 1 is the direction indicated by arrow A in FIG. 5 or FIG. 23.
  • a negative pressure dust collection channel is formed in the dust collection station 2, and the dust collection station 2 includes a carrying device 21 for carrying the autonomous cleaning equipment 1 ,
  • the carrying device 21 is formed with a dust collection suction port 211 communicating with the negative pressure dust collection channel.
  • the cleaning impurities in the dust box 11 are sucked into the negative pressure dust collection channel under the action of negative pressure, thereby emptying the dust
  • the cleaning impurities in the box 11 are collected in the dust collection station 2.
  • the cleaning impurities collected in the dust collection station 2 are cleaned at once, for example, one month or two months. Clean up the impurities in the dust collection station 2 once.
  • the dust collection station 2 further includes a sealing component.
  • the seal assembly is ringed around the dust collection suction port 211.
  • the sealing component When the autonomous cleaning device 1 moves to the dust discharge position, the dust discharge port 111 and the dust collection suction port 211 are connected through the sealing component, and the cleaning impurities in the dust box 11 can pass through the dust discharge port 111 in turn. , The sealing assembly and the dust collection suction port 211 enter the negative pressure dust collection channel.
  • the dust exhaust port 111 and the dust collection suction port 211 are connected through a sealing assembly, a negative pressure environment is formed in the negative pressure dust collection channel, and the cleaning impurities in the dust box 11 are sucked into the negative pressure dust collection channel under the action of negative pressure, and then The cleaning impurities in the dust box 11 are emptied.
  • the cleaning impurities are collected in the dust collection station 2. After the accumulated amount of cleaning impurities is large, the cleaning impurities collected in the dust collection station 2 are cleaned at once, for example, one month or two Clean up the impurities in the dust collection station 2 once a month.
  • the sealing assembly In the trajectory of the autonomous cleaning equipment 1, some parts of the autonomous cleaning equipment 1 may pass through the sealing assembly, and the parts passing through the sealing assembly will depress the sealing assembly, so the sealing assembly will not hinder the progress of the parts passing through the sealing assembly.
  • the autonomous cleaning device 1 moves to the dust discharge position, the parts passing through the sealing assembly have been removed from the sealing assembly, and the sealing assembly is restored to the normal state of communicating the dust discharge port 111 and the dust collection suction port 211.
  • the arrangement of the seal assembly allows the dust outlet 111 and the dust collection suction port 211 to be connected through the seal assembly without hindering the movement of the components passing through the seal assembly, avoiding the process of cleaning impurities from the dust exhaust port 111 to the dust collection suction port 211 In the dust.
  • the dust exhaust port 111 and the dust collection suction port 211 are connected through the sealing assembly, and the cleaning impurities in the dust box 11 of the autonomous cleaning device 1 pass through the dust exhaust port 111, the sealing assembly and the dust collection in turn
  • the port 211 is discharged into the dust collection station 2. In this way, it is no longer necessary for the operator to bend over to take the dust box 11 for cleaning, which avoids frequent human intervention to the autonomous cleaning device 1 and also reduces the workload of the user.
  • the component of the autonomous cleaning device 1 passing through the sealing assembly is a universal wheel 13.
  • the sealing assembly may include a flexible sealing member 501, and the flexible sealing member 501 is provided on opposite sides of the dust collecting port 211.
  • the stopper 16 is used to prevent the flexible seal 501 from toppling.
  • the flexible seal 501 abuts against one side of the stopper 16 under the force of negative pressure. In this way, the flexible sealing element 501 and the stopper 16 abut against each other to prevent the flexible sealing element 501 from falling under the negative pressure.
  • flexible seals 501 are provided on opposite sides of the dust collection suction port 211 along the traveling direction of the autonomous cleaning device 1.
  • the flexible sealing member 501 can seal and abut against the stopper 16. It is beneficial to improve the air tightness of the sealing assembly and reduce the leakage of the sealing assembly.
  • the structural shape of the stopper 16 is not limited to a flat plate shape.
  • the abutting surface of the flexible sealing member 501 and the abutting surface of the stopper 16 may both be flat, and the abutting surface of the flexible sealing member 501 and The abutting surface of the stopper 16 abuts and fits to form a sealed abutment.
  • the abutting surface of the flexible sealing element 501 may be a concave arc surface
  • the abutting surface of the stopper 16 may be a convex arc surface
  • the concave arc surface and the convex arc surface abut and fit to form a sealed abutment.
  • the sealing assembly is formed with a transition sealing channel 502.
  • the flexible sealing member 501 may surround the dust collecting and suction opening 211, and the flexible sealing member 501 is connected end to end to form a transition sealing channel 502 in a direction surrounding the dust collecting and suction opening 211.
  • the sealing assembly further includes a sealing plate 29.
  • the other opposite sides of the dust collecting opening 211 are provided with sealing plates 29, two sealing plates 29 and two flexible sealing members 501
  • a transitional sealing channel 502 that connects the dust collection suction port 211 and the dust discharge port 111 is jointly enclosed, and opposite ends of the flexible seal 501 are in sliding contact with the sealing plate 29.
  • the universal wheel 13 moves along the traveling direction of the autonomous cleaning device 1.
  • the universal wheel 13 can pass between two oppositely arranged sealing plates 29. Therefore, the universal wheel 13 does not contact the two sealing plates 29.
  • the sealing plate 29 with relatively hard texture does not hinder the movement of the universal wheel 13 in the traveling direction of the autonomous cleaning device 1.
  • a relatively hard sealing plate 29 is used.
  • the channel 502 is not excessively deformed.
  • the dust collection suction port 211 is provided with sealing plates 29 on opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the opposite ends of the flexible sealing member 501 are in sliding contact with the sealing plate 29, on the one hand, the flexible sealing member 501 and the sealing plate 29 have better sealing performance; on the other hand, the flexible sealing member 501 is along the traveling direction of the autonomous cleaning device 1
  • the deformation of ⁇ is not restricted by the sealing plate 29, so that the flexible sealing member 501 can be pressed down when the universal wheel 13 passes through the flexible sealing member 501.
  • the dust collection station 2 further includes a lifting mechanism 24 provided on the carrying device 21, and the dust collection suction opening 211 At least one of the other two opposite sides is provided with a lifting mechanism 24, and the lifting mechanism 24 protrudes from the second top surface 504 of the supporting device 21 to support the main body 15.
  • the lifting mechanism 24 protrudes from the second top surface 504 of the supporting device 21 to support the main body 15.
  • the dust collection suction port 211 is provided with a lifting mechanism 24 along at least one side perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the autonomous cleaning device 1 When the autonomous cleaning device 1 needs to clean up the cleaning impurities in the dust box 11, the autonomous cleaning device 1 moves to the dust collection station 2. Specifically, the driving wheel 12 moves along the second top surface 504 of the carrying device 21, and when it moves to When the main body 15 is supported on the lifting mechanism 24, the lifting mechanism 24 supports the main body 15 to prevent the universal wheel 13 from falling into the dust collecting opening 211 of the supporting device 21 and being jammed, that is, In other words, when the universal wheel 13 passes through the dust collection port 211, the universal wheel 13 is in a suspended state, which ensures that the autonomous cleaning device 1 can move and walk normally on the carrying device 21, and the driving wheel 12 continues to drive the autonomous cleaning device 1 to move. , So that the universal wheel 13 can pass through the dust collection suction opening 211 basically without obstacles until the driving wheel 12 moves to the target position.
  • the sealing plate 29 and at least part of the structure of the lifting mechanism 24 are integrally formed.
  • the sealing plate 29 may be integrally formed with the lifting base 242, that is, the sealing plate 29 and the lifting base 242 form an integral body.
  • Such a structural form objectively makes full use of the lifting base 242 and the flexible sealing member 501 to form the transition sealing channel 502, which improves the utilization rate of parts and reduces the manufacturing cost of the equipment.
  • the lifting mechanism 24 can be provided only on the side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1. In this way, it can be ensured that the universal wheel 13 passing through the dust collection suction port 211 does not Interference with the lifting agency 24 will occur.
  • the lifting mechanism 24 is provided on the opposite sides of the dust collection suction port 211 along the direction perpendicular to the traveling direction of the autonomous cleaning device 1, so that the lifting mechanism 24 can support the main body 15 more stably, The force of the supporting main body 15 is more balanced.
  • lifting mechanisms 24 are provided on opposite sides of the dust collection suction port 211 along the direction perpendicular to the traveling direction of the autonomous cleaning device 1.
  • a lifting mechanism 24 may also be provided on at least one side of the dust collection suction opening 211, as long as the lifting mechanism 24 is placed in a position that can avoid the movement trajectory of the universal wheel 13 so that the universal The wheel 13 does not interfere with the lifting mechanism 24.
  • the specific structure of the lifting mechanism 24 is not limited, as long as it can play the role of lifting the main body 15.
  • the lifting mechanism 24 may be a fixed structure, and sliding friction is formed between the lifting mechanism 24 and the main body 15.
  • the lifting mechanism 24 of this structure can support the main body 15 and can prevent the universal wheel 13 from falling into the dust collection port 211 of the carrying device 21 and being jammed, and ensuring that the autonomous cleaning device 1 can be mounted on the carrying device 21 Move and walk normally.
  • the lifting mechanism 24 includes a lifting base 242 and a movable part 241.
  • the supporting base 242 is arranged on the top of the supporting device 21, the movable member 241 is at least partially protruded from the second top surface 504 of the supporting device 21 to support the main body 15, and the movable member 241 is movably connected to the supporting base 242 to
  • the friction between the movable part 241 and the main body 15 is rolling friction or static friction, so as to avoid the sliding friction between the lifting mechanism 24 and the main body 15 causing the main body 15 to wear or scratch the bottom surface of the main body 15.
  • movable connection refers to a connection mode in which the movable part 241 and the lifting base 242 have relative movement.
  • the movable part 241 can slide, rotate, roll, etc. relative to the lifting base 242.
  • the second top surface 504 of the carrying device 21 in the third embodiment does not have a subordinate relationship with the top surface 212 of the carrying device 21 in the first and second embodiments.
  • the second top surface 504 of the carrying device 21 in the third embodiment is equivalent to the top surface 212 of the carrying device 21 in the first and second embodiments.
  • the movement of the movable piece 241 relative to the lifting base 242 can be active or passive, as long as the movement of the movable piece 241 is compatible with the movement of the main body 15 so that no sliding friction occurs between the movable piece 241 and the main body 15 .
  • the movable member 241 can move relative to the lifting base 242 under the drive of the main body 15. At this time, the movable member 241 moves passively.
  • the dust collection station 2 further includes a second driving mechanism, and the second driving mechanism is drivingly connected with the movable part 241 to drive the movable part 241 to move relative to the lifting base 242. At this time, the movable part 241 is actively moving.
  • the active movement of the movable member 241 can also assist the autonomous cleaning device 1 to travel.
  • the second driving mechanism drivingly connected with the movable member 241 may be provided on the lifting base 242 or on the carrying device 21.
  • the second drive mechanism in the third embodiment does not have a subordinate relationship with the drive mechanisms in the first and second embodiments. In fact, the second drive mechanism in the third embodiment is equivalent to the drive mechanisms in the first and second embodiments.
  • the movable member 241 is a roller
  • the roller is rotatably connected with the lifting base 242
  • the rotation axis of the roller is perpendicular to the traveling direction of the autonomous cleaning device 1, and the friction between the roller and the main body 15 is rolling friction.
  • the traveling resistance of the autonomous cleaning device 1 can be reduced.
  • the roller can also be driven by the second driving mechanism to move.
  • the number of rollers can be one or more.
  • the multiple rollers are arranged along the traveling direction of the autonomous cleaning device 1, which can facilitate the lifting mechanism 24 to support the autonomous cleaning device 1 along the traveling direction of the autonomous cleaning device 1.
  • a plurality of rollers can also be arranged in an oblique direction to the traveling direction of the autonomous cleaning device 1.
  • the movable member 241 may also be a ball.
  • a groove is formed on the lifting base 242, and the ball is movably arranged in the groove.
  • the balls can be driven by the main body 15 to roll.
  • the friction between the balls and the main body 15 is rolling friction.
  • the movable member 241 may also be a transmission belt, which is arranged along the traveling direction of the autonomous cleaning device 1.
  • the dust collection station 2 includes two rollers rotatably connected with the lifting base 242, the transmission belt is arranged on the roller, the main body 15 can be supported on the transmission belt, and static friction can be formed between the main body 15 and the transmission belt.
  • the roller can use the second driving mechanism to move its rotation to drive the transmission belt to move, and the moving speed of the transmission belt is adapted to the moving speed of the autonomous cleaning device 1 to maintain static friction between the autonomous cleaning device 1 and the transmission belt.
  • the maximum distance between the two stoppers 16 is less than the minimum distance between the two flexible seals 501.
  • the end of the flexible sealing member 501 facing the carrying device 21 sealingly abuts against the carrying device 21, and the end of the flexible sealing member 501 facing away from the carrying device 21 can sealingly abut against the main body 15. In this way, the air tightness of the transition sealing passage 502 is further improved.
  • the end of the flexible sealing member 501 facing away from the carrying device 21 may be sealed and abutted with the bottom plate 151, or may be sealed and abutted with the bracket 152.
  • the end of the flexible sealing member 501 facing away from the carrying device 21 may abut against the bottom side of the dust box 11.
  • the flexible sealing member 501 Since the bracket 152 and the stopper 16 provided on the bottom side of the bracket 152 protrude toward the bottom side of the bottom plate 151, it is advantageous for the flexible sealing member 501 to seal and abut the bracket 152.
  • the main reason is that in actual situations, the dust box 11 located in the main body 15 may all be above the bottom plate 151 without protruding from the bottom plate 151 to the bottom side. At this time, the flexible sealing member 501 is difficult to abut against the dust box 11 in a sealed manner. Then, the flexible sealing member 501 and the bracket 152 can be sealed and abutted.
  • the dust collection station 2 also includes a dust collection motor 25 and a collection device.
  • the dust collection motor 25 is used to form a negative pressure in the negative pressure dust collection channel, and the collection device communicates with the negative pressure dust collection channel to accommodate the negative pressure.
  • the dust suction motor 25 can adopt mute technology, which has a good mute effect.
  • the collection device may be a collection box or a collection bag for collecting cleaning impurities.
  • the dust collection station 2 also includes a column 27 arranged on the carrying device 21, the dust suction motor 25 can be arranged in the column 27, and the negative pressure dust collection channel also extends into the column 27, that is to say, the cleaning of the dust collection station 2 Impurities can be placed in the column 27.
  • the dust collection station 2 further includes a charging terminal 22 for charging the autonomous cleaning device 1, and the charging terminal 22 is arranged on the carrying device 21.
  • the driving wheel 12 is located at the target position, and the charging device on the autonomous cleaning device 1 contacts the charging terminal 22 to charge the autonomous cleaning device 1.
  • the second top surface 504 of the supporting device 21 is an inclined surface, and the second top surface 504 gradually rises along the moving end of the supporting device 21 toward the dust collecting opening 211.
  • the autonomous cleaning device 1 moves to the second top surface 504 of the carrying device 21, the autonomous cleaning device 1 inclines with the inclination of the second top surface 504, which is beneficial for the autonomous cleaning device 1 to move smoothly to The target location on the dust collection station 2.
  • the top surface of the carrying device 21 may also be a horizontal plane.
  • the dust collection station 2 further includes a positioning portion 23 for stopping and positioning the driving wheel 12.
  • the positioning portion 23 is provided on the top of the carrying device 21, and the positioning portion 23
  • the structure is as follows: when the autonomous cleaning device 1 moves to the dust discharge position, the driving wheel 12 is located at the target position, and the driving wheel 12 and the positioning portion 23 stop and cooperate. At this time, the dust discharge port 111 is located at a position capable of communicating with the dust collection suction port 211 Place.
  • the positioning part 23 can quickly align and position the dust discharge port 111 of the autonomous cleaning device 1 and the dust collection suction port 211 of the dust collection station 2.
  • the other opposite sides of the dust collection suction opening 211 are provided with positioning portions 23, and the other opposite sides of the dust collection suction opening 211 are both provided with a lifting mechanism 24, and the distance between the two positioning portions 23 is The minimum distance is greater than the maximum distance between the two lifting mechanisms 24.
  • the two lifting mechanisms 24 are located between the two driving wheels 12, so that, in other words, the two lifting mechanisms 24 are arranged as close as possible to the dust collection suction opening 211, To prevent interference with the movement of the driving wheel 12.
  • the positioning parts 23 on both sides of the dust collection suction opening 211 can respectively position the driving wheels 12 on the corresponding sides, and the two driving wheels 12 of the autonomous cleaning device 1 can be positioned more reliably.
  • the number of positioning parts 23 can be two, and the number of driving wheels 12 can be two, and the positioning parts 23 on either side of the dust collection opening 211 are used to position the driving wheels 12 on that side.
  • the dust collection suction port 211 is provided with positioning parts 23 along opposite sides perpendicular to the traveling direction of the autonomous cleaning device 1; the dust collection suction port 211 is provided with support on opposite sides perpendicular to the travel direction of the autonomous cleaning device 1 Lift institutions 24.
  • the positioning portion 23 is provided only on one side of the dust collection suction port 211 perpendicular to the traveling direction of the autonomous cleaning device 1.
  • the structure of the positioning portion 23 is not limited, as long as it can stop the driving wheel 12.
  • the positioning portion 23 has an arc-shaped stop surface 231 that is adapted to the driving wheel 12, and the arc-shaped stop surface 231 is used to stop and cooperate with the driving wheel 12.
  • the surface on the positioning portion 23 that is matched with the stop of the driving wheel 12 may also take other forms, for example, a vertical stop surface or an L-shaped stop surface.
  • the positioning portion 23 has a non-slip structure 232 located at the moving end of the arc stop surface 231.
  • the anti-slip structure 232 may be an anti-slip strip arranged along the traveling direction of the autonomous cleaning device 1, and the anti-slip structure 232 may also be an anti-slip grid, etc., which is not limited here.
  • the first driving mechanism includes a transmission component and a motor 509.
  • the motor 509 has a motor shaft, and the transmission part is rotatably connected with the motor shaft.
  • the opposite ends of the cover plate 14 are configured with a shaft that is rotatably connected with the dust box 11.
  • the driven mechanism is fixedly connected with the shaft, and the transmission part and the driven mechanism are drivingly matched to drive The rotating shaft drives the cover plate 14 to rotate.
  • the motor 509 drives the transmission part to rotate through the motor shaft, the rotating transmission part drives the driven mechanism to rotate, and the driven mechanism drives the shaft to rotate to drive the cover 14 to rotate, so that the cover 14 rotates to the position where the dust outlet is opened.
  • the motor 509 can adopt mute technology, which has a good mute effect.
  • the motor 509 drives the transmission component forward or reverse through forward or reverse rotation. Not only can the cover 14 open or close the dust outlet 111, but it can also control the forward or reverse stroke of the cover 14 accordingly. Adjust the opening of the dust outlet 111.
  • Such a structure allows the cover plate 14 to accurately open or close the dust outlet 111, with high reliability, and the opening degree of the dust outlet 111 is adjustable.
  • the transmission component is subordinate to the actuator in the first embodiment and the second embodiment, and the transmission component is subordinate to the first drive mechanism in the third embodiment, however, the transmission component is subordinate to the first drive mechanism in the third embodiment.
  • the transmission component is equivalent to the transmission component in the first embodiment and the second embodiment.
  • the first driving mechanism adopts the driving connection form of the transmission component and the motor 509, so that the motor 509 can actively open or close the dust exhaust port 111.
  • This structure has an impact on the dust exhaust port 111 and the dust collection suction port 211. The positioning requirements are relatively low. Even if the dust outlet 111 is slightly deviated from the position of the dust collecting inlet 211 during the traveling process of the autonomous cleaning device 1, it will not affect the motor 509 to drive the transmission component to open or close the dust outlet 111. Therefore, this structure has a high degree of error tolerance for the position when the autonomous cleaning device 1 cleans and discharges impurities.
  • the driven mechanism, the motor 509, and the transmission component are all located outside the dust box 11 along the axial direction of the rotating shaft.
  • the driven mechanism, the motor 509 and the transmission components can all be installed outside the dust box 11, making the installation of the motor 509 and the transmission components more convenient, and at the same time avoiding the cleaning impurities in the dust box 11 from affecting the motor 509 and the transmission. Interference of moving parts such as components during operation.
  • the motor shaft and the rotating shaft are arranged in parallel and spaced apart. It is convenient for the motor 14 to drive the transmission component so that the transmission component drives the driven mechanism, so that the motion transmission between the motor, the transmission component and the driven mechanism is smoother.
  • the driven mechanism is the shift block 31
  • the transmission component is the cam 42
  • the cam 42 is eccentrically connected to the motor shaft in rotation.
  • the circumferential surface of the cam 42 can abut the shift block 31 to drive the shift block 31 to drive the rotation shaft of the cover plate 14 to rotate.
  • the motor 509 drives the cam 42 to rotate in the clockwise direction.
  • the circumferential surface of the cam 42 has not yet abutted the shift block 31, and the circumferential surface of the cam 42 rotates in the clockwise direction to and After abutting, the shift block 31 continues to rotate in the clockwise direction, thereby driving the shift block 31 to drive the rotating shaft of the cover plate 14 to rotate in the counterclockwise direction to open the cover plate 14.
  • shift block 31 is subordinate to the target mechanism in the first and second embodiments, and the shift block 31 is subordinate to the driven mechanism in the third embodiment, however, in the third embodiment
  • the shift block 31 of is equivalent to the shift block 31 in the first embodiment and the second embodiment.
  • cam 42 is a transmission member subordinate to the actuator in the first and second embodiments, and the cam 42 is a transmission member subordinate to the first drive member in the third embodiment, however, The cam 42 in the third embodiment is equivalent to the cam 42 in the first and second embodiments.
  • the motor 509 drives the cam 42 to rotate counterclockwise.
  • the circumferential surface of the cam 42 can always remain in contact with the shift block 31, and the circumferential direction of the cam 42 The surface can also be rotated to a position where it is finally separated from the shift block 31.
  • the cam 42 rotates counterclockwise, the force of the cam 42 acting on the shift block 31 through its circumferential surface is reduced, and the cover plate 14 is moved to the position of closing the dust outlet 111 under the action of the reset member 503 to realize dust discharge The closure of port 111.
  • the shift block 31, the motor 509 and the cam 42 are all located outside the dust box 11 along the axial direction of the rotating shaft of the cover 14.
  • One end of the rotating shaft of the cover plate 14 may be located outside the dust box 11 and fixedly connected to the shift block 31.
  • the corresponding cam 42 and the motor 509 for driving the cam 42 to rotate can be installed on the outside of the dust box 11 along the shaft axis of the cover plate 14, so that the cam 42 and the motor 509 for driving the cam 42 to rotate can be installed More convenient.
  • the motor 509 can be fixed on the main body 15 or on the dust box 11.
  • the motor 509, the cam 42 drivingly connected to the motor 509, and the shift block 31 fixed to the cover 14 are all set in the autonomous cleaning device 1 Follow the autonomous cleaning device 1 to move together.
  • the motor 509 can also be fixed to the carrying device 21, for example, in the negative pressure dust collection channel of the carrying device 21.
  • the transmission component may be a driving gear, which is coaxially fixedly connected with the motor shaft
  • the driven mechanism may be a driven gear, which is coaxially fixedly connected with the rotating shaft of the cover plate 14, and the driving gear and The driven gear meshes.
  • the motor 509 drives the driving gear to rotate, and the driving gear rotates to drive the driven gear meshed with the driving gear to rotate, so that the driven gear drives the rotating shaft of the cover plate 14 to rotate, thereby driving the cover plate 14 to rotate.
  • the cover plate 14 can realize forward and reverse rotation, which can not only rotate the cover plate 14 to a position where the dust discharge port 111 is opened, but also a position where the dust discharge port 111 is closed.
  • the reset member 503 may not be provided, and the opening or closing of the cover plate 14 can be realized by the motor 509 driving the driving gear to rotate forward or reverse.
  • driving gear is a transmission member subordinate to the actuator in the first and second embodiments
  • driving gear is a transmission member subordinate to the first driving mechanism in the third embodiment
  • the driving gear in the third embodiment is equivalent to the driving gear in the first and second embodiments.
  • the driven gear is subordinate to the target mechanism in the first and second embodiments, the driven gear is subordinate to the driven mechanism in the third embodiment, but in the third embodiment The driven gear is equivalent to the driven gear in the first and second embodiments.
  • the transmission component may include a driving pulley and a traction belt
  • the driven mechanism is a driven pulley
  • the driven pulley is coaxially and fixedly connected with the rotating shaft of the cover plate 14.
  • the traction belt is wound around the driving pulley and the driven pulley.
  • the driving pulley is coaxially fixedly connected with the motor shaft, and the motor shaft drives the driving pulley to rotate so that the traction belt drives the driven pulley and the rotating shaft to rotate synchronously.
  • the motor 509 drives the driving pulley to rotate through the motor shaft, the rotating driving pulley drives the traction belt to move, the moving traction belt drives the driven pulley to rotate, and the driven pulley coaxially fixedly connected to the rotating shaft of the cover 14 drives the cover.
  • the rotating shaft of 14 rotates synchronously, so that the cover plate 14 rotates.
  • the cover plate 14 can realize forward and reverse rotation, not only can the cover plate 14 be rotated to the position where the dust outlet 111 is opened, but also can be rotated to the closed position.
  • the location of the dust outlet 111 In this structure, the reset member 503 may not be provided, and the cover plate 14 can be opened or closed by the motor 509 driving the driving pulley to rotate forward or reverse.
  • the driving pulley and the traction belt are subordinate to the transmission components of the actuator in the first and second embodiments, the driving pulley and the traction belt are subordinate to the first in the third embodiment.
  • the transmission part of the drive mechanism however, the driving pulley in the third embodiment is equivalent to the driving pulley in the first and second embodiments.
  • the traction belt in the third embodiment is equivalent to the traction belt in the first and second embodiments.
  • the driven pulley is subordinate to the target mechanism in the first and second embodiments, the driven pulley is subordinate to the driven mechanism in the third embodiment, but the third embodiment The driven pulley in the mode is equivalent to the driven pulley in the first embodiment and the second embodiment.
  • the first driving mechanism includes a first electromagnet 43.
  • the first electromagnet 43 is disposed on the carrying device 21.
  • the driven mechanism includes a first magnetic member 505; When the dust outlet 111 is opened, the first electromagnet 43 is in an energized state, and the first magnetic member 505 and the first electromagnet 43 generate magnetic force to drive the cover plate 14 to rotate to the position where the dust outlet 111 is opened.
  • the first electromagnet 43 is energized, and the cover 14 is driven to rotate by the magnetic force generated by the first magnetic member 505 and the first electromagnet 43, so that the cover 14 overcomes the resistance of the reset member 503 The force rotates to the position of opening the dust outlet 111, thereby opening the dust outlet 111.
  • the first electromagnet 43 is powered off.
  • the cover plate 14 is driven by the reset member 503 to move to a position to close the dust outlet 111, thereby closing the dust outlet 111.
  • first electromagnet 43 is subordinate to the actuator in the first and second embodiments, the first electromagnet 43 is a transmission component subordinate to the first drive mechanism in the third embodiment.
  • first electromagnet 43 in the third embodiment is equivalent to the first electromagnet 43 in the first and second embodiments.
  • the first electromagnet 43 and the first magnetic member 505 may generate mutual attraction to open the cover.
  • the first electromagnet 43 and the first magnetic member 505 generate magnetic force to drive the cover plate 14 to rotate, so that the first electromagnet 43 can actively open the dust outlet 111.
  • the positioning requirement of 211 is relatively low. Even when the autonomous cleaning device 1 is moving, the dust outlet 111 is slightly deviated from the position of the dust collecting inlet 211, it will not affect the magnetic force generated by the first electromagnet 43 and the first magnetic member 505 to make the cover The plate 14 rotates to a position where the dust outlet 111 is opened. Therefore, this structure has a high degree of error tolerance for the position when the autonomous cleaning device 1 cleans and discharges impurities.
  • the first electromagnet 43 is arranged in the negative pressure dust collection channel, and the first electromagnet 43 is located at a position corresponding to the dust collection suction port 211.
  • the driven mechanism includes a second magnetic member 33
  • the cover plate 14 has a first rotation centerline 510
  • the cover plate 14 rotates around the first rotation centerline 510
  • the first magnetic member 505 and the second magnetic member 33 are
  • the magnetic force between one of the first magnetic member 505 and the second magnetic member 33 and the first electromagnet 43 is an attractive force.
  • the magnetic force between the other and the first electromagnet 43 is repulsive force, and the attraction and repulsive force together drive the cover plate 14 to rotate to the position where the dust outlet 111 is opened.
  • the magnetic force between one of the first magnetic member 505 and the second magnetic member 33 and the first electromagnet 43 is an attractive force, and the other and the first electromagnet
  • the magnetic force between an electromagnet 43 is a repulsive force, and the attraction and the repulsive force work together to drive the driven mechanism to drive the cover plate 14 to overcome the force of the reset member 503 to rotate to the position where the dust outlet 111 is opened.
  • the first magnetic member 505 is made of a soft magnetic material.
  • the soft magnetic material means that the magnetization occurs when the coercivity Hc is not greater than 1000A/m. Such a material is called a soft magnet.
  • the soft magnetic material is easy to magnetize, and Easy to demagnetize, soft magnetic materials have low coercivity and high permeability magnetic materials.
  • soft magnetic materials are mainly distinguished from permanent magnetic materials.
  • the first magnetic member 505 may be an iron sheet.
  • the second magnetic member 33 may be a permanent magnet made of a permanent magnetic material, or an electromagnet.
  • the electromagnet as the second magnetic member 33 may be called a second electromagnet.
  • the first electromagnet 43 is at least partially located in the negative pressure dust collection channel, and the first electromagnet 43 is also at least partially located outside the negative pressure dust collection channel. It is convenient for the first electromagnet 43 to cooperate with the first magnetic member 505 and the second magnetic member 33 to better form the torque along the first direction.
  • the first electromagnet 43 may be continuously energized to continuously attract the first magnetic member 505, and/or the first electromagnet 43 may be continuously energized to continuously repel the second magnetic member 33, Thus, the purpose of keeping the dust outlet 111 in an open state is achieved.
  • the first driving mechanism also includes a pressing switch 508 and a lock catch 507.
  • the opposite ends of the cover plate 14 are configured with a rotating shaft that is rotatably connected to the dust box 11, and one of the pressing switch 508 and the lock catch 507 is fixed to the rotating shaft of the cover plate 14. Connection; the other of the press switch 508 and the lock 507 is fixedly connected to the dust box 11, when the rotating shaft drives the cover plate 14 to rotate to the position where the dust outlet 111 is opened, the press switch 508 is inserted into the lock 507 and locked with the lock 507 Close, when the rotating shaft drives the cover plate 14 to rotate in the direction of closing the dust outlet, the rotating shaft drives the press switch 508 to disengage the lock 507.
  • the cover 14 when the cover 14 needs to keep the dust outlet 111 open, it can be inserted into the lock catch by pressing the switch 508 and locked with the lock catch to fix the position of the cover 14 so that the cover 14 is kept in the open row.
  • the state of the dust port 111 Specifically, the cover plate 14 is driven by the first electromagnet 43 to rotate, so that one of the push switch 508 and the lock catch 507 fixed on the cover plate 14 rotates with the cover plate 14, and the press fixed on the cover plate 14
  • One of the switch 508 and the lock catch 507 is rotated to the locked position of the other of the push switch 508 and the lock catch 507 fixed on the dust box 11, so that the push switch 508 is inserted into the lock catch 507 and locked with the lock catch Together.
  • the first electromagnet 43 does not need to be continuously energized to keep the cover plate 14 in the state of opening the dust outlet 111, when the cover plate 14 is continuously opened, after the lock 507 is locked with the push switch 508, the first electromagnet 43 The power can be cut off, and the cleaning impurities are discharged from the dust outlet 111 through the dust collection suction port 211 into the negative pressure dust collection channel. The metal garbage will not be disturbed by the attraction of the first electromagnet 43, which is beneficial to pass through the negative pressure dust collection channel. Collect and clean up impurities.
  • the lock catch 507 is a push-type lock catch. After the push switch 508 is locked with the lock catch 507, there will be a certain rebound between the two. After the rebound, it will be in the locked state if necessary.
  • the push switch 508 and the lock catch 507 are unlocked, and the push switch 508 and the lock catch 507 can be close to each other to press the locked state of the two, and the push switch 508 and the lock catch 507 can be separated. Exemplarily, please refer to FIGS. 26 and 28.
  • the pressing switch 508 follows the cover plate 14 and rotates in the clockwise direction as shown in the figure until it is inserted into the lock buckle 507 and locked with the lock buckle 507, the pressing switch 508 will move in the counterclockwise direction.
  • the first electromagnet 43 is energized again.
  • the driving driven mechanism drives the cover plate 14 to rotate in the clockwise direction, and the press switch 508 fixed on the cover plate 14 rotates in the clockwise direction following the cover plate 14 to approach the lock catch 507 fixed on the dust box 11, thereby turning
  • the locked state between the push switch 508 and the lock catch 507 is unlocked, and the push switch 508 is separated from the lock catch 507.
  • the first electromagnet 43 is turned off again, and the push switch 508 follows the cover 14 on the reset member 503.
  • the push switch 508 and the lock catch 507 are both located outside the dust box 11 along the axis of the rotating shaft; one end of the rotating shaft of the cover plate 14 is located outside the dust box 11, and one of the push switch 508 and the lock catch 507 is fixedly connected to the rotating shaft. Both the push switch 508 and the lock catch 507 are located outside the dust box 11, which can prevent cleaning impurities from being scattered on the push switch 508 and the lock catch 507, and can prevent the push switch 508 and the lock catch 507 from accumulating dust and affect the operation of the push switch 508 and the lock catch 507. Normal card connection.
  • the driven mechanism includes a hook portion 34 provided on the bottom side of the cover plate 14.
  • the hook portion 34 has an opening groove 506 and a first groove communicating with the opening groove. ⁇ 3412.
  • the first driving mechanism includes a hook 46 and a reset mechanism 48.
  • the first end of the hook 46 is rotatably connected with the carrying device 21; during the process of the autonomous cleaning device 1 passing the dust collection suction port 211 in the direction close to the dust collection station 2, the second end of the hook 46 snaps into the opening through the first notch 3412 In the slot 506, the driving hook portion 34 drives the cover plate 14 to rotate to the position where the dust outlet 111 is opened; while the autonomous cleaning device 1 moves in the direction away from the dust collection station 2, the second end of the hook 46 passes through the first slot 3412 escapes from the opening slot 506.
  • the reset mechanism 48 is connected between the carrying device 21 and the hook 46 to drive the hook 46 to reset. In this structure, the hook 46 and the snap-in opening slot 506 drive the hook portion 34 to drive the cover plate 14 to rotate to the position where the dust outlet 111 is opened, so that the dust outlet 111 is opened.
  • hook portion 34 is subordinate to the target mechanism in the first and second embodiments, and the hook portion 34 is subordinate to the driven mechanism in the third embodiment, the third embodiment
  • the hook portion 34 in this mode is equivalent to the hook portion 34 in the first embodiment and the second embodiment.
  • hook groove 3411 of the hook portion 34 in the first embodiment and the second embodiment is equivalent to the opening groove 506 of the hook portion 34 in the third embodiment.
  • hook 46 and the reset mechanism 48 are subordinate to the actuator in the first and second embodiments, the hook 46 and the reset mechanism 48 are subordinate to the first drive mechanism in the third embodiment, However, the hook 46 in the third embodiment is equivalent to the hook 46 in the first and second embodiments.
  • the reset mechanism 48 in the third embodiment is equivalent to the reset mechanism 48 in the first and second embodiments.
  • hook 46 and the snap-in opening slot 506 drive the hook portion 34 to drive the cover plate 14 to overcome the force of the reset member 503 to rotate to the position where the dust outlet 111 is opened.
  • the autonomous cleaning device 1 retreats and moves out of the dust collection station 2 in the traveling direction of the autonomous cleaning device 1, and the force exerted by the hook 46 on the hooking portion 34 is gradually reduced until the hook 46 is separated from the hooking portion 34
  • the cover plate 14 is driven by the reset member 503 to move to a position where the dust outlet 111 is closed, thereby closing the dust outlet 111.
  • the hook 46 is conveniently connected to the hook 46 at the initial position.
  • the hook 46 When the hook 46 is connected to the hooking portion 34, the hook 46 will deviate from the initial position under the driving of the hooking portion 34.
  • the hook 46 When the autonomous cleaning device 1 moves along the direction of the autonomous cleaning device 1 Back and move out of the dust collection station 2, the hook 46 will be separated from the hook portion 34. At this time, the hook 46 will return to the initial position under the action of the reset mechanism 48, so that the autonomous cleaning device 1 can move to the dust collection station 2 next time.
  • the hook 46 When dusting, the hook 46 is connected to the hook portion 34 again at the initial position.
  • the hook 46 has a second rotation centerline.
  • the hook 46 can rotate forward or reverse around the second rotation centerline. In this way, when the autonomous cleaning device 1 moves in the direction of travel of the autonomous cleaning device 1 into the dust collection station 2 to discharge dust, that is, when the autonomous cleaning device 1 passes through the dust collection suction port 211 in the direction close to the dust collection station 2
  • the hook 46 is clamped into the opening slot 506 to connect with the hook portion 34, and the hook 46 is deviated from the initial position under the drive of the hook portion 34.
  • the hook 46 will also deviate under the force of this part of the structure of the autonomous cleaning device 1, causing the hook 46 to rotate away from the initial position, so that this part of the structure of the autonomous cleaning device 1 passes through the hook 46, which prevents the hook 46 from being cleaned independently.
  • the device 1 hooks a part of the structure of the autonomous cleaning device 1 when moving back out of the dust collection station 2 in the traveling direction of the autonomous cleaning device 1, so that the hook 46 will not hinder the movement of the autonomous cleaning device 1.
  • the hook 46 deviates from the initial position and the rotation direction around the second rotation centerline is positive; then the autonomous cleaning device 1 When the autonomous cleaning device 1 moves backward and out of the dust collection station 2, the direction of rotation of the hook 46 deviating from the initial position around the second rotation centerline is reversed.
  • the forward rotation direction and the reverse rotation direction can also be swapped.
  • the structure of the reset mechanism 48 can be various.
  • the reset mechanism 48 includes an elastic member, one end of the elastic member is fixedly connected to the hook 46, and the other end of the elastic member is fixedly connected to the carrying device 21; when the hook 46 deviates from the initial position, the elastic member is in tension or compression
  • the state is such that the hook 46 has a tendency to rotate toward the initial position.
  • the hook 46 rotatably connected with the carrying device 21 can deviate from the initial position in either direction of the two opposite rotation directions.
  • the elastic member After the hook 46 deviates from the initial position, when the interference of the external force is removed, the elastic member is in tension or compression.
  • the state can drive the hook 46 to move to the initial position. Since the two ends of the elastic member are fixed, the elastic member can apply different forces to the hook 46 according to the direction in which the hook 46 deviates from the initial position or is in a stretched state or in a compressed state to restore the hook 46 to the initial position.
  • the reset mechanism 48 includes a first torsion spring 511 and a second torsion spring 512 located on opposite sides of the hook 46 in the rotating direction.
  • the first end of the first torsion spring 511 is in contact with the hook 46, and the second end of the first torsion spring 511 is fixedly connected to the carrying device 21; the first end of the second torsion spring 512 is in contact with the hook 46, and the second torsion spring
  • the second end of 512 is fixedly connected with the carrying device 21.
  • the first end of the first torsion spring 511 abuts on one side of the hook 46
  • the first end of the second torsion spring 512 abuts on the other side of the hook 46.
  • first torsion spring and the second torsion spring are subordinate to the reset mechanism 48 of the actuator in the first and second embodiments
  • first torsion spring 511 and the second torsion spring 512 are in the first and second embodiments.
  • the reset mechanism 48 is subordinate to the first drive mechanism.
  • first torsion spring in the third embodiment is equivalent to the first torsion spring in the first and second embodiments.
  • the second torsion spring in the third embodiment is equivalent to the second torsion spring in the first and second embodiments.
  • the positional connection relationship of the first torsion spring 511 and the positional connection relationship of the second torsion spring 512 can be various, in addition to the positional connection relationship of the first torsion spring 511 and the positional connection relationship of the second torsion spring 512, the first torsion spring 511
  • the positional connection relationship of the spring 511 and the positional connection relationship of the second torsion spring 512 may also have the following forms:
  • first torsion spring 511 and one end of the second torsion spring 512 are both fixed to the hook 46; the other end of the first torsion spring 511 and the other end of the second torsion spring 512 are both fixed to the carrying device 21.
  • first torsion spring 511 that abuts the hook 46 and the end of the first torsion spring 511 that abuts the carrying device 21 are both located on one side of the hook 46, and the second torsion spring 512 abuts the hook 46.
  • One end and the end of the second torsion spring 512 that abut the carrying device 21 are both located on the other side of the hook.
  • the reset mechanism 48 may not adopt the form of an elastic member.
  • the hook 46 is formed with a rotating connection shaft that is rotatably connected with the carrying device 21, and the reset mechanism 48 may be a motor or the like with a rotating connection shaft.
  • the driving connection can drive a power component that can drive the rotating connection shaft to rotate.
  • the hook 46 is driven to swing bidirectionally in two opposite rotation directions by the forward and reverse rotation of the motor, so as to avoid the autonomous cleaning device 1 from being caught by the hook 46 during the process of moving back out of the dust collecting station 2 in the traveling direction of the autonomous cleaning device 1.
  • the hook portion 34 includes a hook body fixed to the cover 14 and a baffle plate 342 fixedly connected to the hook body.
  • the hook body and the baffle plate 342 surround an open slot 506 and the first slot 3412, the baffle 342 is formed with a second slot 3421, the first slot 3412 and the opening slot 506 are both connected with the second slot 3421.
  • FIG. 15 shows the structure of the hook 46 in an embodiment.
  • the hook 46 includes a first rod 461 and a connecting portion 462.
  • the first rod 461 When the autonomous cleaning device 1 passes through the dust collection suction port 211 in the direction close to the dust collection station 2, the first rod 461 is clamped into the opening groove 506, and the first rod 461 abuts against the baffle 342 to drive the baffle
  • the hook body connected to 342 drives the cover plate 14 to rotate.
  • the top end of the connecting part 462 is connected with the first rod 461, and the bottom end of the connecting part 462 is rotatably connected with the carrying device 21.
  • the connecting part 462 When the first rod 461 is located in the opening groove 506, the connecting part 462 is separated from the first notch 3412 or the second notch 3412.
  • the notch 3421 partially extends outside the opening groove 506.
  • the first rod 461 is inserted into the opening slot 506 to drive the hook portion 34 to drive the cover plate 14 to rotate to open the dust outlet 111, and the connecting portion 462 can pass through the first notch 3412 or the second notch 3421 Partially extends outside the opening groove 506 so that both ends of the connecting portion 462 can be connected to the first rod 461 and the supporting device 21 respectively, and the first rod 461 is held in the opening groove 506 by the baffle 342.
  • the first rod 461 moves out of the opening slot 506 to disengage the hook 46 from the hook portion 34.
  • the hook body is a hook part subordinate to the target mechanism in the first and second embodiments
  • the hook body is a hook part subordinate to the driven mechanism in the third embodiment.
  • the hook body in the third embodiment is equivalent to the hook body in the first and second embodiments.
  • the connecting portion 462 may include a connecting plate 4623, and the connecting plate 4623 is connected to the first torsion spring 511 and/or the second torsion spring 512.
  • the connecting plate 4623 is connected to the first torsion spring 511 and/or the second torsion spring 512.
  • one end of the first torsion spring 511 is in contact with the connecting plate 4623
  • one end of the second torsion spring 512 is in contact with the connecting plate 4623.
  • the connecting part 462 may include a second rod 4621 and a third rod 4622.
  • the second rod 4621 is parallel to the first rod 461, one end of the third rod 4622 is connected to the middle position of the first rod 461 in the longitudinal direction, and the other end of the third rod 4622 is connected to the length of the second rod 4621 The middle position of the direction is connected.
  • the hook 46 of this structure is actually an I-shaped hook 46.
  • the connecting plate 4623 may be provided on the third rod 4622.
  • FIG. 16 shows the structure of the hook 46 of an embodiment.
  • the connecting portion 462 may be a mounting plate.
  • the mounting plate is formed with protruding connecting ears 4624, and the first rod 461 is fixedly connected to the connecting ear 4624.
  • the shape of the hook 46 may be configured into the shape of a hook.
  • Each first driving mechanism includes a hook 46 and a reset mechanism 48.
  • two hooks are fixedly connected to the cover 14
  • the connecting portion 34, the two hooks 46 and the two hooking portions 34 correspond one-to-one.
  • the shape of the hook portion 34 may be configured into a hook shape, and the hook 46 may be hooked by the hook-shaped hook portion 34.
  • the carrying device 21 includes a carrying body 213, a mounting seat 47 and a buffer 40.
  • the negative pressure dust collection channel and the dust collection suction port are both constructed on the carrying body 213, and a mounting groove 2131 is formed in the negative pressure dust collection channel of the carrying body 213.
  • the mounting base 47 is slidably disposed in the mounting groove 2131, and the hook 46 is rotatably disposed on the first top surface of the mounting base 47, and the mounting base 47 can slide along the movement direction of the autonomous cleaning device 1.
  • the buffer member 40 is disposed in the mounting groove 2131, and the buffer member 40 is disposed on one side of the mounting seat 47 along the sliding direction.
  • the hook 46 will be fixed to the cover plate 14.
  • the connecting portion 34 is pulled to drive the mounting seat 47 to move, and the stroke of the mounting seat 47 is limited within the range of the mounting groove 2131 to prevent the mounting seat 47 from being driven by the hook 46 to follow the movement of the hooking portion 34 so that the hook 46 cannot pull the cover
  • the board 14 opens the dust outlet 111 for the problem.
  • the mounting seat 47 and the buffer member 40 are subordinate to the actuator in the first and second embodiments, the mounting seat 47 and the buffer member 40 are subordinate to the carrying device 21 in the third embodiment.
  • the mount 47 in the third embodiment is equivalent to the mount 47 in the first and second embodiments.
  • the buffer 40 in the third embodiment is equivalent to the buffer 40 in the first and second embodiments.
  • the arrangement of the buffer member 40 can avoid the direct collision between the mounting seat 47 and the carrying body 213; on the other hand, the mounting seat 47 moves with the hook 46 and the hook portion 34, so that the hook 46 pulls the hook of the hook portion 34 at first.
  • the force is relatively small.
  • the cover plate 14 gradually rotates in the direction of opening the dust outlet 111 and the mounting seat 47 gradually compresses the buffer member 40, the force applied to the mounting seat 47 by the carrier body 213 through the buffer member 40 continues to increase, Correspondingly, the force of the hook 46 connected to the mounting seat 47 to pull the hook portion 34 is continuously increased. In this process, the force of the hook 46 to pull the hook portion 34 gradually increases from small to large to gradually pull the hook portion 34.
  • the hooking portion 34 drives the cover plate 14 to move to the position where the dust outlet 111 is opened, that is to say, the cushioning member 40 and the mounting seat 47 that can move relative to the carrying device 21 cooperate with each other, and the hook 46 pulls the hooking portion 34 to move.
  • a certain buffering effect This avoids that when the mounting seat 47 is immobile, after the hook 46 is connected to the hooking portion 34, the force of the hook 46 pulling the hooking portion 34 to move suddenly changes to the maximum, causing a hard impact between the hook 46 and the hooking portion 34 The problem.
  • the carrying body 213 also has a limiting portion 2132.
  • the limiting portion 2132 is circumferentially arranged as a mounting groove 2131, and the mounting seat 47 slides along the traveling direction of the autonomous cleaning device 1
  • One end of the buffer member 40 in the traveling direction of the autonomous cleaning device 1 abuts against the stop 2132, and the other end of the buffer member 40 in the traveling direction of the autonomous cleaning device 1 abuts against the mounting seat 47.
  • the limiting portion 2132 abuts against the side of the mounting seat 47 facing the second top surface 504 to prevent the mounting seat 47 from lifting toward the second top surface 504, so that the mounting seat 47 is slidably disposed in the mounting groove 2131.
  • the limiting portion 2132 is arranged in an inverted L shape to buckle the mounting seat 47 to prevent the mounting seat 47 from lifting up toward the second top surface 504.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

L'invention concerne une station de collecte de poussière (2) et un système de nettoyage. La station de collecte de poussière (2) est utilisée pour collecter des impuretés balayées d'un appareil de nettoyage autonome (1) ; l'appareil de nettoyage autonome (1) comprend une partie de corps principal (15) et une roue d'entraînement (12) installée au fond de la partie de corps principal (15) ; un canal de collecte de poussière à pression négative est disposé dans la station de collecte de poussière (2), la station de collecte de poussière (2) comprend un dispositif de palier (21) et un mécanisme de levage (24), le dispositif de palier (21) est utilisé pour supporter la roue d'entraînement (12), un orifice d'aspiration de collecte de poussière (211) en communication avec le canal de collecte de poussière à pression négative est disposé dans le dispositif de palier (21), au moins un côté de l'orifice d'aspiration de collecte de poussière (211) est doté du mécanisme de levage (24), et le mécanisme de levage (24) fait saillie hors d'une surface supérieure (212) du dispositif de palier (21) devant être utilisé pour supporter la partie de corps principal (15). En raison du fait que la partie de corps principal (15) est supportée par le mécanisme de levage (24), une roue universelle (13) ne peut pas tomber dans l'orifice d'aspiration de collecte de poussière (211) ni s'y coincer.
PCT/CN2020/124146 2019-12-25 2020-10-27 Station de collecte de poussière et système de nettoyage WO2021129117A1 (fr)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
CN201911354281.X 2019-12-25
CN201922360060.5U CN211723007U (zh) 2019-12-25 2019-12-25 一种清洁系统
CN201911354255.7A CN113017485A (zh) 2019-12-25 2019-12-25 一种清洁系统
CN201922357493.5U CN211609616U (zh) 2019-12-25 2019-12-25 一种集尘站和清洁系统
CN201911353655.6 2019-12-25
CN201911354255.7 2019-12-25
CN201922361504.7U CN211674035U (zh) 2019-12-25 2019-12-25 一种清洁系统
CN201922361504.7 2019-12-25
CN201922357493.5 2019-12-25
CN201911353655.6A CN113017484A (zh) 2019-12-25 2019-12-25 一种清洁系统
CN201922360060.5 2019-12-25
CN201911354281.XA CN113017486A (zh) 2019-12-25 2019-12-25 一种集尘站和清洁系统

Publications (1)

Publication Number Publication Date
WO2021129117A1 true WO2021129117A1 (fr) 2021-07-01

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ID=76575152

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Application Number Title Priority Date Filing Date
PCT/CN2020/124146 WO2021129117A1 (fr) 2019-12-25 2020-10-27 Station de collecte de poussière et système de nettoyage

Country Status (1)

Country Link
WO (1) WO2021129117A1 (fr)

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US20090049640A1 (en) * 2007-08-24 2009-02-26 Samsung Electronics Co., Ltd. Robot cleaner system having robot cleaner and docking station
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CN108403017A (zh) * 2018-05-10 2018-08-17 深圳市宇辰智能科技有限公司 一种智能清洁机器人系统
CN108498024A (zh) * 2018-05-10 2018-09-07 深圳市宇辰智能科技有限公司 一种垃圾排放工作站
CN109528088A (zh) * 2015-06-25 2019-03-29 艾罗伯特公司 排空站
CN110325088A (zh) * 2017-05-23 2019-10-11 东芝生活电器株式会社 电动吸尘装置
CN211609616U (zh) * 2019-12-25 2020-10-02 江苏美的清洁电器股份有限公司 一种集尘站和清洁系统
CN211674035U (zh) * 2019-12-25 2020-10-16 江苏美的清洁电器股份有限公司 一种清洁系统
CN211723007U (zh) * 2019-12-25 2020-10-23 江苏美的清洁电器股份有限公司 一种清洁系统

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090049640A1 (en) * 2007-08-24 2009-02-26 Samsung Electronics Co., Ltd. Robot cleaner system having robot cleaner and docking station
CN109528088A (zh) * 2015-06-25 2019-03-29 艾罗伯特公司 排空站
CN107049153A (zh) * 2016-12-16 2017-08-18 云鲸智能科技（东莞）有限公司 清洁机器人和清洁机器人系统
CN110325088A (zh) * 2017-05-23 2019-10-11 东芝生活电器株式会社 电动吸尘装置
CN108403017A (zh) * 2018-05-10 2018-08-17 深圳市宇辰智能科技有限公司 一种智能清洁机器人系统
CN108498024A (zh) * 2018-05-10 2018-09-07 深圳市宇辰智能科技有限公司 一种垃圾排放工作站
CN211609616U (zh) * 2019-12-25 2020-10-02 江苏美的清洁电器股份有限公司 一种集尘站和清洁系统
CN211674035U (zh) * 2019-12-25 2020-10-16 江苏美的清洁电器股份有限公司 一种清洁系统
CN211723007U (zh) * 2019-12-25 2020-10-23 江苏美的清洁电器股份有限公司 一种清洁系统

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