WO2022205997A1 - 集尘装置及清洁机器人系统 - Google Patents

集尘装置及清洁机器人系统 Download PDF

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Publication number
WO2022205997A1
WO2022205997A1 PCT/CN2021/135567 CN2021135567W WO2022205997A1 WO 2022205997 A1 WO2022205997 A1 WO 2022205997A1 CN 2021135567 W CN2021135567 W CN 2021135567W WO 2022205997 A1 WO2022205997 A1 WO 2022205997A1
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WO
WIPO (PCT)
Prior art keywords
trigger
box body
detection switch
force
dust
Prior art date
Application number
PCT/CN2021/135567
Other languages
English (en)
French (fr)
Inventor
钟学森
邓文海
Original Assignee
深圳市银星智能科技股份有限公司
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
Application filed by 深圳市银星智能科技股份有限公司 filed Critical 深圳市银星智能科技股份有限公司
Priority to EP21934633.5A priority Critical patent/EP4316328A1/en
Publication of WO2022205997A1 publication Critical patent/WO2022205997A1/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
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1409—Rigid filtering receptacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
    • A47L9/1436—Connecting plates, e.g. collars, end closures
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
    • A47L9/1436—Connecting plates, e.g. collars, end closures
    • A47L9/1445—Connecting plates, e.g. collars, end closures with closure means
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
    • A47L9/1463—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters specially adapted for rigid filtering receptacles
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1427—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters
    • A47L9/1472—Means for mounting or attaching bags or filtering receptacles in suction cleaners; Adapters combined with security means, e.g. for preventing use, e.g. in case of absence of the bag
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/10—Filters; Dust separators; Dust removal; Automatic exchange of filters
    • A47L9/14—Bags or the like; Rigid filtering receptacles; Attachment of, or closures for, bags or receptacles
    • A47L9/1481—Means for removing bags in suction cleaners, e.g. ejecting means; Means for exchanging bags
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present application belongs to the technical field of cleaning robots, and in particular relates to a dust collecting device and a cleaning robot system.
  • the dust collecting device usually includes a box body, a dust bag assembly that can be taken and placed on the box body, and a box cover that can cover the box body. Before the dust collector works, it is necessary to check whether the dust bag assembly is in place.
  • the existing dust collectors are usually provided with an in-position sensor to detect whether the dust bag assembly is installed in place alone, so as to prevent the dust bag from not being installed in place when the dust collector is started. When the bag assembly is installed in place but the box cover is not closed, the dust collector cannot work normally and the performance is poor.
  • the purpose of the embodiments of the present application is to provide a dust collecting device to solve the technical problem that the existing dust collecting device cannot detect that the dust bag assembly is installed in place but the box cover is not closed, resulting in the dust collecting device not working normally.
  • a dust collecting device comprising a box body, a dust bag assembly detachably installed in the box body, and a box cover capable of closing or opening the box body, It also includes a trigger structure, a detection switch and a controller all arranged in the box, the trigger structure can move between the initial position and the trigger position movably, and the trigger structure does not trigger the detection switch in the initial position, The triggering structure can trigger the detection switch at the triggering position; when the dust bag assembly is installed in the box and the box cover is closed with the box, the dust bag assembly and the box cover are respectively Push the triggering structure, so that the triggering structure moves from the initial position to the triggering position and triggers the detection switch; the controller is electrically connected to the detection switch, and the controller is electrically connected to the detection switch according to the detection switch.
  • the non-triggered state restricts the operation of the dust collector, and the controller releases the restriction on the operation of the dust collector according to the trigger state of the detection switch.
  • the triggering structure can move to a preparatory position, the preparatory position is located between the initial position and the triggering position, and the triggering structure does not trigger the detection switch in the preparatory position;
  • the dust bag assembly is installed in the box to push the triggering structure to move from the initial position to the preparatory position, so that the box cover can cover the box and push the triggering structure to continue from the The ready position is moved to the trigger position.
  • the trigger structure is provided with a first force-receiving portion, and the first force-receiving portion is located on a side of the trigger structure close to the dust bag assembly, and the dust bag assembly is detachably connected to the dust bag assembly.
  • the trigger structure is provided with a second force-receiving part, and the second force-receiving part is located on the side of the trigger structure close to the top of the box,
  • a second thrust portion is provided on the side of the box cover close to the top of the box body, and the second thrust portion moves to the preparatory position when the box cover is closed on the top of the box body to push the The second force-receiving part moves from the preparatory position to the triggering position.
  • the box body is provided with an installation side wall and a snap groove formed on the installation side wall, and the first force-receiving portion is disposed through the installation side wall at the initial position, so The card board is detachably installed in the card slot and abuts against the installation side wall, so as to push the first force-receiving portion to shrink relative to the installation side wall.
  • At least one of the first force-receiving part and the first thrust part is provided with a first guide surface, the first guide surface is inclined relative to a preset horizontal direction, and the first guide surface The surface is used to guide the first thrust part to apply a first horizontal thrust to the first force receiving part.
  • At least one of the second force receiving part and the second thrust part is provided with a second guide surface, the second guide surface is inclined relative to a preset horizontal direction, and the second guide surface The surface is used to guide the second thrust portion to apply a second horizontal thrust to the second force receiving portion, and the second horizontal thrust is in the same direction as the first horizontal thrust.
  • the first thrust portion is protruded on a side of the card plate close to the trigger structure, and/or the second thrust portion is protruded from a side of the box cover close to the trigger structure side.
  • the first thrust portion pushes the first force-receiving portion to move from the initial position to the ready position along a first direction
  • the second thrust portion pushes the first thrust portion along a second direction.
  • the second force-receiving portion moves from the preparatory position to the triggering position, wherein the first direction and the second direction are the same preset horizontal direction, or the first direction is a horizontal direction, and the first direction is a horizontal direction.
  • the two directions are vertical directions.
  • the dust collecting device further includes an elastic member, the elastic member elastically connects the trigger structure and the box body, so as to provide an elastic restoring force for the trigger structure to move toward the initial position. .
  • the box body includes a box body, a dust bag bracket installed in the box body, and a detection bracket connected to a side of the dust bag bracket away from the dust bag assembly, and the detection bracket is opened a limit hole;
  • the trigger structure includes a trigger body and a guide column connected to the side of the trigger body away from the dust bag assembly, the guide column is slidably fitted in the limit hole, and the elastic member is elastically connected the trigger body and the detection bracket.
  • Embodiments of the present application also aim to provide a cleaning robot system, including a cleaning robot, and the dust collecting device.
  • the detection switch when the box cover is opened and/or the dust bag assembly is taken out from the box, the detection switch is in a non-triggered state, and when the detection switch is in the inactive state by the controller Continue to limit the work of the dust collecting device; when the dust bag assembly is first put back into the box and the box cover is closed again, the trigger structure is pushed by the dust bag assembly and the box cover successively, so that the trigger structure moves from the initial position to the trigger structure position and trigger the detection switch, and then, the controller can release the restriction on the operation of the dust collecting device after obtaining the signal that the detection switch is in the triggered state, allowing the dust collecting device to work or suspend the work as required.
  • the dust collecting device provided in the embodiment of the present application can be associated with the trigger structure and the detection switch to detect whether the dust bag assembly is in place and whether the box cover is closed to the box body, and then based on the state of the detection switch, the controller can limit or release the limit collection.
  • the dust collecting device works, the structure is simple, and the detection accuracy is high, which can basically avoid the situation that the dust collecting device cannot work normally due to the dust bag assembly being installed in place but the box cover is not closed, so that the use performance is better.
  • FIG. 1 is an exploded schematic diagram of a dust collecting device provided by an embodiment of the present application.
  • Fig. 2 is the structural representation of the trigger structure that Fig. 1 provides;
  • FIG. 3 is a schematic view of the dust collecting device provided in FIG. 1 when the dust bag assembly is placed in the box body but the box cover is not closed to the box body;
  • Fig. 4 is the enlarged view of A area that Fig. 3 provides;
  • FIG. 5 is a schematic diagram of the dust collecting device provided in FIG. 3 when the dust bag assembly is put into the box body and the box cover is closed with the box body;
  • FIG. 6 is a schematic diagram of the dust collecting device provided in FIG. 1 when the box cover is closed with the box body but the dust bag assembly is not placed in the box body.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • an embodiment of the present application provides a dust collecting device, including a box body 100 , a dust bag assembly 200 detachably installed in the box body 100 , and capable of closing or opening the box body 100 of the box cover 300, and the trigger structure 400, the detection switch 500 and the controller (not shown in the figure) all disposed in the box body 100, the trigger structure 400 can be movably moved between the initial position and the trigger position, triggering The structure 400 does not trigger the detection switch 500 at the initial position, and the trigger structure 400 can trigger the detection switch 500 at the trigger position; when the dust bag assembly 200 is installed in the box body 100 and the box cover 300 covers the box body 100, the dust bag assembly 200 and the box body 100 are closed.
  • the box cover 300 pushes the trigger structure 400 respectively, so that the trigger structure 400 moves from the initial position to the trigger position and triggers the detection switch 500; the controller is electrically connected to the detection switch 500, and the controller restricts the operation of the dust collecting device according to the non-triggered state of the detection switch 500, The controller releases the restriction on the operation of the dust collector according to the trigger state of the detection switch 500 .
  • the dust bag assembly 200 when the dust collecting device is in operation, the dust bag assembly 200 is placed in the box body 100 and the box cover 300 covers the box body 100. At this time, impurities such as dust can pass through the dust collection of the box body 100.
  • the pipe 121 is introduced into the dust bag assembly 200; and when the dust collecting device is suspended, the operator can open the box cover 300, open the box body 100, then take out the dust bag assembly 200 from the box body 100, and clean the dust bag assembly After cleaning the impurities in the 200, the dust bag assembly 200 can be put back into the box 100 to wait for the dust collecting device to work.
  • the trigger structure 400 and the detection switch 500 are used to correlate to detect whether the dust bag assembly 200 is in place (that is, whether the dust bag assembly 200 is put back into the box body 100 ) and whether the box cover 300 is covered
  • the box body 100 is closed, and the detection result is fed back to the controller, and then the controller restricts or unrestricts the operation of the dust collecting device.
  • the structure is simple and the performance is better.
  • the trigger structure 400 is blocked by the dust bag assembly 200 and the box.
  • the cover 300 is pushed successively to move from the initial position to the trigger position, the trigger structure 400 triggers the detection switch 500 at the trigger position, the controller releases the restriction on the operation of the dust collecting device after obtaining the signal that the detection switch 500 is in the trigger state, and at this time, the dust collection is allowed
  • the device works or suspends work as needed.
  • the trigger structure 400 cannot be continuously pushed by the dust bag assembly 200 and the box cover 300 , so that The trigger position cannot be reached, and the detection switch 500 cannot be triggered.
  • the detection switch 500 is in a non-triggered state.
  • the dust collector can continue to limit the operation until the dust bag assembly 200 It is put back into the case 100 and the case cover 300 closes the case 100 .
  • the detection switch 500 when the box cover 300 is opened to the box body 100 and/or the dust bag assembly 200 is taken out from the box body 100, the detection switch 500 is in a non-triggered state, and the controller During the period when the detection switch 500 is not activated, the operation of the dust collecting device is continuously restricted; and when the dust bag assembly 200 is first put back into the box body 100 and the box cover 300 is then closed to the box body 100, the dust bag assembly 200 and the box will pass through the dust bag assembly 200.
  • the cover 300 pushes the triggering structure 400 successively, so that the triggering structure 400 moves from the initial position to the triggering position and triggers the detection switch 500.
  • the controller can release the restriction on the operation of the dust collecting device after obtaining the signal that the detection switch 500 is in the triggered state, allowing the Dust collectors work or suspend work as needed. Therefore, the dust collecting device provided by the embodiment of the present application can realize the associated detection of whether the dust bag assembly 200 is in place and whether the box cover 300 covers the box body 100 through the trigger structure 400 and the detection switch 500, and then based on the state of the detection switch 500, through the control
  • the dust collector restricts or unrestricts the operation of the dust collector, has a simple structure and high detection accuracy, and can basically avoid the situation that the dust collector cannot work normally due to the dust bag assembly 200 being installed in place but the box cover 300 is not closed. Better performance.
  • the controller may be a microcontroller (Microcontroller Unit; MCU), for example, the controller may be an ARM Cortex-M4-32-bit microcontroller, which is not limited in this embodiment.
  • MCU Microcontroller Unit
  • the controller may be an ARM Cortex-M4-32-bit microcontroller, which is not limited in this embodiment.
  • the detection switch 500 is pressed by the trigger structure 400 when the trigger structure 400 is in the trigger position, and switches from the untriggered state to the triggered state. Specifically, when the trigger structure 400 reaches the trigger position, the trigger structure 400 can press the detection switch 500 to switch the detection switch 500 from the non-triggered state to the triggered state; conversely, when the trigger structure 400 leaves the trigger position, the detection switch 500 is released It is pressed to switch from the triggered state to the non-triggered state.
  • the switching between the non-triggered state and the triggered state of the detection switch 500 can be realized simply, accurately and instantly, and the sensitivity of the state switching of the detection switch 500 can be improved, thereby improving the detection accuracy.
  • the detection switch 500 can be a micro switch.
  • the trigger structure 400 can use a very small force to realize the state switching of the detection switch 500 between the non-triggered state and the triggered state, so that the state of the detection switch 500 can be switched.
  • the operation is sensitive and immediate, so that the detection accuracy and sensitivity of "whether the dust bag assembly 200 is in place” and "whether the box cover 300 is closed on the box body 100" can be improved, and the use performance of the dust collecting device can be further improved.
  • the detection switch 500 can be toggled by the trigger structure 400 to switch from the non-triggered state to the triggered state.
  • the detection switch 500 may be a hall sensor, a button switch, a rocker switch, a toggle switch, or a toggle switch, etc., which is not limited in this embodiment.
  • the triggering structure 400 can move to the preparatory position, and the preparatory position is located between the initial position and the triggering position, and the triggering structure 400 does not trigger the detection switch 500 in the preparatory position;
  • the bag assembly 200 is installed in the box body 100 to push the trigger structure 400 to move from the initial position to the preparation position, so that the box cover 300 can cover the box body 100 and push the trigger structure 400 to continue to move from the preparation position to the trigger position.
  • the dust bag assembly 200 is first put back into the box body 100, at this time, the trigger structure 400 is pushed by the dust bag assembly 200 to move from the initial position to the preparatory position, and then, the box cover 300 is then closed to the box body 100, triggering the The structure 400 is then pushed by the box cover 300 to move from the preparation position to the trigger position.
  • the trigger structure 400 can trigger the detection switch 500 at the trigger position. Dust collectors work or suspend work as needed.
  • the trigger structure 400 will not be able to reach the ready position. At this time, even if the box cover 300 is closed to the box body 100, the box cover 300 cannot push the trigger structure that is not in the ready position. 400, and the detection switch 500 cannot be triggered by the trigger structure 400. During this period, the controller maintains and restricts the dust collecting device from working based on the non-triggered state of the detection switch 500 until the dust bag assembly 200 is first put back into the box body 100 and the box cover 300 The box body 100 is then closed.
  • the detection accuracy of the correlation detection of whether the dust bag assembly 200 is in place and whether the box cover 300 covers the box body 100 can be further improved, the risk of misjudgment can be reduced, the dust collecting device can be guaranteed to work normally as required, and the use of performance.
  • the trigger structure 400 is provided with a first force-receiving portion 410 , and the first force-receiving portion 410 is located on the side of the trigger structure 400 close to the dust bag assembly 200 .
  • 200 is provided with a card board 210 detachably connected to the box body 100 and a first thrust portion 211 attached to the card board 210.
  • the first thrust portion 211 moves to the initial position when the card board 210 is installed in the box body 100 to Push the first force-receiving part 410 to move from the initial position to the preparatory position;
  • the trigger structure 400 is provided with a second force-receiving part 420, and the second force-receiving part 420 is located on the side of the trigger structure 400 close to the top of the box body 100, and the box cover 300 is close to the box
  • the top side of the body 100 is provided with a second thrust portion 310 , and the second thrust portion 310 moves to the ready position when the cover 300 is closed on the top of the case 100 to push the second force receiving portion 420 to move from the ready position to the trigger position .
  • the dust bag assembly 200 and the box cover 300 can be reliably associated with the activities of the trigger structure 400, the structure is simple, and the detection accuracy can be further improved, the risk of misjudgment can be reduced, and the use performance can be further improved.
  • the box body 100 is provided with an installation side wall 122 and a slot 1221 formed on the installation side wall 122 , and the first force-receiving portion 410 passes through at the initial position
  • the installation side wall 122 is provided, and the card board 210 is detachably installed in the card slot 1221 and abuts against the installation side wall 122 to push the first force-receiving portion 410 to shrink relative to the installation side wall 122 .
  • the card plate 210 can be quickly and accurately installed in place through the cooperation of the card plate 210 and the card slot 1221 , so as to facilitate the placement of the dust bag assembly 200 and facilitate the first thrust portion 211 to push the A force receiving portion 410 moves the trigger structure 400 from the initial position to the ready position. Therefore, the assembling convenience of the dust bag assembly 200 and the box body 100 can be improved, and the reliability of the association between the activities of the dust bag assembly 200 and the trigger structure 400 can be improved.
  • At least one of the first force receiving portion 410 and the first thrust portion 211 is provided with a first guide surface 411 , and the first guide surface 411 is relatively horizontal to a preset level The direction is inclined and the first guide surface 411 is used to guide the first thrust portion 211 to apply a first horizontal thrust to the first force receiving portion 410 .
  • the first thrust portion 211 can achieve a transitional push against the first force-receiving portion 410 along the first guide surface 411
  • the first force-receiving portion 410 is gradually pushed to contract relative to the installation side wall 122 by the cooperation, and the trigger structure 400 is moved from the initial position to the preparatory position. Therefore, based on the arrangement of the first guide surface 411 , the risk of jamming in the cooperation between the first thrust portion 211 and the first force receiving portion 410 can be effectively reduced, and the reliability of the movement of the dust bag assembly 200 and the trigger structure 400 can be improved. , to improve the smoothness of the movement of the trigger structure 400, thereby improving the use performance.
  • first guide surface 411 provided on the first force receiving portion 410 faces upward and toward the first thrust portion 211 ; and the first guide surface 411 provided on the first thrust portion 211 faces downward and toward the first force receiving portion Section 410.
  • At least one of the second force receiving portion 420 and the second thrust portion 310 is provided with a second guide surface 421 , and the second guide surface 421 is relatively horizontal to a preset level The direction is inclined, and the second guide surface 421 is used to guide the second thrust portion 310 to apply a second horizontal thrust to the second force receiving portion 420 , and the second horizontal thrust is in the same direction as the first horizontal thrust.
  • the second thrust portion 310 can be along the second guide surface 421 and the first
  • the two force-receiving parts 420 achieve a transitional push fit, and gradually push the second force-receiving part 420 to move from the ready position to the triggering position. Based on this, the relationship between the second force-receiving part 310 and the second force-receiving part 420 can be effectively reduced. In combination with the risk of sticking, the reliability of the association between the movement of the box cover 300 and the trigger structure 400 can be improved, the smoothness of the movement of the trigger structure 400 can be improved, and the use performance can be improved.
  • the movement path of the trigger structure 400 from the initial position, the preparatory position to the trigger position can be basically in a straight line. Based on this, the smooth movement of the trigger structure 400 can be further improved. In particular, it is convenient for the reset of the trigger structure 400, which is beneficial to reduce the risk of the trigger structure 400 being stuck, and can improve reliability and usability.
  • the first thrust portion 211 is protruded from the side of the card board 210 close to the trigger structure 400
  • the second thrust portion 310 is protruded from the box cover 300 Close to the trigger structure 400 side.
  • the protruding first thrust portion 211 and/or the second thrust portion 310 can reliably and conveniently realize the thrust of the trigger structure 400, and based on this, the dust bag assembly 200 and/or the box can be further improved.
  • the reliability of the association between the movement of the cover 300 and the trigger structure 400 can ensure or even prolong the movement stroke of the trigger structure 400, so that the use performance can be further improved.
  • the first thrust portion 211 pushes the first force receiving portion 410 to move from the initial position to the preparatory position along the first direction, and the second thrust portion 310 moves along the second direction
  • the second force receiving portion 420 is pushed to move from the preparation position to the trigger position, wherein the first direction and the second direction are the same preset horizontal direction.
  • the movement path of the triggering structure 400 from the initial position, the preparatory position to the triggering position can be basically formed in a straight line. Based on this, the smoothness of the movement of the triggering structure 400 can be further improved, especially the reset of the triggering structure 400 is convenient, and the The risk of sticking of the trigger structure 400 is reduced, and reliability and usability can be improved.
  • the trigger structure 400 protrudes with a third thrust portion 450 for pressing the detection switch 500 .
  • the triggering structure 400 can reliably and continuously press the detection switch 500 through the third thrust portion 450 at the triggering position, so that the detection switch 500 is maintained in the triggered state, and the use performance is better.
  • the detection switch 500 is disposed on the side of the trigger structure 400 away from the box cover 300 .
  • Such an arrangement is beneficial to compress the horizontal space occupied by the trigger structure 400 and the detection switch 500 , thereby facilitating the miniaturized design of the dust collector.
  • the dust collecting device further includes an elastic member 600 , which elastically connects the trigger structure 400 and the box body 100 to provide the trigger structure 400 to move toward the initial position. elastic resilience.
  • the elastic member 600 is elastically deformed and stored, so that the trigger structure 400 moves closer when it is released from being pushed. Elastic restoring force for movement in the direction of the initial position.
  • the box cover 300 first opens the box body 100 , the box cover 300 releases the push against the trigger structure 400 , and the elastic force of the elastic member 600 can cause the trigger structure 400 to return from the trigger position to the preparatory position.
  • the detection switch 500 has been activated from the trigger position
  • the state switches back to the non-triggered state, and then, the dust bag assembly 200 is taken out from the box body 100 again, the dust bag assembly 200 is released from pushing against the trigger structure 400, and the elastic force of the elastic member 600 can further promote the trigger structure 400 to reset from the prepared position to the initial state position, during the period, the detection switch 500 is always maintained in the non-triggered state, and the controller maintains and restricts the operation of the dust collector based on the non-activated state of the detection switch 500 until the dust bag assembly 200 is first put back into the box body 100 and the box cover 300 is closed again.
  • the box body 100 is assembled.
  • the elastic restoring force of the elastic member 600 can make the trigger structure 400 move toward the initial position immediately when the box cover 300 is released from pushing against the trigger structure 400 , so that the trigger detection switch 500 can be instantly released and the trigger detection switch 500 can be released.
  • the detection switch 500 is immediately switched back to the non-triggered state, so that the controller can immediately limit the operation of the dust collecting device, thereby improving the use performance.
  • the elastic restoring force of the elastic member 600 can also make the trigger structure 400 reset to the initial position, so that the trigger structure 400 and the detection switch 500 can be re-associated to detect “whether the dust bag assembly 200 is in place” and “whether the box cover 300 covers the box body 100 or not” ”, which can improve the detection accuracy, ensure that the dust collector can work normally as required, and improve the performance.
  • the box body 100 includes a box body 110 , a dust bag bracket 120 installed in the box body 110 , and a side connected to the dust bag bracket 120 away from the dust bag assembly 200
  • the detection bracket 130 is provided with a limit hole 131;
  • the trigger structure 400 includes a trigger body 430 and a guide post 440 connected to the side of the trigger body 430 away from the dust bag assembly 200, and the guide post 440 is slidably fitted in the limit hole 131 , the elastic member 600 elastically connects the trigger body 430 and the detection bracket 130 .
  • the dust suction tube 121 for connecting with the dust bag assembly 200 can be integrally formed with the dust bag bracket 120 , and the trigger structure 400 , the detection switch 500 and the elastic member 600 can be assembled to the detection bracket 130 correspondingly. , and then the assembly is realized by the detachable connection between the detection bracket 130 and the dust bag bracket 120 . Therefore, through the structural arrangement of the box body 100 in this embodiment, the processing convenience and assembly convenience of the box body 100 and even the dust collecting device as a whole can be easily improved.
  • this embodiment provides a possible assembly implementation example based on the setting in which the movement path of the trigger structure 400 from the initial position, the preparatory position to the trigger position is substantially in a straight line.
  • the elastic member 600 is first sleeved on the outer peripheral side of the guide post 440, and then the end of the guide post 440 is inserted into the limiting hole 131. Based on this, the elastic member 600 elastically resists the detection bracket 130 and faces the trigger body. Between one side of the trigger structure 430 and the trigger body 430 , and based on the plug-fit relationship between the guide post 440 and the limiting hole 131 , the movement path of the trigger structure 400 will be substantially in a straight line.
  • the first thrust portion 211 can push the trigger structure 400, so that the trigger structure 400 moves from the initial position to the preparation position along the through direction of the limiting hole 131, and then , the case cover 300 closes the case body 100 again, the second thrust portion 310 can push the second force receiving portion 420 to continue to move in the same direction, so that the trigger structure 400 is further moved from the preparatory position to the trigger position, so that the trigger structure 400 can pass through the trigger structure.
  • 400 immediately presses the detection switch 500, so that the detection switch 500 is switched from the non-triggered state to the activated state, and then the restriction on the dust collecting device is immediately released by the controller.
  • the elastic member 600 can recover a part of the elastic deformation and prompt the trigger structure 400 to immediately return from the trigger position to the ready position. , so as to prompt the detection switch 500 to switch from the triggered state back to the non-triggered state immediately, and restrict the dust collecting device from working. Then, the dust bag assembly 200 is taken out from the box body 100, and the first thrust portion 211 releases the resistance to the trigger structure 400. Push, the elastic member 600 can basically restore the elastic deformation and further promote the triggering structure 400 to return from the preparatory position to the initial position, so as to facilitate the deployment of the next association detection work.
  • the movement path of the trigger structure 400 can be guided, so that the smoothness of the movement of the trigger structure 400 can be improved, the reset of the trigger structure 400 can be facilitated, and the risk of the trigger structure 400 being stuck can be further reduced. Further improve reliability and usability.
  • an embodiment of the present application further provides a cleaning robot system, including a cleaning robot and a dust collecting device.
  • the cleaning robot can be a household or commercial service robot with functions of garbage cleaning and garbage storage, such as a sweeper, a sweeping and dragging integrated machine, a floor mopping machine, and a washing machine.
  • garbage cleaning and garbage storage such as a sweeper, a sweeping and dragging integrated machine, a floor mopping machine, and a washing machine.
  • impurities such as dust, hair or paper scraps in the cleaning area can be stored in the garbage storage cavity inside the cleaning robot. Therefore, after the cleaning robot works for a period of time, the dust discharge port of the cleaning robot can be connected with the dust suction port of the dust collecting device.
  • the impurities originally stored in the garbage storage cavity inside the cleaning robot are It can be introduced into the dust bag assembly 200 through the dust suction port and the dust suction pipe 121 of the box body 100 to complete the transfer and collection of impurities; and when the dust collecting device is suspended, the operator can open the box cover 300 and open the box body. 100, then take out the dust bag assembly 200 from the box body 100, and clean the impurities in the dust bag assembly 200. After the cleaning is completed, the dust bag assembly 200 can be put back into the box body 100 for the next time of the dust collecting device. Work.
  • the first thrust portion 211 pushes the first force receiving portion 410 along the first direction to move from the initial position to the preparatory position
  • the second thrust portion 310 pushes the second thrust portion 310 along the second direction.
  • the force receiving portion 420 moves from the ready position to the trigger position, wherein the first direction is the horizontal direction, and the second direction is the vertical direction.
  • the trigger structure 400 can move from the initial position to the preparatory position in the first direction under the pushing action of the first thrust portion 211 , and then move along the direction perpendicular to the first direction under the pushing action of the second pushing portion 310 .
  • the second direction moves from the ready position to the trigger position, and triggers the detection switch 500 .
  • the triggering and de-triggering of the detection switch 500 can also be reliably realized.

Abstract

一种集尘装置及清洁机器人系统，集尘装置包括箱体（100）、尘袋组件（200）、箱盖（300），以及均设于箱体（100）内的触发结构（400）、检测开关（500）和控制器，触发结构（400）可活动地在初始位置和触发位置之间移动，触发结构（400）在初始位置不触发检测开关（500），触发结构（400）在触发位置可触发检测开关（500）；当尘袋组件（200）安装于箱体（100）内且箱盖（300）盖合箱体（100）时，尘袋组件（200）和箱盖（300）分别推动触发结构（400），使得触发结构（400）由初始位置移动至触发位置并触发检测开关（500）；控制器电连接检测开关（500），控制器根据检测开关（500）的未触发状态限制集尘装置工作，控制器根据检测开关（500）的触发状态解除限制集尘装置工作。集尘装置通过简单结构实现关联检测尘袋组件（200）是否到位及箱盖（300）是否盖合箱体（100），检测准确度高，使用性能较佳。

Description

集尘装置及清洁机器人系统
本申请要求2021年3月30日向中国国家知识产权局递交的申请号为202110341972.7，申请名称为“集尘装置及清洁机器人系统”的在先申请的优先权，上述在先申请的内容以引入的方式并入本文本中。
技术领域
本申请属于清洁机器人技术领域，尤其涉及一种集尘装置及清洁机器人系统。
背景技术
集尘装置通常包括箱体、可取放于箱体的尘袋组件以及能够盖合箱体的箱盖。在集尘装置进行工作之前，需要先检测尘袋组件是否安装到位。对此，现有集尘装置通常设置在位传感器单独检测尘袋组件是否安装到位，防止集尘装置启动时尘袋没有安装到位，但是目前集尘装置中在位传感器功能较为单一，无法检测尘袋组件安装到位但箱盖未盖合的情况，导致集尘装置无法正常工作，使用性能差。
申请内容
本申请实施例的目的在于提供一种集尘装置，以解决现有集尘装置无法检测尘袋组件安装到位但箱盖未盖合的情况，导致集尘装置无法正常工作的技术问题。
为实现上述目的，本申请采用的技术方案是：一种集尘装置，包括箱体、可拆卸地安装于所述箱体内的尘袋组件以及能够盖合或者开放所述箱体的箱盖，还包括均设于所述箱体内的触发结构、检测开关和控制器，所述触发结构可活 动地在初始位置和触发位置之间移动，所述触发结构在初始位置不触发所述检测开关，所述触发结构在触发位置可触发所述检测开关；当所述尘袋组件安装于所述箱体内且所述箱盖盖合所述箱体时，所述尘袋组件和所述箱盖分别推动所述触发结构，使得所述触发结构由所述初始位置移动至所述触发位置并触发所述检测开关；所述控制器电连接所述检测开关，所述控制器根据所述检测开关的未触发状态限制所述集尘装置工作，所述控制器根据所述检测开关的触发状态解除限制所述集尘装置工作。
在一个实施例中，所述触发结构可活动至预备位置，所述预备位置位于所述初始位置和所述触发位置之间，所述触发结构在所述预备位置不触发所述检测开关；所述尘袋组件安装于所述箱体内而推动所述触发结构由所述初始位置移动至所述预备位置，以便于所述箱盖盖合所述箱体而推动所述触发结构继续由所述预备位置移动至所述触发位置。
在一个实施例中，所述触发结构设有第一受力部，所述第一受力部位于所述触发结构靠近所述尘袋组件一侧，所述尘袋组件设有可拆卸连接于所述箱体的卡板和附设于所述卡板上的第一推力部，所述第一推力部随所述卡板安装于所述箱体内而移动至所述初始位置，以推动所述第一受力部由所述初始位置移动至所述预备位置；所述触发结构设有第二受力部，所述第二受力部位于所述触发结构靠近所述箱体顶部一侧，所述箱盖靠近所述箱体顶部一侧设有第二推力部，所述第二推力部随所述箱盖盖合于所述箱体顶部而移动至所述预备位置，以推动所述第二受力部由所述预备位置移动至所述触发位置。
在一个实施例中，所述箱体设有安装侧壁和形成于所述安装侧壁上的卡槽，所述第一受力部于所述初始位置穿过所述安装侧壁设置，所述卡板可拆卸地安装于所述卡槽内并贴合所述安装侧壁，以推动所述第一受力部相对所述安装侧壁收缩。
在一个实施例中，所述第一受力部和所述第一推力部中的至少一个设有第一引导面，所述第一引导面相对预设水平方向倾斜设置，所述第一引导面用于 引导所述第一推力部对所述第一受力部施加第一水平推力。
在一个实施例中，所述第二受力部和所述第二推力部中的至少一个设有第二引导面，所述第二引导面相对预设水平方向倾斜设置，所述第二引导面用于引导所述第二推力部对所述第二受力部施加第二水平推力，所述第二水平推力与所述第一水平推力方向一致。
在一个实施例中，所述第一推力部凸设于所述卡板靠近所述触发结构一侧，和/或，所述第二推力部凸设于所述箱盖靠近所述触发结构一侧。
在一个实施例中，所述第一推力部沿第一方向推动所述第一受力部由所述初始位置移动至所述预备位置，所述第二推力部沿第二方向推动所述第二受力部由所述预备位置移动至所述触发位置，其中，所述第一方向和所述第二方向为同一预设水平方向，或者，所述第一方向为水平方向，所述第二方向为垂直方向。
在一个实施例中，所述集尘装置还包括弹性件，所述弹性件弹性连接所述触发结构和所述箱体，以提供所述触发结构朝靠近所述初始位置方向移动的弹性回复力。
在一个实施例中，所述箱体包括箱本体、安装于所述箱本体内的尘袋支架，以及连接所述尘袋支架远离所述尘袋组件一侧的检测支架，所述检测支架开设有限位孔；所述触发结构包括触发本体以及连接于所述触发本体背离所述尘袋组件一侧的引导柱，所述引导柱滑动配合于所述限位孔内，所述弹性件弹性连接所述触发本体和所述检测支架。
本申请实施例的目的还在于提供一种清洁机器人系统，包括清洁机器人，以及所述集尘装置。
本申请提供的有益效果在于：
本申请实施例提供的集尘装置，在箱盖开放箱体和/或尘袋组件被从箱体内取出时，使检测开关处于未触发状态，并通过控制器在检测开关处于未触发状态的期间持续限制集尘装置工作；而在尘袋组件先被放回箱体内、箱盖再盖合 箱体时，通过尘袋组件和箱盖接连推动触发结构，而使触发结构从初始位置移动至触发位置并触发检测开关，随后，控制器在获得检测开关处于触发状态的信号后能够解除限制集尘装置工作，允许集尘装置根据需要进行工作或暂停工作。因而，本申请实施例提供的集尘装置可通过触发结构和检测开关实现关联检测尘袋组件是否到位以及箱盖是否盖合箱体，再基于检测开关的状态，通过控制器限制或解除限制集尘装置工作，结构简单，检测准确度高，可基本避免因尘袋组件安装到位但箱盖未盖合而导致的集尘装置无法正常工作的情况发生，从而使用性能较佳。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的集尘装置的爆炸示意图；
图2为图1提供的触发结构的结构示意图；
图3为图1提供的集尘装置在尘袋组件放入箱体但箱盖未盖合箱体时的示意图；
图4为图3提供的A区域的放大图；
图5为图3提供的集尘装置在尘袋组件放入箱体且箱盖盖合箱体时的示意图；
图6为图1提供的集尘装置在箱盖盖合箱体但尘袋组件未放入箱体时的示意图。
其中，图中各附图标记：
100-箱体，110-箱本体，120-尘袋支架，121-吸尘管，122-安装侧壁，1221-卡槽，130-检测支架，131-限位孔；200-尘袋组件，210-卡板，211-第一推力部； 300-箱盖，310-第二推力部；400-触发结构，410-第一受力部，411-第一引导面，420-第二受力部，421-第二引导面，430-触发本体，440-引导柱，450-第三推力部；500-检测开关；600-弹性件。
具体实施方式
为了使本申请所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本申请的描述中，需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
以下结合具体实施例对本申请的具体实现进行更加详细的描述：
实施例一
请参阅图1、图3、图5，本申请实施例提供了一种集尘装置，包括箱体100、可拆卸地安装于箱体100内的尘袋组件200、能够盖合或者开放箱体100的箱盖300，以及均设于箱体100内的触发结构400、检测开关500和控制器(图中未示出)，触发结构400可活动地在初始位置和触发位置之间移动，触发结构400在初始位置不触发检测开关500，触发结构400在触发位置可触发检测开关500；当尘袋组件200安装于箱体100内且箱盖300盖合箱体100时，尘袋组件200和箱盖300分别推动触发结构400，使得触发结构400由初始位置移动至触发位置并触发检测开关500；控制器电连接检测开关500，控制器根据检测开关500的未触发状态限制集尘装置工作，控制器根据检测开关500的触发状态解除限制集尘装置工作。
首先需要说明的是，在集尘装置进行工作时，尘袋组件200被置于箱体100内，且箱盖300盖合箱体100，此时，灰尘等杂质可通过箱体100的吸尘管121被引入尘袋组件200内；而在集尘装置暂停工作时，操作人员可打开箱盖300、开放箱体100，随后将尘袋组件200从箱体100内取出，并清理尘袋组件200内的杂质，清理完成后，可再将尘袋组件200放回箱体100内，以待集尘装置工作。
于是，在集尘装置进行工作之前，本实施例通过触发结构400和检测开关500实现关联检测尘袋组件200是否到位(即尘袋组件200是否放回箱体100内)以及箱盖300是否盖合箱体100，并将检测结果反馈给控制器，再由控制器限制或解除限制集尘装置工作。结构简单，使用性能较佳。
具体地，如图3、图4、图5所示，在尘袋组件200先被放回箱体100内、箱盖300再盖合箱体100时，触发结构400被尘袋组件200和箱盖300接连推动而从初始位置移动至触发位置，触发结构400在触发位置触发检测开关500，控制器在获得检测开关500处于触发状态的信号后解除限制集尘装置工作，此时，允许集尘装置根据需要进行工作或暂停工作。
反之，如图6所示，在箱盖300开放箱体100和/或尘袋组件200被从箱体 100内取出时，触发结构400无法受到尘袋组件200和箱盖300的接连推动，从而无法抵达触发位置，进而无法触发检测开关500，期间，检测开关500处于未触发状态，控制器在获得检测开关500处于未触发状态的信号的期间能够持续限制集尘装置工作，直至尘袋组件200被放回箱体100且箱盖300盖合箱体100。
综上，本申请实施例提供的集尘装置，在箱盖300开放箱体100和/或尘袋组件200被从箱体100内取出时，使检测开关500处于未触发状态，并通过控制器在检测开关500处于未触发状态的期间持续限制集尘装置工作；而在尘袋组件200先被放回箱体100内、箱盖300再盖合箱体100时，通过尘袋组件200和箱盖300接连推动触发结构400，而使触发结构400从初始位置移动至触发位置并触发检测开关500，随后，控制器在获得检测开关500处于触发状态的信号后能够解除限制集尘装置工作，允许集尘装置根据需要进行工作或暂停工作。因而，本申请实施例提供的集尘装置可通过触发结构400和检测开关500实现关联检测尘袋组件200是否到位以及箱盖300是否盖合箱体100，再基于检测开关500的状态，通过控制器限制或解除限制集尘装置工作，结构简单，检测准确度高，可基本避免因尘袋组件200安装到位但箱盖300未盖合而导致的集尘装置无法正常工作的情况发生，从而使用性能较佳。
可选地，控制器可以为微控制器(Microcontroller Unit；MCU)，例如，控制器可以为ARM Cortex-M4-32位微控制器，本实施例对此不做限制。
可选地，检测开关500在触发结构400处于触发位置时被触发结构400抵压而从未触发状态切换至触发状态。具体地，在触发结构400抵达触发位置时，触发结构400可抵压检测开关500而使检测开关500从未触发状态切换至触发状态；反之，在触发结构400离开触发位置时，检测开关500解除被抵压而从触发状态切换回未触发状态。如此设置，可简便、准确且即时地实现检测开关500在未触发状态和触发状态之间的切换，可提高检测开关500的状态切换的灵敏度，进而提高检测准确度。
可选地，检测开关500可为微动开关，如此设置，触发结构400可使用很微小的力度实现检测开关500在未触发状态和触发状态之间的状态切换，可使得检测开关500的状态切换操作灵敏、即时，从而可提高对“尘袋组件200是否到位”以及“箱盖300是否盖合箱体100”的检测准确度和灵敏度，可进一步提高集尘装置的使用性能。
当然，在其他可能的实施方式中，检测开关500可由触发结构400拨动而从未触发状态切换至触发状态。检测开关500可为霍尔传感器、按钮开关、船型开关、钮子开关或拨动开关等等，本实施例对此不做限制。
请参阅图3、图4、图5，在本实施例中，触发结构400可活动至预备位置，预备位置位于初始位置和触发位置之间，触发结构400在预备位置不触发检测开关500；尘袋组件200安装于箱体100内而推动触发结构400由初始位置移动至预备位置，以便于箱盖300盖合箱体100而推动触发结构400继续由预备位置移动至触发位置。
具体地，尘袋组件200先被放回箱体100内，此时，触发结构400被尘袋组件200推动而从初始位置移动至预备位置，随后，箱盖300再盖合箱体100，触发结构400再被箱盖300推动而从预备位置移动至触发位置，触发结构400在触发位置可触发检测开关500，控制器在获得检测开关500处于触发状态的信号后解除限制集尘装置工作，允许集尘装置根据需要进行工作或暂停工作。
倘若尘袋组件200未被放回箱体100内，触发结构400将无法抵达预备位置，此时，即使将箱盖300盖合箱体100，箱盖300也无法推动未处于预备位置的触发结构400，进而无法通过触发结构400触发检测开关500，期间，控制器基于检测开关500的未触发状态维持限制集尘装置进行工作，直至尘袋组件200先被放回箱体100内而箱盖300再盖合箱体100。
因而，通过采用上述方案，可进一步提高关联检测尘袋组件200是否到位以及箱盖300是否盖合箱体100的检测准确度，降低误判风险，保障集尘装置能够按需正常工作，提高使用性能。
请参阅图2、图4、图5，在本实施例中，触发结构400设有第一受力部410，第一受力部410位于触发结构400靠近尘袋组件200一侧，尘袋组件200设有可拆卸连接于箱体100的卡板210和附设于卡板210上的第一推力部211，第一推力部211随卡板210安装于箱体100内而移动至初始位置，以推动第一受力部410由初始位置移动至预备位置；触发结构400设有第二受力部420，第二受力部420位于触发结构400靠近箱体100顶部一侧，箱盖300靠近箱体100顶部一侧设有第二推力部310，第二推力部310随箱盖300盖合于箱体100顶部而移动至预备位置，以推动第二受力部420由预备位置移动至触发位置。
基于上述结构，在尘袋组件200被放回箱体100内且卡板210安装到位时，第一推力部211可相对抵推第一受力部410，而使触发结构400从初始位置移动至预备位置；随后，箱盖300再盖合箱体100，第二推力部310可相对抵推第二受力部420，而使触发结构400从预备位置移动至触发位置，进而触发检测开关500。因而，通过采用上述方案，可将尘袋组件200和箱盖300与触发结构400的活动进行可靠的关联，结构简单，且可进一步提高检测准确度，降低误判风险，进一步提高使用性能。
请参阅图1、图4、图6，在本实施例中，箱体100设有安装侧壁122和形成于安装侧壁122上的卡槽1221，第一受力部410于初始位置穿过安装侧壁122设置，卡板210可拆卸地安装于卡槽1221内并贴合安装侧壁122，以推动第一受力部410相对安装侧壁122收缩。
通过采用上述方案，可通过卡板210与卡槽1221的配合，而使卡板210快速、精准地安装到位，从而便于引导尘袋组件200放置到位，且便于第一推力部211相对抵推第一受力部410而使触发结构400从初始位置移动至预备位置。从而可提高尘袋组件200与箱体100的装配便利性，提高尘袋组件200与触发结构400的活动的关联可靠性。
请参阅图3、图4、图6，在本实施例中，第一受力部410和第一推力部211中的至少一个设有第一引导面411，第一引导面411相对预设水平方向倾斜设 置，第一引导面411用于引导第一推力部211对第一受力部410施加第一水平推力。
通过采用上述方案，在尘袋组件200被从上往下放入箱体100内的过程中，第一推力部211可沿第一引导面411与第一受力部410实现过渡性的抵推配合，而逐步地推动第一受力部410相对于安装侧壁122收缩，促使触发结构400从初始位置移动至预备位置。因而，基于第一引导面411的设置，可有效降低第一推力部211与第一受力部410的配合出现卡滞的风险，可提高尘袋组件200与触发结构400的活动的关联可靠性，提高触发结构400的活动顺畅程度，进而可提高使用性能。
其中，设于第一受力部410的第一引导面411是朝上且朝向第一推力部211的；而设于第一推力部211的第一引导面是朝下且朝向第一受力部410的。
请参阅图2、图4、图5，在本实施例中，第二受力部420和第二推力部310中的至少一个设有第二引导面421，第二引导面421相对预设水平方向倾斜设置，第二引导面421用于引导第二推力部310对第二受力部420施加第二水平推力，第二水平推力与第一水平推力方向一致。
基于第二引导面421的设置，在尘袋组件200已被放入箱体100内而箱盖300逐步盖合箱体100的过程中，第二推力部310可沿第二引导面421与第二受力部420实现过渡性的抵推配合，而逐步地推动第二受力部420从预备位置移动至触发位置，基于此，可有效降低第二推力部310与第二受力部420的配合出现卡滞的风险，可提高箱盖300与触发结构400的活动的关联可靠性，提高触发结构400的活动顺畅程度，进而可提高使用性能。
而通过第二水平推力与第一水平推力方向一致的设置，可使得触发结构400从初始位置、预备位置至触发位置的移动路径基本呈一直线，基于此，可进一步提高触发结构400的活动顺畅程度，尤其便于触发结构400的复位，利于降低触发结构400出现卡滞的风险，可提高可靠性、使用性。
请参阅图1、图4、图5，在本实施例中，第一推力部211凸设于卡板210 靠近触发结构400一侧，和/或，第二推力部310凸设于箱盖300靠近触发结构400一侧。
通过采用上述方案，可通过凸起状的第一推力部211和/或第二推力部310可靠且便利地实现触发结构400的抵推，基于此，可进一步提高尘袋组件200和/或箱盖300与触发结构400的活动的关联可靠性，且可保障甚至延长触发结构400的活动行程，从而可进一步提高使用性能。
请参阅图3、图4、图5，在本实施例中，第一推力部211沿第一方向推动第一受力部410由初始位置移动至预备位置，第二推力部310沿第二方向推动第二受力部420由预备位置移动至触发位置，其中，第一方向和第二方向为同一预设水平方向。
通过采用上述方案，可使得触发结构400从初始位置、预备位置至触发位置的移动路径基本呈一直线，基于此，可进一步提高触发结构400的活动顺畅程度，尤其便于触发结构400的复位，利于降低触发结构400出现卡滞的风险，可提高可靠性、使用性。
请参阅图2、图4、图5，在本实施例中，触发结构400凸设有用于抵压检测开关500的第三推力部450。
通过采用上述方案，触发结构400在触发位置可通过第三推力部450可靠地持续抵压检测开关500，而使检测开关500维持触发状态，使用性能较佳。
可选地，检测开关500设于触发结构400背离箱盖300的一侧，如此布局，有利于压缩触发结构400和检测开关500的水平占用空间，从而利于集尘装置的小型化设计。
请参阅图1、图4、图5，在本实施例中，集尘装置还包括弹性件600，弹性件600弹性连接触发结构400和箱体100，以提供触发结构400朝靠近初始位置方向移动的弹性回复力。
在此需要说明的是，在触发结构400从初始位置移动至预备位置、再从预备位置移动至触发位置的期间，弹性件600产生弹性变形并存蓄使触发结构400 在解除被抵推时朝靠近初始位置方向移动的弹性回复力。
具体地，箱盖300先开放箱体100，箱盖300解除抵推触发结构400，弹性件600的弹力可促使触发结构400从触发位置复位至预备位置，此时，检测开关500即已从触发状态切换回未触发状态，随后，尘袋组件200再被从箱体100内取出，尘袋组件200解除抵推触发结构400，弹性件600的弹力可进一步促使触发结构400从预备位置复位至初始位置，期间，检测开关500始终维持着未触发状态，控制器基于检测开关500的未触发状态维持限制集尘装置进行工作，直至尘袋组件200先被放回箱体100且箱盖300再盖合箱体100。
因而，通过采用上述方案，可通过弹性件600的弹性回复力，使得触发结构400在箱盖300解除抵推触发结构400时能够即时朝靠近初始位置方向移动，从而可即时解除触发检测开关500而使检测开关500即时切换回未触发状态，进而使得控制器能够即时限制集尘装置工作，从而可提高使用性能。弹性件600的弹性回复力还可使得触发结构400复位至初始位置，从而可便于触发结构400和检测开关500再关联检测“尘袋组件200是否到位”以及“箱盖300是否盖合箱体100”，从而可提高检测准确度，保障集尘装置能够按需正常工作，提高使用性能。
请参阅图1、图3、图4，在本实施例中，箱体100包括箱本体110、安装于箱本体110内的尘袋支架120，以及连接尘袋支架120远离尘袋组件200一侧的检测支架130，检测支架130开设有限位孔131；触发结构400包括触发本体430以及连接于触发本体430背离尘袋组件200一侧的引导柱440，引导柱440滑动配合于限位孔131内，弹性件600弹性连接触发本体430和检测支架130。
首先需要说明的是，用于与尘袋组件200对接连通的吸尘管121可与尘袋支架120一体成型，而触发结构400、检测开关500和弹性件600则可对应组装至检测支架130后，再通过检测支架130与尘袋支架120的可拆卸连接而实现装配。因而，通过本实施例的箱体100的结构设置，可便于提高箱体100乃 至集尘装置整体的加工便利性和装配便利性。
在此还需要说明的是，本实施例基于触发结构400从初始位置、预备位置至触发位置的移动路径基本呈一直线的设置，提供一种可能的组装实施示例。具体地，先将弹性件600套接于引导柱440外周侧，再将引导柱440的端部穿设于限位孔131，基于此，弹性件600将弹性抵持于检测支架130面向触发本体430的一侧和触发本体430之间，且基于引导柱440与限位孔131的插接配合关系，触发结构400的移动路径将基本呈一直线。
于是，在尘袋组件200被放回箱体100内时，第一推力部211可抵推触发结构400，而使触发结构400沿限位孔131的贯通方向从初始位置移动至预备位置，随后，箱盖300再盖合箱体100，第二推力部310可抵推第二受力部420沿同一方向继续移动，而使触发结构400进一步从预备位置移动至触发位置，从而可通过触发结构400即时抵压检测开关500，而使检测开关500从未触发状态切换至触发状态，进而通过控制器即时解除对集尘装置的限制，期间，弹性件600产生压缩弹性变形并蓄力。
反之，在箱盖300开放箱体100时，第二推力部310解除对第二受力部420的抵推，弹性件600可恢复一部分弹性变形并促使触发结构400即时从触发位置复位至预备位置，以促使检测开关500即时从触发状态切换回未触发状态，并限制集尘装置进行工作，随后，尘袋组件200被从箱体100内取出，第一推力部211解除对触发结构400的抵推，弹性件600可基本恢复弹性变形并进一步促使触发结构400从预备位置复位至初始位置，以便于下次关联检测工作的展开。
因而，通过采用上述方案，可对触发结构400的移动路径进行引导，从而可便于提高触发结构400的活动顺畅程度，便于触发结构400的复位，可进一步减少触发结构400出现卡滞的风险，可进一步提高可靠性、使用性。
请参阅图1，本申请实施例还提供了一种清洁机器人系统，包括清洁机器人，以及集尘装置。
其中，清洁机器人可以是扫地机、扫拖一体机、擦地机、洗地机等具有垃圾清扫和垃圾存储功能的家用或商用服务机器人。具体地，在清洁机器人工作时，清洁区域的灰尘、毛发或纸屑等杂质可由清洁机器人内部的垃圾存储腔所存储。于是，在清洁机器人工作一段时间后，可将清洁机器人的排尘口与集尘装置的吸尘口对接，如此，在集尘装置工作时，原存储于清洁机器人内部的垃圾存储腔的杂质即可通过吸尘口和箱体100的吸尘管121被引入尘袋组件200内，而完成杂质的转移、收集；而在集尘装置暂停工作时，操作人员可打开箱盖300、开放箱体100，随后将尘袋组件200从箱体100内取出，并清理尘袋组件200内的杂质，清理完成后，可再将尘袋组件200放回箱体100内，以待集尘装置下一次工作。
实施例二
本实施例与实施例一的区别在于：
请参考图4、图5，在本实施例中，第一推力部211沿第一方向推动第一受力部410由初始位置移动至预备位置，第二推力部310沿第二方向推动第二受力部420由预备位置移动至触发位置，其中，第一方向为水平方向，第二方向为垂直方向。
通过采用上述方案，触发结构400可在第一推力部211的抵推作用下沿第一方向从初始位置移动至预备位置，再在第二推力部310的抵推作用下沿垂直于第一方向的第二方向从预备位置移动至触发位置，并触发检测开关500。基于本实施例的触发位置的移动路径设置，也能够可靠地实现检测开关500的触发和解除触发。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种集尘装置，包括箱体、可拆卸地安装于所述箱体内的尘袋组件以及能够盖合或者开放所述箱体的箱盖，其中，还包括均设于所述箱体内的触发结构、检测开关和控制器，所述触发结构可活动地在初始位置和触发位置之间移动，所述触发结构在初始位置不触发所述检测开关，所述触发结构在触发位置可触发所述检测开关；当所述尘袋组件安装于所述箱体内且所述箱盖盖合所述箱体时，所述尘袋组件和所述箱盖分别推动所述触发结构，使得所述触发结构由所述初始位置移动至所述触发位置并触发所述检测开关；所述控制器电连接所述检测开关，所述控制器根据所述检测开关的未触发状态限制所述集尘装置工作，所述控制器根据所述检测开关的触发状态解除限制所述集尘装置工作。
  2. 如权利要求1所述的集尘装置，其中，所述触发结构可活动至预备位置，所述预备位置位于所述初始位置和所述触发位置之间，所述触发结构在所述预备位置不触发所述检测开关；所述尘袋组件安装于所述箱体内而推动所述触发结构由所述初始位置移动至所述预备位置，以便于所述箱盖盖合所述箱体而推动所述触发结构继续由所述预备位置移动至所述触发位置。
  3. 如权利要求2所述的集尘装置，其中，所述触发结构设有第一受力部，所述第一受力部位于所述触发结构靠近所述尘袋组件一侧，所述尘袋组件设有可拆卸连接于所述箱体的卡板和附设于所述卡板上的第一推力部，所述第一推力部随所述卡板安装于所述箱体内而移动至所述初始位置，以推动所述第一受力部由所述初始位置移动至所述预备位置；所述触发结构设有第二受力部，所述第二受力部位于所述触发结构靠近所述箱体顶部一侧，所述箱盖靠近所述箱体顶部一侧设有第二推力部，所述第二推力部随所述箱盖盖合于所述箱体顶部而移动至所述预备位置，以推动所述第二受力部由所述预备位置移动至所述触发位置。
  4. 如权利要求3所述的集尘装置，其中，所述箱体设有安装侧壁和形成于 所述安装侧壁上的卡槽，所述第一受力部于所述初始位置穿过所述安装侧壁设置，所述卡板可拆卸地安装于所述卡槽内并贴合所述安装侧壁，以推动所述第一受力部相对所述安装侧壁收缩。
  5. 如权利要求3所述的集尘装置，其中，所述第一受力部和所述第一推力部中的至少一个设有第一引导面，所述第一引导面相对预设水平方向倾斜设置，所述第一引导面用于引导所述第一推力部对所述第一受力部施加第一水平推力。
  6. 如权利要求5所述的集尘装置，其中，所述第二受力部和所述第二推力部中的至少一个设有第二引导面，所述第二引导面相对预设水平方向倾斜设置，所述第二引导面用于引导所述第二推力部对所述第二受力部施加第二水平推力，所述第二水平推力与所述第一水平推力方向一致。
  7. 如权利要求3所述的集尘装置，其中，所述第一推力部凸设于所述卡板靠近所述触发结构一侧，和/或，所述第二推力部凸设于所述箱盖靠近所述触发结构一侧。
  8. 如权利要求3所述的集尘装置，其中，所述第一推力部沿第一方向推动所述第一受力部由所述初始位置移动至所述预备位置，所述第二推力部沿第二方向推动所述第二受力部由所述预备位置移动至所述触发位置，其中，所述第一方向和所述第二方向为同一预设水平方向，或者，所述第一方向为水平方向，所述第二方向为垂直方向。
  9. 如权利要求1-8中任一项所述的集尘装置，其中，所述集尘装置还包括弹性件，所述弹性件弹性连接所述触发结构和所述箱体，以提供所述触发结构朝靠近所述初始位置方向移动的弹性回复力。
  10. 如权利要求9所述的集尘装置，其中，所述箱体包括箱本体、安装于所述箱本体内的尘袋支架，以及连接所述尘袋支架远离所述尘袋组件一侧的检测支架，所述检测支架开设有限位孔；所述触发结构包括触发本体以及连接于所述触发本体背离所述尘袋组件一侧的引导柱，所述引导柱滑动配合于所述限位孔内，所述弹性件弹性连接所述触发本体和所述检测支架。
  11. 一种清洁机器人系统，包括清洁机器人，其中，还包括如权利要求1-10中任一项所述的集尘装置。
PCT/CN2021/135567 2021-03-30 2021-12-05 集尘装置及清洁机器人系统 WO2022205997A1 (zh)

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