WO2021208608A1 - 集尘导通结构、清洁系统、充电站、移动机器人及尘盒 - Google Patents

集尘导通结构、清洁系统、充电站、移动机器人及尘盒 Download PDF

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Publication number
WO2021208608A1
WO2021208608A1 PCT/CN2021/077995 CN2021077995W WO2021208608A1 WO 2021208608 A1 WO2021208608 A1 WO 2021208608A1 CN 2021077995 W CN2021077995 W CN 2021077995W WO 2021208608 A1 WO2021208608 A1 WO 2021208608A1
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WO
WIPO (PCT)
Prior art keywords
dust
mobile robot
box
base
exhaust port
Prior art date
Application number
PCT/CN2021/077995
Other languages
English (en)
French (fr)
Inventor
杨德重
Original Assignee
追觅创新科技(苏州)有限公司
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 CN202020535086.9U external-priority patent/CN212591917U/zh
Priority claimed from CN202020536598.7U external-priority patent/CN214017397U/zh
Priority claimed from CN202010286248.4A external-priority patent/CN111449574A/zh
Priority claimed from CN202010287258.XA external-priority patent/CN111419124A/zh
Application filed by 追觅创新科技(苏州)有限公司 filed Critical 追觅创新科技(苏州)有限公司
Publication of WO2021208608A1 publication Critical patent/WO2021208608A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—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

  • This application relates to the field of sweeping machines, and in particular to a dust collecting conduction structure, a mobile cleaning system, a dust collecting charging station, a mobile robot and a dust box.
  • the present application provides a dust collecting conduction structure, a mobile cleaning system, a dust collecting charging station, a mobile robot and a dust box.
  • the embodiment of the present application provides a dust-collecting conduction structure for automatically discharging dust collected in a mobile robot.
  • the dust-collecting conduction structure includes:
  • the dust outlet is located on the side or bottom of the mobile robot and communicates with the inside of the dust box set inside the mobile robot;
  • the dust suction port is arranged on the base of the dust collection charging station and is used to receive the dust discharged from the dust exhaust port, and the base is used to receive the mobile robot;
  • the dust discharge port is opposite to the dust suction port, and the dust discharge port and the dust suction port are in communication with each other through a telescopic connecting channel .
  • connection channel includes:
  • One end of the telescopic tube butted at the dust exhaust port or the dust suction port;
  • the telescopic driver is used to drive the telescopic tube to extend or shorten in its axial direction, so that the other end of the telescopic tube is docked or separated from the dust suction port or the dust discharge port.
  • the telescopic drive is an electromagnetic drive mechanism, which includes:
  • the telescopic drive is driven by a motor.
  • the telescopic tube is a corrugated hose.
  • an included angle ⁇ is formed between the top surface of the base and the ground so that the top surface of the base is formed with a slope that continuously increases in height with the approach direction.
  • the inbound direction is the direction in which the mobile robot enters the base.
  • At least two guide channels for guiding the mobile robot to enter the station are formed on the top surface of the base, and each guide channel is formed with multiple anti-slip lines.
  • a protrusion is provided on the base
  • the extension trend of the cross-sectional area of the protrusion is adapted to the extension trend of the cross-sectional area of the base, so as to realize that the mobile robot can move above the protrusion, and the protrusion is also provided with a downwardly recessed base electronics. Contacts.
  • it further includes a control system for controlling the dust collecting conduction structure to perform or stop the emptying operation, wherein a base electrical contact is formed on the top surface of the base.
  • a robot electrical contact is formed on the mobile robot, and when the base electrical contact is connected to the robot electrical contact, the control system communicates with the mobile robot for emptying operations.
  • An embodiment of the present application also provides a mobile cleaning system, including a dust collection charging station and a mobile robot, the dust collection charging station is used to receive the mobile robot;
  • the mobile robot includes a dust box, the side of the mobile robot Or the bottom is provided with a dust exhaust port communicating with the inside of the dust box;
  • the dust collection charging station includes a base, and the base is provided with a dust suction port and a retractable connection channel connected to the dust suction port In a state where the dust collection and charging station is exhausting the mobile robot, the dust exhaust port is opposite to the dust suction port, and the dust exhaust port and the dust suction port are in communication through the connecting channel .
  • An embodiment of the present application also provides a dust collection charging station, including a base, and a dust suction port and a telescopic connection channel connected to the dust suction port (113) are provided on the base.
  • the present application also discloses a mobile robot, including a dust box, a side or bottom of the mobile robot is provided with a dust outlet communicating with the inside of the dust box, and the dust outlet is connected with a telescopic connecting channel.
  • the telescopic connecting channel can be driven by a telescopic driver to extend or shorten the telescopic tube along its axial direction, so that the other end of the telescopic tube corresponds to the dust collector provided on the dust collection charging station Mouth docking or detachment.
  • the telescopic drive is electromagnetic drive or mechanical drive.
  • the joint between the dust outlet of the dust box of the mobile robot and the dust suction port of the base of the dust collection charging station can have a ferromagnetic magnetic structure, the airtightness of the joint can be increased and dust leakage can be reduced.
  • the dust collecting conduction structure, the mobile cleaning system, the dust collecting charging station and the mobile robot provided by the embodiments of the present application are located at the interface between the dust outlet of the dust box of the mobile robot and the dust collecting port of the base of the dust collecting charging station Setting a flexible connection channel can reduce the height of the dust suction port of the dust collection charging station, avoid the mobile robot from slipping, and realize the precise docking of the dust suction port and the dust exhaust port without affecting the climbing of the mobile robot.
  • the embodiment of the present application provides a dust box, including:
  • a box which is located on the flow path of the dirty air flow in the mobile robot to receive the dirty air flow from its upstream;
  • At least one dust exhaust port which is provided at the bottom of the box body
  • the bottom inner surface of the box body is formed with a guide surface provided around the dust outlet, and at least a part of the guide surface has a height difference, so that the dirt in the box body is pulled by its own gravity. Converge along the guide surface to the dust outlet.
  • the bottom of the mobile robot is provided with a guide surface, so that the dirt in the box flows along the guide surface to the dust outlet under the traction of its own gravity, thereby It can improve the concentration of dust and the removal rate of dust, and reduce the number of cleaning times for users.
  • the flow guide surface is an inclined plane or a smooth curved surface provided on the inner surface of the bottom of the box body.
  • a fluid inlet is opened on the windward side of the box body directly opposite to the dirty air flow, and a fluid outlet is opened on the box body opposite to the fluid inlet.
  • the fluid inlet is rotatably connected with a dust-proof cabin door, and the dust-proof cabin door can rotate relative to the fluid inlet so that the fluid inlet can be switched between a closed state and an open state .
  • the dust-proof compartment door and the fluid inlet are provided with a dust-blocking resetting component, and the dust-blocking resetting component can generate an elastic restoring force acting on the dust-blocking compartment door, so that When there is no negative pressure of fluid convection between the fluid inlet and the fluid outlet, the dust-proof hatch keeps the fluid inlet in the closed state. When the fluid flowing to the fluid outlet has a negative convective pressure, the dust barrier door rotates in an opening direction to keep the fluid inlet in the open state.
  • a filter is provided at the fluid outlet.
  • a dust exhaust cabin door is rotatably connected to the dust exhaust port, and the dust exhaust cabin door can rotate relative to the dust exhaust port so that the dust exhaust port is in a closed state and an open state. Switch between.
  • a dust exhaust reset component is provided at the dust exhaust compartment door and the dust exhaust port, and the dust exhaust reset component can generate an elastic restoring force acting on the dust exhaust compartment door, So that when there is no negative pressure of fluid convection between the dust exhaust port and the fluid outlet, the dust exhaust cabin door keeps the dust exhaust port in the closed state, when the dust exhaust port and the fluid When a negative convective pressure of fluid flowing to the dust exhaust port is generated between the outlets, the dust exhaust cabin door rotates in an opening direction to keep the dust exhaust port in the open state.
  • one side of the box body is at least partially opened to form a cleaning window, and a cover is rotatably connected to the cleaning window to selectively close the cleaning window.
  • the cleaning window is opened on a windward surface directly opposite to the dirty air flow, and the fluid inlet is opened on the cover.
  • the box body is provided with a cover body rotatably connected to the box body, and when the cover body makes the box body closed, the included angle with the inner bottom surface of the box body is ⁇ .
  • the inner side of the cover is also provided with a hook, the hook protrudes from the cross section of the cover, and the hook is opposite to the fixing protrusion of the top plate of the box. adaptation.
  • the cover includes a curved section and a straight section, wherein the fluid inlet is arranged on the curved section, so that the opening direction of the fluid inlet is biased toward the ground.
  • the dust outlet of the dust box protrudes to the outside of the dust box.
  • a top plate is provided on the top of the dust box, and at least one set of spoiler ribs is provided on the surface of the top plate facing the inside of the dust box.
  • the spoiler ribs are symmetrically distributed in a figure eight, and are bent into an arc shape, a set of spoiler ribs form a spoiler channel between the spoiler ribs, and the spoiler channel gradually widens along the flow direction of the dirty air flow.
  • the cross-sectional area of the internal space of the box body on the horizontal plane gradually decreases in a direction from top to bottom.
  • the cross-sectional area of the internal space of the box body of the dust box in the embodiment of the present application gradually decreases from top to bottom on the horizontal plane, which can reduce the generation of dead spots and reduce the probability of moldy due to dust enrichment.
  • the dead angle inside the dust box can be reduced, so that the dirt in the box can flow along the guide surface to the dust outlet under the traction of its own gravity, thereby improving
  • the concentration of dust and the efficiency of dust removal reduce the number of cleanings for users.
  • the protruding arrangement of the dust outlet to the outside of the dust box can further reduce the dead corners inside the dust box, reduce the probability of mildew due to dust enrichment, and further reduce the number of cleanings for users.
  • the spoiler ribs provided on the top plate of the dust box can further increase the turbulence of the air flow inside the dust box and improve the efficiency of dust exhaust.
  • the cross-sectional area of the internal space of the box body on the horizontal plane gradually shrinks from the top to the bottom, so that the entire dirt tends to gather toward the dust exhaust port, and the dust exhaust efficiency of the dust box is improved.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a base according to an embodiment of the present application.
  • Fig. 2 is a top view of a base according to an embodiment of the present application.
  • Fig. 3 is a cross-sectional view along A-A of the base according to an embodiment of the present application.
  • Fig. 4 is a top view of a part of the mobile cleaning system proposed according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a three-dimensional structure of a mobile robot according to an embodiment of the present application.
  • Fig. 6 is a side view of the mobile robot and the base before powering on according to an embodiment of the present application.
  • Fig. 7 is a side view of the mobile robot and the base after powering on according to an embodiment of the present application.
  • Fig. 8 is a top view of a box provided according to an embodiment of the present application.
  • Fig. 9 is a cross-sectional view along B-B of the box body provided according to an embodiment of the present application.
  • Fig. 10 is a perspective view of a separation device from a perspective of a part of the box body according to an embodiment of the present application.
  • Fig. 11 is a perspective view of the separation device from another perspective of the box body provided according to an embodiment of the present application.
  • FIG. 12 is a perspective view of a three-dimensional structure diagram of a box body provided according to an embodiment of the present application.
  • Fig. 13 is a perspective view of a separating device for a filter on a box body according to an embodiment of the present application.
  • FIG. 14 is a schematic diagram of a three-dimensional structure of a box body provided according to an embodiment of the present application from another perspective.
  • Fig. 15 is another perspective view of the three-dimensional structure of the dust exhaust cabin door provided according to an embodiment of the present application.
  • FIG. 16 is a schematic diagram of a three-dimensional structure from another perspective of the dust exhaust cabin door provided according to an embodiment of the present application.
  • Figure 17 is a side cross-sectional view of a box provided according to an embodiment of the present application.
  • FIG. 18 is a schematic diagram of a three-dimensional structure from another perspective of a box body provided according to an embodiment of the present application.
  • Fig. 19 is a perspective view of a three-dimensional structure of a top plate provided according to an embodiment of the present application.
  • connection refers to the relationship in which these structures are directly or indirectly fixed or attached to each other through intermediate structures, and the movable or rigid attachment or relationship, unless Other ways are clearly stated.
  • the mobile cleaning system includes a mobile robot 2 and a dust collection charging station 1.
  • the mobile robot 2 may be a cleaning robot, such as a sweeping robot.
  • the dust box 21 is provided inside the mobile robot 2 for collecting dust when the mobile robot performs cleaning operations.
  • the bottom or side of the mobile robot 2 is provided with at least one dust exhaust port leading to the inside of the dust box 21 twenty four.
  • the dust collection charging station 1 has a base 11 for receiving the mobile robot 2.
  • the base 11 includes at least one dust suction port 113; when the mobile robot is finished, the power consumption in the machine is consumed, and the dust box of the sweeper is filled with dust. Return to the base 11 for charging and dust removal.
  • the dust collection charging station 1 further includes a dust exhaust pipe 1131.
  • the dust exhaust duct 1131 starts from the dust suction port 113 and extends along the dust exhaust flow direction.
  • the dust exhaust port 24 is opposite to the dust suction port 113, between the dust exhaust port 24 and the dust suction port 113 Connected through the telescopic connecting channel 1133 to provide the continuity of the dust exhaust path.
  • one port of the dust exhaust duct 1131 extends to the top of the base 11 to form a dust suction port 113, and the other port is connected to the dust collecting device 121 in the dust collecting bucket 12 Connected.
  • the dust exhaust duct 1131 includes a horizontal section and a vertical section.
  • the horizontal section of the dust exhaust duct 1131 extends below the dust collecting bucket 12 in the base 11, and one end of the vertical section of the dust exhaust duct 1131 is connected to the horizontal section.
  • the section is connected and extends upward until it communicates with the dust collecting device 121.
  • the dust collecting device 121 may be a dust collecting bag or a dust collecting box. After the dust in the mobile robot is discharged to the dust collecting device 121 several times, the space in the dust collecting device 121 is full, and the collected dust is collected several times. Dust, reduce the number of users cleaning, improve user experience.
  • the bottom of the mobile robot is provided with a dust exhaust port 24 leading to the inside of the dust box 21, so that it is opposite to the dust suction port on the base 11; when the mobile robot When located at the charging station of the base 11, the dust exhaust port 24 is opposite to the dust suction port 113, and the dust in the dust box of the sweeper is transferred to the dust collecting device 121 connected to the base 11 Communicating between the dust outlet 24 and the dust suction port 113 is provided with a telescopic connecting channel.
  • the connecting channel includes: a telescopic tube with one end butted at the dust exhaust port 24 or the dust suction port 113; and a telescopic driver, which is used to drive the telescopic tube.
  • the tube is elongated or shortened along its axial direction, so that the other end of the telescopic tube is abutted or separated from the dust suction port 133 or the dust discharge port 24.
  • the telescopic driver is an electromagnetic drive mechanism, which includes: a ferromagnetic material located on the dust exhaust port 24 or the dust suction port 113; and an electromagnet located on the dust suction port 113 or the dust exhaust port 24 opposite to the ferromagnetic material , So that the dust suction port 133 and the dust exhaust port 24 are successfully docked.
  • the positions of the electromagnet and the ferromagnetic part are not clearly indicated in the figure, it should be understood that the electromagnet and the ferromagnetic part should be arranged on the edge of the dust suction port 113 and the dust outlet 24 respectively, and the positions of the electromagnet and the ferromagnetic part are different from each other. Corresponding to the size to form a sealed state.
  • the telescopic tube is a corrugated hose 1133, and the corrugated hose 1133 is foldable and flexible.
  • one port of the corrugated hose 1133 is connected to the dust discharge port 24/the dust suction port 113, and the other port is connected to the electromagnet.
  • the above-mentioned telescopic connecting channel may be arranged on the dust exhaust port of the mobile robot, and the dust exhaust port and the dust suction port can be connected through the drive of the telescopic driver.
  • an included angle ⁇ is formed between the top surface of the base 11 and the ground, so that the top surface of the base 11 is formed along with the inbound direction Increasing height of the slope.
  • the base 11 is provided with at least two guide channels 112, and the top surface of the base 11 is formed with at least two guide channels 112 for guiding the mobile robot into the station.
  • a plurality of anti-slip lines are formed in the channel 112.
  • the base 11 is provided with a protrusion 114; the base 11 is provided with a protrusion 114; the extension trend of the cross-sectional area of the protrusion 114 is adapted to the extension trend of the cross-sectional area of the base 11
  • the protrusion 114 is also provided with a base electrical contact 111 recessed downward.
  • the dust collecting conduction structure further includes a control system for controlling the dust collecting conduction structure to perform or stop the emptying operation, wherein the top of the base 11 A base electrical contact 111 is formed on the surface, and a robot electrical contact 22 is formed on the mobile robot.
  • the controlled system Perform emptying operation communication with the mobile robot.
  • the mobile robot can automatically stop at a set position to complete the vacuuming and charging actions.
  • the sensor receives the stop signal and the wheels 23 stop moving.
  • the mobile robot electrical contact 22 and the base electrical contact 111 Docking and start charging. Since the guiding channel 112 is provided with an anti-skid effect, the downward sliding of the mobile robot is further restricted after the wheels 23 stop moving.
  • the electromagnet of the dust suction port 113/dust exhaust port 24 generates magnetism and is connected with the dust exhaust port 24/dust suction port 113 ferromagnetic material to start the dust removal work of the mobile robot. Simultaneous charging and dust removal work saves the mobile robot's rest time and frees the user's hands.
  • the specific driving mode of the telescopic drive can be any of the driving methods such as rotating telescopic drive, rack and pinion telescopic drive, hydraulic telescopic drive, cylinder telescopic drive or track telescopic drive.
  • One or a combination of the above two or more driving modes so that the telescopic tube realizes the docking of the dust suction port 113 and the dust discharge port 24 when the telescopic tube is in the extended state, or realizes the dust suction port 113 and the discharge port 24 when in the contracted state.
  • the dust port 24 is disconnected.
  • the base 11 may not be set up as a slope with a certain inclination angle, and the dust outlet 24 of the dust box 21 of the mobile robot is arranged on the side of the mobile robot, and directly docked with the dust bucket 12, To achieve dust collection work.
  • the embodiment of the present application also provides a mobile cleaning system, which includes: a mobile robot with an automatic cleaning function; a dust collecting conduction structure as described above; and a dust collecting charging station with a dust collecting bucket 12, the dust collecting bucket 12 There is a dust collecting negative pressure generator for providing suction negative pressure to the dust exhaust channel 1131; wherein, the other port of the dust exhaust channel 1131 is communicated with the dust collecting bucket 12.
  • An embodiment of the present application also provides a dust collection charging station, including a base, and a retractable dust suction port is provided on the base.
  • the embodiment of the present application also provides a mobile robot, which includes a dust box 21 for collecting dust.
  • the side or bottom of the mobile robot is provided with a dust exhaust port 24 communicating with the inside of the dust box 21.
  • the dust exhaust port 24 Connected with a retractable connection channel.
  • the telescopic connecting channel can be driven by a telescopic driver to extend or shorten the telescopic tube along its axial direction, so that the other end of the telescopic tube corresponds to the dust collector provided on the dust collection charging station Mouth docking or detachment.
  • the telescopic drive is electromagnetic drive or mechanical drive.
  • the dust collecting conduction structure, the mobile cleaning system, the dust collecting charging station and the mobile robot provided by the embodiments of the present application are located at the interface between the dust outlet of the dust box of the mobile robot and the dust collecting port of the base of the dust collecting charging station Setting a flexible connection channel can reduce the height of the dust suction port of the dust collection charging station, avoid the mobile robot from slipping, and realize the precise docking of the dust suction port and the dust exhaust port without affecting the climbing of the mobile robot.
  • an embodiment of the present application provides a dust box, which includes:
  • the hollow box 21 is located on the flow path of the dirty air flow in the mobile robot to receive the dirty air flow from upstream thereof; and at least one dust exhaust port 211 is provided at the bottom of the box 21, and The dust exhaust port 211 protrudes to the outside of the dust box;
  • the bottom of the box body 21 is formed with a guide surface 216 arranged around the dust outlet 211, and at least a part of the guide surface 216 has a height difference, so that the dirt in the box body can be drawn by its own gravity. It flows along the guide surface 216 to the dust exhaust outlet.
  • the guide surface is an inclined plane or a smooth curved surface on the inner surface of the bottom of the box.
  • the mobile robot may be an intelligent robot with a cleaning function, such as a sweeping robot.
  • a fluid inlet 2121 is provided on the windward side of the box body 21 directly opposite to the dirty air flow, and a fluid outlet 2131 is provided on the box body 21 opposite to the fluid inlet 2121.
  • the fluid inlet 2121 is rotatably connected with a dust-proof cabin door 214, the dust-proof cabin door 214 can rotate relative to the fluid inlet 2121 so that the fluid inlet 2121 is in a closed state and an open state Switch between
  • the dust-blocking compartment door 214 and the fluid inlet 2121 are provided with a dust-blocking resetting component, and the dust-blocking resetting component can generate an elastic restoring force acting on the dust-blocking compartment door 214, so that when the When there is no negative pressure of fluid convection between the fluid inlet 2121 and the fluid outlet 2131, the dust barrier door 214 keeps the fluid inlet 2121 in the closed state.
  • the dust-proof compartment door 2131 rotates in an opening direction to keep the fluid inlet 2121 in the opened state.
  • the dust-proof cabin door 214 is rotatably connected to the inside of the cover body 212, and the dust-proof cabin door 214 is arranged in parallel with the fluid inlet 2121.
  • the inclination direction of the cover body 212 gradually increases toward the bottom.
  • the air can only flow out of the filter 213, while the dust It is left inside the dust box.
  • the dust-proof cabin door 214 naturally covers above the fluid inlet 2121, and the dust-proof cabin door 214 ensures that the dust-containing airflow can only enter the dust box. Therefore, when the dust box is performing dust exhausting work, the dust exhaust port 211 is opened. Since the dust door 214 is still covering the fluid inlet 2121, the fluid inlet 2121 is still closed, and the airflow enters from the filter 213 and flows out of the fluid outlet 2131. Box 21.
  • a filter 213 is provided at the fluid outlet 2131.
  • the filter is used to filter dust in the gas.
  • the filter 213 includes: a first filter grid 2132, which is set where the dirty air flow enters the filter 213; a second filter grid 2134, which is set where the dirty air flow flows out Filter 213; filter cotton 2133, which is located between the first filter grid 2132 and the second filter grid 2134.
  • first filter grid 2132 and the second filter grid 2134 are respectively provided with at least one straight lateral side and a longitudinal side, and the lateral side and the longitudinal side are perpendicular to each other to form a filter grid.
  • the first filter grid 2132 and the second filter grid 2134 cooperate to fix the filter cotton 2133 at the fluid outlet 2131.
  • the air flow when the dirty air flow enters the dust box 21 from the fluid inlet 2121, the air flow continues to pass through the filter 213 to exit the dust box 21, and the dust will be filtered and stay in the dust box.
  • the dust exhaust port 211 is rotatably connected with a dust exhaust compartment door 2112, and the dust exhaust compartment door 2112 can rotate relative to the dust exhaust port 211 to make the dust exhaust port 211 Switch between the closed state and the open state; the dust-exhaust compartment door 2112 is arc-shaped, and the lower surface of the dust-exhaust compartment door 2112 is provided with reinforcing ribs 21121, so that the structure of the dust-exhaust compartment door 2112 is stable.
  • the material of the dust-exhaust cabin door 2112 may be a rubber material.
  • the dust exhaust compartment door 2112 and the dust exhaust port 211 are provided with a dust exhaust reset component, and the dust exhaust reset component can generate an elastic restoring force acting on the dust exhaust compartment door 2112, so that When there is no negative pressure of fluid convection between the dust exhaust port 211 and the fluid outlet 2131, the dust exhaust cabin door 2112 keeps the dust exhaust port 211 in the closed state. When a negative convective pressure of fluid flowing to the dust outlet 211 is generated between the fluid outlets 2131, the dust outlet door 2112 rotates in an opening direction to keep the dust outlet 211 in the open state.
  • the automatic dust collection system moved to the charging base will generate a relatively large suction force, so that the dust outlet door 2112 can rotate under the influence of the suction force to open the dust outlet 211 , The dust is sucked into the charging base where the dust is concentrated, and the space of the box body 21 is emptied, which is convenient for reuse and reduces the number of cleanings for the user.
  • the dust exhaust compartment door 2112 is made of rubber material, when the dust exhaust work is completed, the dust exhaust compartment door has the recovery performance, and it is rotated again to return to the original position, and the dust exhaust port 211 is sealed, which effectively ensures that the dust is in the box body. No leakage within 21.
  • one side of the box body 21 is at least partially opened to form a cleaning window 2123, and a cover 212 is rotatably connected to the cleaning window 2123 to selectively close the cleaning window 2123.
  • the cleaning window 2123 is opened on the windward surface directly opposite to the dirty air flow, and the fluid inlet 2121 is opened on the cover 212.
  • the box body 21 is provided with a cover body 212 rotatably connected to the box body 21.
  • the lower end of the cover body 212 is hinged to the bottom of the box body 21.
  • the included angle between the lid body 212 and the inner bottom surface of the box body 21 is ⁇ , and in a possible implementation manner, ⁇ is 120°-135°.
  • the upper end of the cover 212 is further provided with anti-slip grooves 215 at intervals.
  • the cover 212 includes a curved section and a straight section, wherein the fluid inlet 2121 is arranged on the curved section, so that the opening direction of the fluid inlet 2121 is biased toward the ground, and the dirty air can be sucked into the box 21 to the maximum.
  • the fluid inlet 2121 and the fluid outlet 2131 are not arranged in parallel, so that when the mobile robot performs dust removal work, when the dust outlet door 2112 is opened, negative pressure is generated, and the airflow will all enter from the fluid outlet 2131, so that the dust door is not blocked.
  • the 214 rotates under the influence of negative pressure, causing the fluid inlet 2121 to open.
  • a buckle structure 217 is provided on the contact surface of the cover 212 with the mobile robot.
  • the buckle structure 217 includes a buckle button 2172 and a buckle protrusion 2171.
  • the buckle button 2172 of the buckle structure 217 is provided with a spring to realize the buckle protrusion 2171. It expands and contracts within the thickness distance of the cover 212, so that the dust box is fixed in or removed from the mobile robot.
  • the upper end of the filter 213 is provided with a buckle groove 216, and the buckle groove 216 is used in cooperation with the buckle structure 217.
  • the dust box needs to be cleaned, put your fingers on the buckle groove 216 and the buckle button 2172 respectively, so that the buckle protrusion 2171 retracts inward; Removed from the robot.
  • the fingers push the cover 212 in a direction away from the box 21, the cover 212 will open, and the dust compartment door 214 will also be removed with the cover 212.
  • the user can easily clean the dust and dirt inside the box body 21, and the dust-blocking door 214 can also be cleaned more effectively, avoiding the accumulation of dust in the dead corners of the box body 21 and mildew.
  • the inner side of the cover 212 is also provided with a hook 2122, the hook 2122 protrudes from the cross section of the cover 212, and the hook 2122 is fixed to the top plate 218 of the box body 21
  • the protrusion 2183 matches.
  • the cross-sectional area of the end of the hook 2122 is gradually decreasing from bottom to top.
  • a top plate 218 is provided on the top of the box body 21, and at least one set of spoiler ribs 2181 is provided on the surface of the top plate 218 facing the inside of the box body 21.
  • the spoiler ribs 2181 are symmetrically distributed in a figure eight and are bent into an arc shape, wherein the cross-sectional area of the spoiler ribs 2181 gradually increases along the airflow direction.
  • the direction changes after being impacted.
  • the upward airflow flows slowly to the bottom of the dust box along the spoiler ribs 2181 after touching the top plate 218, causing the dust to sink due to its weight.
  • the airflow flows along the wall of the dust box to avoid reducing the internal airflow disturbing the dust in the dust box.
  • the cross-sectional area of the box body 21 on the horizontal plane gradually decreases in the direction from top to bottom. After the dust in the box 21 is disturbed by the airflow, it will gradually slide down to the dust outlet 211 by its own gravity. Especially the effect of large particles and heavy objects is better. It will roll along the slope to the dust outlet 211, thereby further improving The effect of improving the clearance rate of the box 21.
  • the part of the box body 21 that is in contact with the mobile robot as a whole is equivalent to a wedge structure.
  • the cross-sectional area of the inner space of the box body 21 on the horizontal plane is increased from top to bottom.
  • the direction is gradually shrinking. Under the influence of gravity, the box body 21 will be in closer contact with the mobile robot inside the mobile robot, making it more stable and stable.
  • the cross-sectional area of the box body 21 on the horizontal plane gradually shrinks from the top to the bottom. It also enables the box body 21 to gradually reduce the contact with the mobile robot when it is taken out, reducing friction, and convenient The box body 21 is smoothly taken out from the top of the mobile robot.
  • the number of fluid inlets 2121 of the box body 21 is increased to cover the blind spots.

Landscapes

  • Electric Vacuum Cleaner (AREA)

Abstract

一种集尘导通结构、移动清洁系统、集尘充电站（1）、移动机器人（2）及尘盒（21）。集尘导通结构用于将移动机器人（2）中收集的灰尘自动排出，其包括排尘口（24），设于移动机器人（2）的侧部或底部，并与移动机器人（2）内部设置的尘盒（21）内部连通；吸尘口（113），设置于集尘充电站（1）的基座（11）上，用于接收从排尘口（24）排出的灰尘，基座（11）用于接收移动机器人（2）；其中，在集尘充电站（1）对移动机器人（2）进行排尘的状态下，排尘口（24）与吸尘口（113）相对，排尘口（24）与吸尘口（113）通过可伸缩的连接通道（1133）联通。通过在移动机器人（2）的尘盒（21）的排尘口（24）和集尘充电站（1）的吸尘口（113）的对接处设置具有可伸缩性的连通通道（1133），能够增加对接处的密闭性，减少漏尘。

Description

集尘导通结构、清洁系统、充电站、移动机器人及尘盒 技术领域
本申请涉及扫地机领域，特别涉及一种集尘导通结构、移动清洁系统、集尘充电站、移动机器人及尘盒。
背景技术
为了减少用户经常清洁扫地机尘盒的次数，相关技术在充电座上设置了集尘系统。将扫地机尘盒内的灰尘集中到充电座的集尘装置中，经过多次收集灰尘后，再将扫地机尘盒进行清洁。
在扫地机领域中，采用不同结构形式的集尘导通结构来实现扫地机的收集灰尘。然而，在相关技术中，扫地机尘盒的排尘口和充电座的吸尘口的对接不严密会导致扫地机的净空率差和灰尘撒漏等问题；若为了保证扫地机尘盒的排尘口和充电座的吸尘口能严密对接而将吸尘口的高度加大，会导致扫地机爬坡时易打滑的问题。在相关技术中，吸进尘盒的灰尘在死角处长时间堆集，导致此处的灰尘易出现霉变。
发明内容
本申请提供一种集尘导通结构、移动清洁系统、集尘充电站、移动机器人及尘盒。
本申请实施例提供了一种集尘导通结构，用于将移动机器人中收集的灰尘自动排出，该集尘导通结构包括：
排尘口，设于移动机器人的侧部或底部，并与移动机器人内部设置的尘盒内部连通；
吸尘口，设置于集尘充电站的基座上，用于接收从所述排尘口排出的灰尘，所述基座用于接收所述移动机器人；
其中，在集尘充电站对所述移动机器人进行排尘的状态下，所述排尘口与所述吸尘口相对，所述排尘口与所述吸尘口通过可伸缩的连接通道联通。
在一种可能的实现方式中，所述连接通道包括：
一端对接于所述排尘口或吸尘口处的伸缩管；以及
伸缩驱动器，其用于驱动所述伸缩管沿其轴向伸长或缩短，以使得所述伸缩管的另一端与所述吸尘口或排尘口对接或脱离。
在一种可能的实现方式中，所述伸缩驱动器为电磁驱动机构，其包括：
位于排尘口或吸尘口上的铁磁性材料；以及位于吸尘口或排尘口上与所述铁磁性材料相对的电磁铁，以使得吸尘口与排尘口成功对接。
在一种可能的实现方式中，所述伸缩驱动器为电机驱动。
在一种可能的实现方式中，所述伸缩管为波纹软管。
在一种可能的实现方式中，所述基座的顶面与地面之间形成一夹角β以使得所述基座的顶面形成有随着所述进站方向不断增加高度的斜坡，该进站方向为移动机器人进入基座的方向。
在一种可能的实现方式中，所述基座的顶面形成有至少两条用于引导所述移动机器人进站的导引通道， 每条所述导引通道中形成有多条防滑纹路。
在一种可能的实现方式中，所述基座上设有一凸起；
所述凸起的横截面积的延伸趋势与所述基座的横截面积延伸趋势相适应，以实现移动机器人能够移动至凸起上方，所述凸起还设有向下凹陷的基座电触点。
在一种可能的实现方式中，还包括控制系统，所述控制系统用于控制所述集尘导通结构执行或停止排空作业，其中，所述基座的顶面形成有基座电触点，所述移动机器人上形成有机器人电触点，在所述基座电触点与所述机器人电触点相导通的情况下，控制系统与所述移动机器人进行排空作业通信。
本申请实施例还提供一种移动清洁系统，包括集尘充电站和移动机器人，所述集尘充电站用于接收所述移动机器人；所述移动机器人包括尘盒，所述移动机器人的侧部或底部设置有与所述尘盒内部连通的排尘口；所述集尘充电站包括基座，所述基座上设置有吸尘口和与所述吸尘口连接的可伸缩的连接通道；在所述集尘充电站对所述移动机器人进行排尘的状态下，所述排尘口与所述吸尘口相对，所述排尘口与所述吸尘口通过所述连接通道连通。
本申请实施例还提供一种集尘充电站，包括基座，所述基座上设置有吸尘口和与所述吸尘口(113)连接的可伸缩的连接通道。
进一步地，本申请还公开一种移动机器人，包括尘盒，移动机器人的侧部或底部设置有与所述尘盒内部连通的排尘口，所述排尘口连接有可伸缩的连接通道。所述可伸缩的连接通道可通过伸缩驱动器驱动，以使所述伸缩管沿其轴向伸长或缩短，从而使得所述伸缩管的另一端与设置在集尘充电站上相对应的吸尘口对接或脱离。所述伸缩驱动器为电磁驱动或机械驱动。
通过将移动机器人的尘盒的排尘口和集尘充电站的基座的吸尘口的对接处设计成具有铁磁性的磁吸结构，可以增加对接处的密闭性，减少漏尘。
本申请实施例提供的集尘导通结构、移动清洁系统、集尘充电站及移动机器人，由于在移动机器人的尘盒的排尘口和集尘充电站的基座的吸尘口的接口处设置可伸缩性的连接通道，能够降低集尘充电站的吸尘口的高度，避免移动机器人打滑，能够在不影响移动机器人爬坡的情况下实现吸尘口与排尘口的精准对接。
本申请实施例提供了一种尘盒，包括：
盒体，其位于移动机器人内的脏空气流的流动路径上以接收来自其上游的脏空气流；以及
至少一个排尘口，其设于所述盒体的底部；
其中，所述盒体的底部内表面形成有在所述排尘口周边设置的导流面，所述导流面至少一部分存在高度差，以使得盒体内的脏物在其自身重力的牵引下沿着所述导流面汇流至所述排尘口。
本申请实施例提供的尘盒，其通过在移动机器人底部设有导流面，使得盒体内的脏物在其自身重力的牵引下沿着所述导流面汇流至所述排尘口，从而能够提高灰尘的集中性和灰尘的排除率，减少用户的清洁次数。
在一种可能的实现方式中，所述导流面为设置在盒体底部内表面的倾斜平面或光滑曲面。
在一种可能的实现方式中，所述盒体与所述脏空气流直对的迎风面上开设有流体入口，所述盒体上与 所述流体入口相对处开设有流体出口。
在一种可能的实现方式中，所述流体入口处转动连接有挡尘舱门，所述挡尘舱门能够相对所述流体入口旋转以使得所述流体入口在闭合状态及开启状态之间切换。
在一种可能的实现方式中，所述挡尘舱门与所述流体入口处设有挡尘复位部件，所述挡尘复位部件能够产生作用于所述挡尘舱门的弹性回复力，使得当所述流体入口与所述流体出口之间不存在流体对流负压时，所述挡尘舱门将所述流体入口保持在所述闭合状态，当所述流体入口与所述流体出口之间产生流向所述流体出口的流体对流负压时，所述挡尘舱门沿一开启方向旋转以使得所述流体入口保持在所述开启状态。
在一种可能的实现方式中，所述流体出口处设有过滤器。
在一种可能的实现方式中，所述排尘口处转动连接有排尘舱门，所述排尘舱门能够相对所述排尘口旋转以使得所述排尘口在封闭状态及开放状态之间切换。
在一种可能的实现方式中，所述排尘舱门与所述排尘口处设有排尘复位部件，所述排尘复位部件能够产生作用于所述排尘舱门的弹性回复力，使得当所述排尘口与所述流体出口之间不存在流体对流负压时，所述排尘舱门将所述排尘口保持在所述封闭状态，当所述排尘口与所述流体出口之间产生流向所述排尘口的流体对流负压时，所述排尘舱门沿一开启方向旋转以使得所述排尘口保持在所述开放状态。
在一种可能的实现方式中，所述盒体的其中一侧至少部分敞开以形成清洁窗口，所述清洁窗口处转动连接有盖体从而将所述清洁窗口选择性封闭。
在一种可能的实现方式中，所述清洁窗口开设于与所述脏空气流直对的迎风面上，所述流体入口开设于所述盖体上。
在一种可能的实现方式中，所述盒体上设有与其转动连接的盖体，所述盖体在使得盒体关闭状态时，与盒体的内部底面的夹角为α。
在一种可能的实现方式中，所述盖体的内侧还开设有卡钩，所述卡钩突出于所述盖体的横截面，且所述卡钩与盒体的顶板的固定凸起相适配。
在一种可能的实现方式中，所述盖体包括弯曲段和笔直段，其中，所述流体入口设置在弯曲段上，以使得流体入口的开口方向偏向地面。
在一种可能的实现方式中，所述尘盒排尘口向尘盒外部凸出设置。
在一种可能的实现方式中，尘盒的顶部上设有顶板，所述顶板朝向尘盒内部的面上设有至少一组扰流筋板。
其中，所述扰流筋板呈八字对称分布，且弯曲成弧形，一组所述扰流筋板之间形成扰流道，所述扰流道沿脏空气流的流动方向逐渐增宽。
在一种可能的实现方式中，所述盒体内部空间在水平面上的截面面积在从上往下的方向上呈逐渐缩小之势。
本申请实施例尘盒的盒体内部空间在水平面上的横截面积从上到下成逐渐减小之势，能够减少死角的产生，减低灰尘富集出现霉变的几率。
通过在移动机器人底部设有导流面，能够减小尘盒内部死角，使得盒体内的脏物在其自身重力的牵引 下沿着所述导流面汇流至所述排尘口，从而来提高灰尘的集中性和灰尘的排除效率，减少用户的清洁次数。此外，排尘口向尘盒外部凸出设置能够进一步减小尘盒内部死角，降低灰尘富集出现霉变的几率，进一步减少用户的清洁次数。另外，尘盒顶部顶板上设置的扰流筋板能够进一步增加尘盒内部气流的扰动，提高排尘效率。
进一步地，盒体内部空间在水平面上的截面面积在从上往下的方向上呈逐渐缩小之势，能够使脏物整体有向排尘口聚集的趋势，提高尘盒排尘效率。
附图说明
图1为根据本申请一实施例提出的基座的立体结构示意图。
图2为根据本申请一实施例提出的基座的俯视图。
图3为根据本申请一实施例提出的基座沿A-A的剖视图。
图4为根据本申请一实施例提出的部分移动清洁系统的俯视图。
图5为根据本申请一实施例提出的移动机器人的立体结构示意图。
图6为根据本申请一实施例提出的移动机器人与基座通电前的侧视图。
图7为根据本申请一实施例提出的移动机器人与基座通电后的侧视图。
图8为根据本申请一实施例提供的盒体的俯视图。
图9为根据本申请一实施例提供的盒体沿B-B的剖面图。
图10为根据本申请一实施例提供的部分盒体一个视角的分离装置立体图。
图11为根据本申请一实施例提供的盒体的另一个视角的分离装置立体图。
图12为根据本申请一实施例提供的盒体的一个视角的立体结构示意图。
图13为根据本申请一实施例提供的盒体上过滤器的分离装置立体图。
图14为根据本申请一实施例提供的盒体另一个视角的立体结构示意图。
图15为根据本申请一实施例提供的排尘舱门的另一个视角的立体结构示意图。
图16为根据本申请一实施例提供的排尘舱门的另一个视角的立体结构示意图。
图17为根据本申请一实施例提供的盒体的侧面剖视图。
图18为根据本申请一实施例提供的盒体的另一个视角的立体结构示意图。
图19为根据本申请一实施例提供的顶板的一个视角的立体结构示意图。
具体实施方式
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整的描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在附图中，为清晰起见，可对形状和尺寸进行放大，并将在所有图中使用相同的附图标记来指示相同或相似的部件。
在下列描述中，诸如中心、厚度、高度、长度、前部、背部、后部、左边、右边、顶部、底部、上部、下部等用词是相对于各附图中所示的构造进行定义的，特别地，“高度”相当于从顶部到底部的尺寸，“宽度”相当于从左边到右边的尺寸，“深度”相当于从前到后的尺寸，它们是相对的概念，因此有可能会根据其所处不同位置、不同使用状态而进行相应地变化，所以，也不应当将这些或者其他的方位用于解释为限制性用语。
涉及附接、联接等的术语(例如，“连接”和“附接”)是指这些结构通过中间结构彼此直接或间接固定或附接的关系、以及可动或刚性附接或关系，除非以其他方式明确地说明。
如图1-7所示，本申请一实施例提供一种移动清洁系统，该移动清洁系统包括：移动机器人2和集尘充电站1。移动机器人2可以是清洁机器人，例如扫地机器人。
尘盒21设于所述移动机器人2的内部，用于移动机器人在执行清扫作业时对灰尘进行收集，移动机器人2底部或侧部开设有至少一个通往所述尘盒21内部的排尘口24。
集尘充电站1具有基座11，用于接收移动机器人2，基座11包括至少一个吸尘口113；当移动机器人工作完成后，机内电量消耗，扫地机尘盒内装满灰尘后，回到基座11上进行充电和排尘。
集尘充电站1还包括排尘管道1131。排尘管道1131从所述吸尘口113出发沿着排尘流向延伸。当所述移动机器人沿一进站方向由所述基座11所接收时，所述排尘口24与所述吸尘口113相对，所述排尘口24与所述吸尘口113之间通过可伸缩的连接通道1133连通以提供排尘路径的连续性。
现在参考图2及图3，其中，所述排尘管道1131的其中一个端口延伸至所述基座11的顶部以形成吸尘口113，另一个端口与集尘桶12中的集尘装置121相连通。如图4所示。所述排尘管道1131包括水平段和竖直段，所述排尘管道1131的水平段在基座11内延伸至集尘桶12的下方，所述排尘管道1131的竖直段一端与水平段连通，向上延伸直至与集尘装置121连通。所述集尘装置121可以是集尘袋或是集尘盒，当移动机器人内的灰尘经过几次排至集尘装置121后，集尘装置121内的空间占满，集中处理几次收集的灰尘，减少用户清洁次数，提高用户体验感。
现在参考图5，可以清楚地了解到，所述移动机器人的底部设有通往所述尘盒21内部的排尘口24，以使得与基座11上的吸尘口相对接；当移动机器人位于所述基座11的充电工位时，所述排尘口24与所述吸尘口113相对，将扫地机尘盒内的灰尘转移到与基座11的相连通的集尘装置121中；所述排尘口24与所述吸尘口113之间连通地设有可伸缩的连接通道。
现在参考图6及图7，可以清楚地了解到，所述连接通道包括：一端对接于所述排尘口24或吸尘口113处的伸缩管；以及伸缩驱动器，其用于驱动所述伸缩管沿其轴向伸长或缩短，以使得所述伸缩管的另一端与所述吸尘口133或排尘口24对接或脱离。
所述伸缩驱动器为电磁驱动机构，其包括：位于排尘口24或吸尘口113上的铁磁性材料；以及位于吸尘口113或排尘口24上与所述铁磁性材料相对的电磁铁，以使得吸尘口133与排尘口24成功对接。虽然电磁铁与铁磁件没有在图中明确指出位置，应当理解，电磁铁与铁磁件应该分别设置在吸尘口113和排尘口24的边缘，并且电磁铁与铁磁件的位置与大小相对应形成密封状态。
所述伸缩管为波纹软管1133，所述波纹软管1133可折叠，且具有可伸缩性。在其中一个实施例中， 所述波纹软管1133一个端口与排尘口24/吸尘口113相连通，另一个端口与电磁铁相连接。
可选的，上述可伸缩的连接通道可设置在移动机器人的排尘口上，并通过伸缩驱动器驱动实现排尘口与吸尘口的连通。
再次参考图6及图7，可以清楚地看到电磁铁从通电前到通电后的状态，当移动机器人完成工作后回到基座11充电时，基座11开启充电状态，电磁铁通电后具有磁吸力，能够向上运动与铁磁件相吸，实现高精度对接，加强吸尘口113与排尘口24之间的密闭性；由于波纹软管1133与电磁铁相连，电磁铁在于铁磁件吸住后，同时带动波纹软管1133伸长，形成连通吸尘口113和排尘口24的连接通道。
再次参考图1及图3，可以清楚地看到，所述基座11的顶面与地面之间形成一夹角β以使得所述基座11的顶面形成有随着所述进站方向不断增加高度的斜坡。
所述基座11上至少设有两条导引通道112，所述基座11的顶面形成有至少两条用于引导所述移动机器人进站的导引通道112，每条所述导引通道112中形成有多条防滑纹路。通过设置导引通道，能够避免移动机器人因打滑而不能运动到所设定的位置的问题，能够在不影响移动机器人爬坡的情况下与移动机器人的尘盒的排尘口精准对接。
所述基座11上设有一凸起114；所述基座11上设有一凸起114；所述凸起114的横截面积的延伸趋势与所述基座11的横截面积延伸趋势相适应，以实现移动机器人能够移动至凸起114上方，所述凸起114还设有向下凹陷的基座电触点111。
现在结合图1，再次参考图5，所述集尘导通结构还包括控制系统，所述控制系统用于控制集尘导通结构执行或停止排空作业，其中，所述基座11的顶面形成有基座电触点111，所述移动机器人上形成有机器人电触点22，在所述基座电触点111与所述机器人电触点22相导通的情况下，所控制系统与所述移动机器人进行排空作业通信。
进一步地，虽然没有在图中示出，应当理解移动机器人为能够自动停止在设定位置完成吸尘和充电动作。移动机器人与基座11之间应当设有传感器，待移动机器人运动至设定的停止位置，传感器接收到停止信号，车轮23停止运动，所述移动机器人电触点22与基座电触点111对接，开始充电工作。由于导引通道112设有防滑作用，所以在车轮23停止运动后进一步限制移动机器人向下滑动。
进一步地，由于通电，吸尘口113/排尘口24的电磁铁产生磁性，与排尘口24/吸尘口113铁磁性材料对接，开始移动机器人的排尘工作。充电与排尘工作同时进行节省了移动机器人的休息时间，解放了用户的双手。
虽然未示出于此，本领域的技术人员应当理解，伸缩驱动器的具体驱动方式可以是转动伸缩驱动、齿条齿轮伸缩驱动、液压伸缩驱动、气缸伸缩驱动或轨道伸缩驱动等驱动方式中的任意一种或者是上述两种及两种以上驱动方式的组合，以使得伸缩管在其伸展状态时实现吸尘口113与排尘口24的对接，或者在收缩状态时实现吸尘口113与排尘口24的断开。
在另一实施方式中，基座11可以不设置成由一定倾斜角度的斜坡，并且将移动机器人的尘盒21的排尘口24设置在移动机器人的侧方，与集尘桶12直接对接，来实现集尘工作。
本申请实施例还提供一种移动清洁系统，其包括：具有自动清扫功能的移动机器人；如前述所述的集 尘导通结构；以及具有集尘桶12的集尘充电站，集尘桶12内设有用于向所述排尘通道1131提供抽吸负压的集尘负压发生器；其中，所述排尘通道1131的另一端口与所述集尘桶12相连通。
本申请实施例还提供一种集尘充电站，包括基座，基座上设置有可伸缩的吸尘口。
本申请实施例还提供一种移动机器人，包括用于收集灰尘的尘盒21，移动机器人的侧部或底部设置有与所述尘盒21内部连通的排尘口24，所述排尘口24连接有可伸缩的连接通道。所述可伸缩的连接通道可通过伸缩驱动器驱动，以使所述伸缩管沿其轴向伸长或缩短，从而使得所述伸缩管的另一端与设置在集尘充电站上相对应的吸尘口对接或脱离。所述伸缩驱动器为电磁驱动或机械驱动。
本申请实施例提供的集尘导通结构、移动清洁系统、集尘充电站及移动机器人，由于在移动机器人的尘盒的排尘口和集尘充电站的基座的吸尘口的接口处设置可伸缩性的连接通道，能够降低集尘充电站的吸尘口的高度，避免移动机器人打滑，能够在不影响移动机器人爬坡的情况下实现吸尘口与排尘口的精准对接。
如图8和图9所示，本申请实施例提供一种尘盒，该尘盒包括：
内部中空的盒体21，其位于移动机器人内的脏空气流的流动路径上以接收来自其上游的脏空气流；以及至少一个排尘口211，其设于所述盒体21的底部，且排尘口211向尘盒外部凸出设置；
其中，所述盒体21的底部形成有围绕所述排尘口211设置的导流面216，所述导流面216至少一部分存在高度差，以使得盒体内的脏物在其自身重力的牵引下沿着所述导流面216汇流至所述排尘口，具体地，导流面为在盒体底部内表面的倾斜平面或光滑曲面。
其中，移动机器人可以是具有清洁功能的智能机器人，例如扫地机器人等。
参考图10，所述盒体21与所述脏空气流直对的迎风面上开设有流体入口2121，所述盒体21上与所述流体入口2121相对处开设有流体出口2131。
参考图10和图12，所述流体入口2121处转动连接有挡尘舱门214，所述挡尘舱门214能够相对所述流体入口2121旋转以使得所述流体入口2121在闭合状态及开启状态之间切换；
进一步地，所述挡尘舱门214与所述流体入口2121处设有挡尘复位部件，所述挡尘复位部件能够产生作用于所述挡尘舱门214的弹性回复力，使得当所述流体入口2121与所述流体出口2131之间不存在流体对流负压时，所述挡尘舱门214将所述流体入口2121保持在所述闭合状态，当所述流体入口2121与所述流体出口2131之间产生流向所述流体出口2131的流体对流负压时，所述挡尘舱门2131沿一开启方向旋转以使得所述流体入口2121保持在所述开启状态。
在具体实施方式中，所述挡尘舱门214转动连接在盖体212内部，且所述挡尘舱门214与流体入口2121平行设置，所述挡尘舱门214的宽度自转动连接处沿着盖体212的倾斜方向向底部逐渐增大。当移动机器人在执行清洁工作时，排尘口211关闭，所述挡尘舱门214受从外界气流的推力远离所述盖体212使得含尘气流沿着挡尘舱门214的表面向下运动进入尘盒，当含尘气流触碰到底部时，流动方向发生偏转，由于流体入口2121设有挡尘舱门214，所以无法从流体入口2121出去，空气只能从过滤器213流出，而灰尘则被留在尘盒内部。当外界没有含尘气流进入尘盒时，所述挡尘舱门214自然覆盖在流体入口2121的上方，所述挡尘舱门214保证了含尘气流只能进入尘盒。所以在尘盒执行排尘工作时，排尘口211打开，由 于挡尘舱门214依旧覆盖在流体入口2121处，所以流体入口2121依旧关闭，气流从过滤器213处进入从流体出口2131流出尘盒21。
参考图12和图13，所述流体出口2131处设有过滤器213。该过滤器用于过滤气体中的灰尘，所述过滤器213包括：第一过滤栅格2132，其设于脏空气流进入过滤器213处；第二过滤栅格2134，其设于脏空气流流出过滤器213处；过滤棉2133，其设于第一过滤栅格2132与第二过滤栅格2134之间。
进一步地，所述第一过滤栅格2132与所述第二过滤栅格2134分别设有至少一个笔直横向侧部与纵向侧部，所述横向侧部与纵向侧部相互垂直形成过滤栅格。所述第一过滤栅格2132与所述第二过滤栅格2134相互配合将过滤棉2133固定于所述流体出口2131处。
进一步地，当脏空气流从流体入口2121内进入尘盒21，气流继续通过过滤器213排出尘盒21，灰尘就会被过滤，留在尘盒内。
参考图14、图15和图16，所述排尘口211处转动连接有排尘舱门2112，所述排尘舱门2112能够相对所述排尘口211旋转以使得所述排尘口211在封闭状态及开放状态之间切换；所述排尘舱门2112呈弧形，所述排尘舱门2112的下表面设有加强筋21121，使得排尘舱门2112的结构稳定。所述排尘舱门2112的材料可以是橡胶材料。
进一步地，所述排尘舱门2112与所述排尘口211处设有排尘复位部件，所述排尘复位部件能够产生作用于所述排尘舱门2112的弹性回复力，使得当所述排尘口211与所述流体出口2131之间不存在流体对流负压时，所述排尘舱门2112将所述排尘口211保持在所述封闭状态，当所述排尘口211与所述流体出口2131之间产生流向所述排尘口211的流体对流负压时，所述排尘舱门2112沿一开启方向旋转以使得所述排尘口211保持在所述开放状态。
进一步地，当盒体21内的空间不足时，运动到充电座上的自动集尘系统会产生较大的吸力，使得排尘舱门2112能够在受到吸力的影响发生转动，开启排尘口211，灰尘被吸入集中灰尘的充电座内，清空盒体21的空间，方便再次使用，减少用户的清洗次数。由于排尘舱门2112使用的是橡胶材质，当排尘工作完成后，排尘舱门具有恢复性能，再次转动恢复到原始位置，将排尘口211密封，有效地保证了在灰尘在盒体21内不会漏出。
再次参考图10和图11，所述盒体21的其中一侧至少部分敞开以形成清洁窗口2123，所述清洁窗口2123处转动连接有盖体212从而将所述清洁窗口2123选择性封闭。所述清洁窗口2123开设于与所述脏空气流直对的迎风面上，所述流体入口2121开设于所述盖体212上。
进一步地，参考图17，所述盒体21上设有与其转动连接的盖体212。在一种可能的实现方式中，所述盖体212的下端与盒体21底部铰接。所述盖体212在使得盒体21关闭状态时，盖体212与盒体21的内部底面的夹角为α，在一种可能的实现方式中，α为120°～135°。所述盖体212的上端还间隔设有防滑槽215。
进一步地，所述盖体212包括弯曲段和笔直段，其中，所述流体入口2121设置在弯曲段上，以使得流体入口2121的开口方向偏向地面，最大限度地将脏空气吸入盒体21中。所述流体入口2121与流体出口2131不平行设置，使得在移动机器人执行排尘工作时，当排尘舱门2112打开产生负压，气流会全部从 流体出口2131进入，不会使得挡尘舱门214受负压影响发生转动，造成流体入口2121开启。
进一步地，参考图18，所述盖体212上与移动机器人接触面上设有卡扣结构217。所述卡扣结构217包括卡扣按钮2172和卡扣凸起2171，虽然没有在图中示出，应当理解，卡扣结构217的卡扣按钮2172内设有弹簧以实现卡扣凸起2171可以在盖体212的厚度距离内伸缩，使得尘盒固定在移动机器人中或从移动机器人中移除。
所述过滤器213的上端设有卡扣凹槽216，所述卡扣凹槽216与所述卡扣结构217配合使用。
具体地，当尘盒需要清理时，手指分别放在卡扣凹槽216和卡扣按钮2172上，使得卡扣凸起2171向内缩进；手握尘盒向上拉起，将尘盒从移动机器人中移除。当从移动机器人中移除尘盒后，手指按在盖体212上向远离盒体21的方向推动，所述盖体212会打开，挡尘舱门214也会随着盖体212移除，用户可以轻松地清理盒体21内部的灰尘和污物，挡尘舱门214也能够得到更有效的清理，避免盒体21内部死角灰尘的富集而发生霉变。
再次参考图17，所述盖体212的内侧还开设有卡钩2122，所述卡钩2122突出于所述盖体212的横截面，且所述卡钩2122与盒体21的顶板218的固定凸起2183相适配。所述卡钩2122的端部的横截面积从下到上正逐渐减小之势，此结构在于固定凸起配合使用时，能够使得固定凸起2183沿着卡钩2122的轮廓运动，以实现所述固定凸起2183扣合或脱离所述卡钩2122，进一步限制了盖体212与所述盒体21的位置，并进一步加强盖体212的固定。
参考图19，盒体21的顶部上设有顶板218，所述顶板218朝向盒体21内部的面上设有至少一组扰流筋板2181。
进一步地，所述扰流筋板2181呈八字对称分布，且弯曲成弧形，其中，所述扰流筋板2181的横截面积沿气流方向呈逐渐增大之势。当含尘气流从流体入口2121进入后，受到碰撞后方向发生改变，向上的气流在触碰到顶板218后沿着扰流筋板2181缓缓向尘盒底部流去，使得灰尘由于重量下沉到底部，气流顺着尘盒的壁流动，避免减少内部气流扰动尘盒内的灰尘。
再次参考图17，所述盒体21在水平面上的横截面积在从上往下的方向上呈逐渐缩小之势。使得盒体21内的灰尘收到气流扰动后，依靠自身重力逐渐下滑至排尘口211，尤其是大颗粒重物的效果更佳，会顺着斜坡滚至排尘口211，从而进一步起到提升盒体21净空率的效果。
进一步地，所述盒体21整体与移动机器人接触的部分相当于楔紧结构，当盒体21放入移动机器人时，由于盒体21的内部空间在水平面上的截面面积在从上往下的方向上呈逐渐缩小之势，在受重力的影响下，盒体21在移动机器人内部会更加与移动机器人内部紧密接触，更加稳定稳固。所述盒体21在水平面上的横截面积在从上往下的方向上呈逐渐缩小之势还能够使得盒体21在拿出的时候，逐渐减少与移动机器人内部的接触，减少摩擦，方便将盒体21顺利从移动机器人的顶部取出。
本领域技术人员可以在不脱离通过权利要求限定的本申请范围的情况下对本申请的构思进行各种修改。例如，增大盒体21的流体入口2121的数量，覆盖死角。
这里说明的设备数量和处理规模是用来简化本申请的说明的。对本申请的应用、修改和变化对本领域的技术人员来说是显而易见的。
尽管本申请的实施方案已公开如上，但其并不仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本申请的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本申请并不限于特定的细节和这里示出与描述的图例。

Claims (27)

  1. 一种集尘导通结构，用于将移动机器人中收集的灰尘自动排出，其特征在于，包括：
    排尘口，设于所述移动机器人的侧部或底部，并与所述移动机器人内部设置的尘盒内部连通；
    吸尘口，设置于集尘充电站的基座上，用于接收从所述排尘口排出的灰尘，所述基座用于接收所述移动机器人；
    其中，在所述集尘充电站对所述移动机器人进行排尘的状态下，所述排尘口与所述吸尘口相对，所述排尘口与所述吸尘口通过可伸缩的连接通道连通。
  2. 如权利要求1所述的集尘导通结构，其特征在于，所述连接通道包括：
    一端对接于所述排尘口或吸尘口处的伸缩管；以及
    伸缩驱动器，其用于驱动所述伸缩管沿其轴向伸长或缩短，以使得所述伸缩管的另一端与所述吸尘口或排尘口对接或脱离。
  3. 如权利要求2所述的集尘充电装置，其特征在于，所述伸缩驱动器包括：
    位于所述排尘口或所述吸尘口上的铁磁性材料；以及位于所述吸尘口或所述排尘口上与所述铁磁性材料相对的电磁铁，以使得所述吸尘口与所述排尘口对接。
  4. 如权利要求2所述的集尘充电装置，其特征在于，所述伸缩驱动器为机械结构驱动。
  5. 如权利要求2所述的集尘导通结构，其特征在于，所述伸缩管为波纹软管。
  6. 如权利要求1所述的集尘导通结构，其特征在于，所述基座的顶面与地面之间形成一夹角β以使得所述基座的顶面形成有随着进站方向不断增加高度的斜坡，所述进站方向为所述移动机器人进入所述基座的方向。
  7. 如权利要求1所述的集尘导通结构，其特征在于，所述基座的顶面形成有至少两条用于引导所述移动机器人进站的导引通道，每条所述导引通道中形成有多条防滑纹路。
  8. 如权利要求1所述的集尘导通结构，其特征在于，所述基座上设有一凸起；
    所述凸起的横截面积的延伸趋势与所述基座的横截面积延伸趋势相适应，以实现所述移动机器人能够移动至所述凸起上方，所述凸起还设有向下凹陷的基座电触点。
  9. 如权利要求1所述的集尘导通结构，其特征在于，还包括控制系统，所述控制系统用于控制所述集尘导通结构执行或停止排空作业，其中，所述基座的顶面形成有基座电触点，所述移动机器人上形成有机器人电触点，在所述基座电触点与所述机器人电触点相导通的情况下，所述控制系统与所述移动机器人进行排空作业通信。
  10. 一种移动清洁系统，其特征在于，包括集尘充电站和移动机器人，所述集尘充电站用于接收所述移动机器人；所述移动机器人包括尘盒，所述移动机器人的侧部或底部设置有与所述尘盒内部连通的排尘口；所述集尘充电站包括基座，所述基座上设置有吸尘口和与所述吸尘口连接的可伸缩的连接通道；在所述集尘充电站对所述移动机器人进行排尘的状态下，所述排尘口与所述吸尘口相对，所述排尘口与所述吸尘口通过所述连接通道连通。
  11. 一种集尘充电站，其特征在于，包括基座，所述基座上设置有吸尘口和与所述吸尘口连接的可伸缩的连接通道。
  12. 一种移动机器人，包括尘盒，其特征在于，所述移动机器人的侧部或底部设置有与所述尘盒内部连通的排尘口，所述排尘口连接有可伸缩的连接通道。
  13. 一种尘盒，其特征在于，包括：
    盒体，其位于移动机器人内的脏空气流的流动路径上以接收脏空气流；以及
    至少一个排尘口，其设于所述盒体的底部；
    其中，所述盒体的底部内表面形成有在所述排尘口周边设置的导流面，所述导流面至少一部分存在高度差，以使得所述盒体内的脏物在其自身重力的牵引下沿着所述导流面汇流至所述排尘口。
  14. 如权利要求13所述的尘盒，其特征在于，所述导流面为设置在所述盒体的底部内表面的倾斜平面或光滑曲面。
  15. 如权利要求13所述的尘盒，其特征在于，所述盒体与所述脏空气流直对的迎风面上开设有流体入口，所述盒体上与所述流体入口相对处开设有流体出口。
  16. 如权利要求15所述的尘盒，其特征在于，所述流体入口处转动连接有挡尘舱门，所述挡尘舱门能够相对所述流体入口旋转以使得所述流体入口在闭合状态及开启状态之间切换。
  17. 如权利要求16所述的尘盒，其特征在于，所述挡尘舱门与所述流体入口处设有挡尘复位部件，所述挡尘复位部件能够产生作用于所述挡尘舱门的弹性回复力，使得当所述流体入口与所述流体出口之间不存在流体对流负压时，所述挡尘舱门将所述流体入口保持在所述闭合状态，当所述流体入口与所述流体出口之间产生流向所述流体出口的流体对流负压时，所述挡尘舱门沿一开启方向旋转以使得所述流体入口保持在所述开启状态。
  18. 如权利要求16所述的尘盒，其特征在于，所述流体出口处设有过滤器。
  19. 如权利要求15所述的尘盒，其特征在于，所述排尘口处转动连接有排尘舱门，所述排尘舱门能够相对所述排尘口旋转以使得所述排尘口在封闭状态及开放状态之间切换。
  20. 如权利要求19所述的尘盒，其特征在于，所述排尘舱门与所述排尘口处设有排尘复位部件，所述排尘复位部件能够产生作用于所述排尘舱门的弹性回复力，使得当所述排尘口与所述流体出口之间不存在流体对流负压时，所述排尘舱门将所述排尘口流向所述排尘口的流体对流负压时，所述排尘舱门沿一开启方向旋转以使得所述排尘口保持在所述开放状态。
  21. 如权利要求15所述的尘盒，其特征在于，所述盒体的其中一侧至少部分敞开以形成清洁窗口，所述清洁窗口处转动连接有盖体从而将所述清洁窗口选择性封闭。
  22. 如权利要求21所述的尘盒，其特征在于，所述盒体上设有与其转动连接的盖体，所述盖体在使得所述盒体关闭状态时，与所述盒体的内部底面的夹角为α。
  23. 如权利要求21所述的尘盒，其特征在于，所述盖体包括弯曲段和笔直段，其中，所述流体入口设置在弯曲段上，以使得所述流体入口的开口方向偏向地面。
  24. 如权利要求13所述的尘盒，其特征在于，尘盒的顶部上设有顶板，所述顶板朝向尘盒内部的面上设有至少一组扰流筋板。
  25. 如权利要求24所述的尘盒，其特征在于，所述至少一组扰流筋板之间形成扰流道，所述扰流道沿 所述脏空气流的流动方向逐渐增宽。
  26. 如权利要求13所述的尘盒，其特征在于，所述盒体内部空间在水平面上的横截面积在从上往下的方向上呈逐渐缩小之势。
  27. 如权利要求13所述的尘盒，其特征在于，所述排尘口向所述尘盒的外部凸出设置。
PCT/CN2021/077995 2020-04-13 2021-02-26 集尘导通结构、清洁系统、充电站、移动机器人及尘盒 WO2021208608A1 (zh)

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CN202020536598.7U CN214017397U (zh) 2020-04-13 2020-04-13 一种集尘导通结构及具有其的移动清洁系统、集尘充电站、移动机器人
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