WO2023035568A1 - 到位开关组件以及自动清洁设备 - Google Patents
到位开关组件以及自动清洁设备 Download PDFInfo
- Publication number
- WO2023035568A1 WO2023035568A1 PCT/CN2022/080008 CN2022080008W WO2023035568A1 WO 2023035568 A1 WO2023035568 A1 WO 2023035568A1 CN 2022080008 W CN2022080008 W CN 2022080008W WO 2023035568 A1 WO2023035568 A1 WO 2023035568A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- switch
- automatic cleaning
- switch assembly
- cleaning
- key
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 241
- 230000004044 response Effects 0.000 claims abstract description 16
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000001960 triggered effect Effects 0.000 claims abstract description 9
- 239000007788 liquid Substances 0.000 claims description 67
- 230000033001 locomotion Effects 0.000 claims description 40
- 238000003860 storage Methods 0.000 claims description 39
- 238000003825 pressing Methods 0.000 claims description 15
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 230000001502 supplementing effect Effects 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 60
- 239000000306 component Substances 0.000 description 42
- 239000000758 substrate Substances 0.000 description 19
- 239000000428 dust Substances 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 7
- 238000005108 dry cleaning Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000009826 distribution Methods 0.000 description 5
- 230000000670 limiting effect Effects 0.000 description 5
- 230000008447 perception Effects 0.000 description 5
- 230000002441 reversible effect Effects 0.000 description 5
- 239000012790 adhesive layer Substances 0.000 description 4
- 239000012530 fluid Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 241001417527 Pempheridae Species 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229910005813 NiMH Inorganic materials 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000009736 wetting Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
- A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
Definitions
- the invention relates to the technical field of cleaning robots, in particular to an in-position switch assembly and automatic cleaning equipment.
- Automatic cleaning equipment is used to automatically clean designated places.
- Existing automatic cleaning equipment includes sweepers, mopping machines, and all-in-one sweeping and dragging machines.
- automatic cleaning equipment capable of mopping the floor it must be equipped with a liquid storage tank to provide cleaning fluid.
- the automatic cleaning equipment needs to return to the liquid replenishment pile to replenish the cleaning liquid.
- the existing automatic cleaning equipment does not have an in-position indicating device to indicate whether the automatic cleaning equipment has traveled to the predetermined position of the liquid replenishment pile. It will affect the subsequent rehydration process.
- the purpose of the present invention is to provide an in-position switch assembly and automatic cleaning equipment, the specific scheme is as follows:
- Some embodiments of the present invention provide an in-position switch assembly, which is assembled on automatic cleaning equipment and is configured to indicate whether the automatic cleaning equipment returns to a predetermined position of the pile body.
- the in-position switch assembly includes:
- a button configured to move toward the switch part under the action of an external force
- the switch trigger piece is connected with the end of the elastic arm away from the button
- the switch component is configured to send an in-position signal in response to being triggered by the switch trigger piece.
- the switch components include:
- the switch trigger piece presses the elastic component so that the elastic component is compressed; in response to the compression of the elastic component by a predetermined amount, the switch component sends an in-position signal .
- the position switch assembly also includes:
- the limiter is arranged on the side of the switch component body facing the key, configured to block the switch trigger piece from continuing to compress the elastic component in response to the compression of the elastic component by the predetermined amount.
- the position switch assembly also includes:
- the slide rail is configured to support the switch trigger piece, so that the switch trigger piece is slidable on the slide rail.
- the elastic arm has a bent structure, and the bent structure includes a first end, a second end, and a bent portion between the first end and the second end, and the first The end is connected with the button, and the second end is connected with the trigger piece of the switch.
- the number of the elastic arms is at least two, and the at least two elastic arms are arranged symmetrically with respect to the center line of the key.
- At least one protruding structure is provided on the top surface of the key.
- the keys include:
- the first sub-section is in the shape of a strip, and is arranged on the side of the pressing part facing the switch component, the middle part of the first sub-section is connected to the pressing part,
- At least one of the second subsection and the third subsection is configured to slide on the guide rail along with the movement of the key.
- an end of the guide rail away from at least one of the second subsection and the third subsection and a free end of at least one of the second subsection and the third subsection are provided between With compression spring.
- Some embodiments of the present invention provide an automatic cleaning device, including the position switch assembly described in the foregoing embodiments.
- the automated cleaning device includes:
- liquid storage tank detachably arranged in the mobile platform
- the in-position switch assembly is arranged on the side of the liquid storage tank facing the bottom surface of the mobile platform.
- the mobile platform includes a forward portion and a rearward portion, and the liquid storage tank and the position switch assembly are disposed in the rearward portion.
- the side wall of the mobile platform has a groove, the groove is located under the liquid storage tank, and the pressing part of the button is disposed in the groove.
- the present invention provides an in-position switch assembly and an automatic cleaning device, wherein the in-position switch assembly includes an elastic arm connecting a button and a switch trigger piece, so that the switch trigger piece moves to a limit piece and presses the elastic part of the switch part to trigger the switch After the component is removed, due to the elasticity of the elastic arm, the button can still move further towards the switch component under the action of an external force, which increases the stroke of the button after the switch component is triggered, and increases the robustness of the automatic cleaning device reaching the predetermined position of the rehydration pile.
- Fig. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present invention.
- Fig. 2 is a schematic diagram of the bottom structure of an automatic cleaning device according to an embodiment of the present invention.
- Fig. 3 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.
- Fig. 4 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present invention.
- Fig. 5 is a structural diagram of a vibrating element of an automatic cleaning device according to an embodiment of the present invention.
- Fig. 6 is a structural diagram of a vibrating element according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present invention.
- Fig. 8 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present invention.
- FIG. 9 is a structural diagram of a motor-driven lifting module according to an embodiment of the present invention.
- Fig. 10 is an overall structural diagram of an automatic cleaning device according to an embodiment of the present invention.
- Fig. 11 is a structural diagram of a liquid storage tank according to an embodiment of the present invention.
- Fig. 12 is a partial sectional view of a liquid storage tank according to an embodiment of the present invention.
- Fig. 13 is a schematic structural diagram of an in-position switch assembly according to an embodiment of the present invention.
- FIG. 14 is an enlarged view of area M in FIG. 13 .
- first, second, third, etc. may be used for description in the embodiments of the present invention, these should not be limited to these terms. These terms are used only to distinguish.
- the first can also be called the second, and similarly, the second can also be called the first.
- Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment.
- the automatic cleaning device 10 can be a vacuum robot or a mopping/scrubbing robot , can also be a window climbing robot, etc.
- the automatic cleaning equipment can include a mobile platform 100, a perception system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160 and a human-computer interaction system 170. in:
- the mobile platform 100 may be configured to automatically move in a target direction on the operating surface.
- the operation surface may be the surface to be cleaned by the automatic cleaning equipment.
- the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface;
- the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface;
- the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface.
- the following description in this application takes a mopping robot as an example.
- the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
- the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic.
- the target direction can be determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually.
- the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
- the perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
- the device provides various position information and motion state information of the machine to the control system 130.
- the autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, The front and rear axis y and the central vertical axis z.
- the forward driving direction along the front-rear axis y is designated "forward” and the rearward driving direction along the front-rear axis y is designated “rear”.
- the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device.
- the automatic cleaning device can rotate around the x-axis.
- a self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and “pitched” is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards.
- the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right of the Y axis, it is “right turn”, and when the automatic cleaning device is tilted to the left of the y axis, it is "left turn".
- a cliff sensor 123 is provided on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage.
- the aforementioned "front” refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned “rear” refers to the side opposite to the direction of travel of the automatic cleaning device.
- the position determining device 121 includes but not limited to a camera and a laser distance measuring device (LDS).
- LDS laser distance measuring device
- Each component in the perception system 120 can operate independently or jointly to achieve the purpose function more accurately.
- the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.
- the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
- the forward part 111 of the mobile platform 100 is provided with a buffer 122.
- the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor.
- a sensor system such as an infrared sensor.
- the automatic cleaning device can pass through the events (or objects) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.
- the control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
- the device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform forward, backward, and/or steering operations according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.
- the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.
- Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components.
- the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the movement of the machine more accurately, preferably the drive system 140 includes a left drive wheel assembly and a right drive wheel components.
- the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
- the automatic cleaning equipment can include one or more steering assemblies 142, and the steering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .
- Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
- the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
- the driving wheel may have a biased drop suspension system, fastened in a movably manner, for example attached in a rotatable manner, to the automatic cleaning device moving platform 100, and with a certain ground force by elastic elements such as tension springs or compression springs.
- the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
- Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
- the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
- the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage. If there is dust on the exposed charging electrodes, due to the cumulative effect of charges during the charging process, the plastic body around the electrodes will be melted and deformed, and even the electrodes themselves will be deformed, making it impossible to continue charging normally.
- the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
- the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.
- the cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400 .
- the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
- the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
- the dust removal ability of the sweeper can be characterized by the cleaning efficiency DPU (Dust pickup efficiency) of the garbage.
- the cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the connecting parts between the four.
- the wind power utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design issue.
- the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also increase. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion whether the sweep is clean/wipe clean.
- the dry cleaning module may also include a side brush 152 having an axis of rotation that is angled relative to the ground for moving debris into the area of the roller brush of the cleaning module 150 .
- the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, a driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to basically reciprocate along the target surface, the The target surface is part of the operating surface.
- the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned by reciprocating motion, thereby removing the surface to be cleaned. stains.
- High-frequency reciprocating motion also called reciprocating vibration
- the friction frequency is close to sound waves.
- the cleaning effect will be much higher than the rotational friction cleaning of dozens of circles per minute.
- the tufts on the surface of the cleaning head will be more neatly extended in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of only being exerted under the condition of low-frequency rotation to increase friction Force to improve the cleaning effect, only the down pressure will not make the hair tufts extend in the same direction.
- the effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no chaotic water stains will be left.
- the reciprocating motion may be repeated motion along any one or multiple directions within the operating surface, or vibration perpendicular to the operating surface, which is not strictly limited.
- the reciprocating direction of the cleaning module is approximately perpendicular to the direction of travel of the machine, because the reciprocating direction parallel to the direction of travel of the machine will cause instability to the machine itself, because the thrust and resistance in the direction of travel will cause
- the driving wheel is easy to slip, and the effect of slipping is more obvious when the wet cleaning module is included, because the slippery operating surface increases the possibility of slipping, and slipping not only affects the smooth running and cleaning of the machine, but also causes the odometer Sensors such as gyroscopes and gyroscopes are inaccurate in ranging, which leads to the inability of accurate positioning and map drawing of navigation-type automatic cleaning equipment.
- the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; a supporting platform 422 detachably connected to The driving platform 421 is used to support the cleaning head 410 and can be driven up and down by the driving platform 421 .
- a lifting module is provided between the cleaning module 150 and the mobile platform 100 to make the cleaning module 150 better contact with the surface to be cleaned, or to use different cleaning strategy.
- the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can be more conveniently passed through the lifting module. obstacle.
- the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module.
- the wet cleaning module 400 is raised by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning means.
- the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 facing the mobile platform 100, and outputs power through the output shaft of the motor; a driving wheel 4212, which is connected to the The output shaft of the motor is connected, and the driving wheel 4212 is an asymmetric structure; the vibrating member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected to the driving wheel 4212. 4212 achieves reciprocating motion under asymmetrical rotation.
- the drive platform 421 may further include a gear mechanism.
- a gear mechanism may connect the motor 4211 and the drive wheel 4212.
- the motor 4211 can directly drive the driving wheel 4212 to make a rotary motion, and can also indirectly drive the driving wheel 4212 to make a rotary motion through a gear mechanism.
- the gear mechanism can be one gear, or a gear set composed of multiple gears.
- the motor 4211 transmits power to the cleaning head 410, the drive platform 421, the support platform 422, the water delivery mechanism, the liquid storage tank, etc. through the power transmission device.
- the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
- the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
- the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device At the same time, it can drive the vibrating part 4213 of the driving platform in the wet cleaning assembly 400 to basically reciprocate and the water delivery mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to lift through the power transmission device.
- the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibrating element 4213 so that the vibrating element 4213 extends to a preset position, wherein The extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214, so that the reciprocating direction of the vibrating member 4213 is substantially perpendicular to the machine traveling direction.
- the motor 4211 is connected with the driving wheel 4212, the vibrating element 4213, the connecting rod 4214 and the shock buffering device 4215 through a power transmission device.
- the vibrating element 4213 and the connecting rod 4214 form an approximate L-shaped structure, as shown in FIG. 6 , the vibrating element 4213 reciprocates driven by the connecting rod 4214 .
- the vibration buffer device 4215 plays a role in damping and reducing the vibration of the motion driven by the driving wheel 4212 , so that the vibration part 4213 can vibrate stably within the range of motion provided by the supporting platform 422 .
- the shock buffering device 4215 is made of soft material, optionally a rubber structure, and the shock buffering device 4215 is sheathed on the connecting rod 4214 .
- the shock buffer device 4215 can also protect the vibrating element 4213 from being damaged due to collision with the driving platform 421 , which also affects the reciprocating motion of the vibrating element 4213 .
- the movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed.
- the above-mentioned two movement restrictions make the movement mode of the vibrating member 4213 not accurate reciprocating, but substantially reciprocating.
- the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212.
- the vibration buffer device 4215 drives the vibration part 4213 along the driving platform 421
- the surface basically reciprocates
- the vibrating element 4213 basically reciprocates along the surface of the support platform 422 with the cleaning substrate 4221
- the cleaning substrate 4221 basically reciprocates along the active area 412 along the surface to be cleaned.
- the clear water pump makes clear water flow out from the clear liquid storage tank, and sprinkles clear water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 then cleans the surface to be cleaned by reciprocating motion.
- the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
- the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
- the perception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
- the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the cleaning head 410 .
- the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller;
- the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger.
- the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger.
- the cleaning head 410 needs to perform fewer reciprocating movements and the water pump provides relatively less water to clean the desktop. clean.
- the support platform 422 includes: a cleaning substrate 4221, which is freely movable on the support platform 422, and the cleaning substrate 4221 basically reciprocates under the vibration of the vibrating member 4213 sports.
- the cleaning substrate 4221 includes: an assembly notch 42211 disposed at a position in contact with the vibrating element 4213 , when the supporting platform 422 is connected to the driving platform 421 , the The vibrating element 4213 is assembled in the fitting notch 42211 , so that the cleaning substrate 4221 can basically reciprocate synchronously with the vibrating element 4213 .
- the four first limiting positions 42212 are flexibly connected to the cleaning substrate 4221, but the elastic scaling space is small, so the cleaning substrate 4221 is limited to be cleaned.
- a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221 for allowing the water flowing out of the water outlet device 4217 to flow to the cleaning head 410 through the water outlet hole.
- the movement of the cleaning substrate 4221 is basically reciprocating.
- the cleaning substrate 4221 is located on a part of the supporting platform 422, and the local vibration method can make the vibration frequency larger, such as reaching the range of the sound wave frequency.
- the movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed.
- the support platform 422 also includes: an elastic detachment button 4229, which is arranged on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421 , so that the supporting platform 422 is detachably fixed mechanically on the driving platform 421, fixed relative to the driving platform and the automatic cleaning device itself.
- At least one assembly area 4224 is provided on the support platform 422 for assembling the cleaning head 410 . Fitting area 4224 may be formed of an adhesive material with an adhesive layer.
- the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221 , driven by the cleaning substrate 4221 along the cleaning surface Up and down.
- the active area 412 is disposed approximately at the center of the cleaning head 410 .
- an adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 is connected to the cleaning substrate 4221 through the adhesive layer.
- the cleaning head 410 further includes: a fixed area 411, which is connected to the bottom of the support platform 422 through the at least one assembly area 4224, and the fixed area 411 cleans the at least a portion of the operating surface.
- the cleaning head 410 further includes: a flexible connection part 413 disposed between the fixed area 411 and the movable area 412 for connecting the fixed area 411 and the active area 412 .
- the cleaning head 410 further includes: a sliding buckle 414 extending along the edge of the cleaning head 410 and detachably installed at the locking position 4225 of the supporting platform 422 .
- the cleaning head 410 can be made of a material with certain elasticity, and the cleaning head 410 is fixed on the surface of the supporting platform 422 through an adhesive layer, so as to realize reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 is always in contact with the surface to be cleaned.
- the water delivery mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected to the cleaning liquid outlet of the liquid storage tank (not shown), that is, the liquid outlet of the cleaning liquid storage tank, wherein the cleaning liquid can pass through the liquid storage tank.
- the cleaning liquid outlet of the tank flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
- a connecting piece (not shown in the figure) may be provided on the water outlet device, through which the water outlet device is connected with the cleaning liquid outlet of the liquid storage tank.
- a distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port.
- the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connection piece of the water outlet device, and is evenly coated on the operation surface through the distribution port.
- the water delivery mechanism may also include a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 may be directly connected to the cleaning solution outlet of the liquid storage tank, or may be connected through the clean water pump tube 4218.
- the clean water pump 4219 can be connected with the connection part of the water outlet device, and can be configured to pump the cleaning liquid from the liquid storage tank to the water outlet device.
- the clean water pump can be gear pump, vane pump, plunger pump, peristaltic pump and so on.
- the water delivery mechanism pumps out the cleaning liquid in the clear liquid storage tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. onto the cleaning head to moisten the cleaning head and the surface to be cleaned. Stains on the surface to be cleaned can be cleaned more easily after wetting.
- the power/flow rate of the clean water pump can be adjusted.
- the motor 4211 drives the clean water pump 4219 to peristalize through the gear set 42193, and the peristalsis of the clean water pump 4219 enables clean water to enter from the water inlet 42191, flow out from the water outlet 42192, and then be transported to the water outlet through the clean water pump tube 4218 device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
- the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wrapped around the drive platform 421, and the cable gear 42196 pulls the cable 42194 to lift and falling so as to realize the rising and falling of the driving platform 421.
- Cable gear 42196 and cable 42194 are the core components of the lifting module.
- a clutch 42195 is provided on the gear set 42193 and the cable gear 42196.
- the clutch 42195 includes a spring and a plate.
- the motor 4211 controls the three motion modules, and rotates in one direction to drive the vibration. Vibration, while realizing the water supply of the clean water pump 4219, rotating in the opposite direction through the cable 42194 to drive the lifting module up and down.
- the combination design of the gear set realizes the control of different combinations of the three motion modules, such as rotating the clean water pump in one direction to supply water, and realizing the control of lifting and vibration in the opposite direction.
- two motors can also be used to control the three motion modules, but using one more motor also increases the cost.
- the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module, more comprehensive cleaning functions can be provided.
- the wet cleaning module by increasing the drive unit and the vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be cleaned repeatedly, so that in the trajectory of the cleaning robot, it can pass through a certain area at one time.
- the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
- the lifting module can perform cleaning operations on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface, and on the floor/ Surfaces such as floor tiles are cleaned by putting down the wet cleaning module to achieve a more comprehensive cleaning effect.
- the automatic cleaning device 10 includes a liquid storage tank 3000, and the liquid storage tank 3000 also includes a liquid replenishment port 3005. As shown in FIGS. When the cleaning device 10 stops at the base station, the base station can inject cleaning liquid into the liquid storage tank 3000 of the automatic cleaning device 10 through the liquid replenishment port 3005 .
- a second assembly part 3004 is provided on the liquid storage tank 3000, and the second assembly part 3004 is used to connect with the base station, so that the base station can pass the liquid replenishment port 3005 to the automatic
- the liquid storage tank 3000 of the cleaning device 10 is filled with cleaning liquid.
- the second assembling part 3004 further includes a liquid replenishing port 3005 , which is located approximately in the center of the second assembling part 3004 and is used for injecting cleaning liquid into the liquid storage tank 3000 .
- a valve 17 is provided on the liquid replenishment port 3005 of the liquid storage tank 3000 . open.
- the liquid storage tank 3000 is provided with a pipeline 18, and one end of the pipeline 18 is provided with a valve 17.
- the valve 17 may be an electronic valve or a manual valve, which is ensured to be opened or closed by corresponding control. In other embodiments of the present disclosure, the valve 17 can also be a check valve. When the liquid storage tank 3000 completes rehydration and the connection between the rehydration port 3005 and the liquid storage tank 3000 is disconnected, the valve 17 is automatically closed to prevent the liquid storage tank 3000 from Cleaning fluid flows out.
- the valve 17 may be a cross valve, a lift check valve, a swing check valve and the like.
- the automatic cleaning device further includes an in-position switch assembly.
- the in-position switch assembly is configured, for example, to instruct the automatic cleaning device 10 to return to the predetermined value of the rehydration pile during the operation of the automatic cleaning device returning to the rehydration pile for replenishing cleaning liquid. position, and send an in-position signal to instruct the automatic cleaning equipment 10 to perform subsequent operations of replenishing cleaning fluid.
- the in-position switch assembly is disposed in the mobile platform 100 , specifically, the in-position switch assembly is disposed in the rearward portion 110 , and is located on the side of the liquid storage tank 3000 facing the bottom of the mobile platform 100 .
- Fig. 13 is a schematic structural diagram of an in-position switch assembly according to an embodiment of the present invention
- Fig. 14 is an enlarged view of area M in Fig. 13, as shown in Fig. 13 and Fig. 14, an embodiment of the present invention provides an in-position switch assembly 500 , is assembled on the automatic cleaning device 10 and is configured to characterize whether the automatic cleaning device returns to the pile body, for example, the predetermined position of the filling pile.
- the position switch assembly 500 includes a switch component 501 , a button 502 , an elastic arm 503 and a switch trigger piece 504 .
- the switch component 501 is for example fixed on the automatic cleaning device 10 , and in response to being triggered by the switch trigger piece 504 , sends an in-position signal.
- the switch part 501 is connected with other components through a circuit, and in response to the switch part 504 being triggered by the switch trigger piece 504, the switch part 504 generates an in-position signal and transmits the in-position signal through the circuit.
- the automatic cleaning device 10 and/or the liquid replenishment pile may perform replenishment of cleaning liquid into the liquid storage tank 3000 of the automatic cleaning device 10 in response to the in-position signal.
- the button 502 is configured to move towards the switch part 501 under the action of an external force. Specifically, when the automatic cleaning device 10 returns to the rehydration pile to perform the operation of replenishing the cleaning liquid, for example, during the pile-up process of the automatic cleaning device 10, the rehydration The protrusion on the pile will touch the button 502, and as the automatic cleaning device 10 moves further towards the rehydration pile, the button 502 will move toward the switch part 501 under the pressure of the protrusion, that is, the external force is provided by the protrusion .
- the automatic cleaning device 10 is placed in reverse to return to the rehydration pile, that is, the rearward part 110 of the mobile platform 100 is put on the pile before the forward part 111, which is the position of the liquid storage tank 3000 and the rehydration port 3005 decided.
- the liquid storage tank 3000 is located in the rearward portion 110
- the liquid refill port 3005 is located substantially in the middle of the rear end of the automatic cleaning device 10 .
- the elastic arm 503 extends away from the key 502 from the side of the key 502 towards the switch part 501 and is used to connect the key 502 and the switch trigger piece 504, the switch trigger piece 504 and the end of the elastic arm 503 away from the key 502 connect.
- the button 502 can push the switch trigger piece 504 to move towards the switch component 501 under the action of an external force, thereby realizing the triggering of the switch component 501 .
- the switch part 501 includes: a switch part body 5011 and an elastic part 5012 , the elastic part 5012 faces from the side of the switch part body 5011 toward the key 502 toward the The key 502 is extended.
- the elastic member 5012 is, for example, approximately conical, the bottom of the cone is in contact with the switch component body 5011 , and the tip of the cone points to the button 502 .
- the switch trigger piece 504 meets the end of the elastic member 5012 facing the button 502, and No force is applied to the elastic member 5012 .
- the switch trigger piece 504 presses the elastic part 5012 so that the elastic part 5012 is compressed, and also That is to say, the end of the elastic component 5012 towards the button 502 moves towards the switch component body 5011 under the pressure of the trigger piece of the switch, and at this time the elastic arm 503 is also compressed.
- the switch component 501 In response to the compression of the elastic component 5012 by a predetermined amount, the switch component 501 generates and sends an in-position signal for instructing the automatic cleaning device 10 and/or the rehydration pile to start performing the step of replenishing cleaning fluid. That is to say, after the end of the elastic component 5012 towards the button 502 moves a predetermined distance towards the switch component body 5011, the switch component 501 generates and sends a position signal. It can be considered that the triggering of the switch component 501 by the switch trigger piece 504 is a displacement trigger.
- the in-position switch assembly 500 further includes a limiter 505, and the limiter 505 is placed on the side of the switch component body 5011 facing the button 502, configured
- the trigger plate 504 of the switch is prevented from further compressing the elastic component 5012 , so as to prevent the elastic component 502 from being damaged due to excessive compression of the elastic component 502 . That is to say, the switch trigger piece 504 compresses the elastic member 5012 under the push of the button 502 until the switch trigger piece 504 reaches the limit piece 505 and is blocked by the limiter 505. At this time, the elastic member 5012 has just compressed the predetermined amount, and the switch component 501 is in the triggered state and sends out a signal in place.
- the switch part 501 has already sent the in-position signal at this time, there may be an error between the position of the automatic cleaning device and the preset in-position position on the rehydration pile. Under the action of the external force, it further moves towards the switch part 501, and since the switch trigger piece 504 is blocked by the stopper 505, the elastic arm 503 is further compressed until the automatic cleaning device 10 reaches the loading limit. In this case, the stroke of the key after the trigger of the switch part 501 is increased, and the robustness of the automatic cleaning device reaching the predetermined position of the rehydration pile is increased.
- the in-position switch assembly further includes a slide rail 506 configured to support the switch trigger piece 504 so that the switch trigger piece 504 is positioned on the slide
- the rails are slidable.
- the number of slide rails 506 is, for example, two, and the two slide rails 506 extend along the moving direction of the button 502 to define the moving direction of the development trigger piece 504 .
- the elastic arm 503 is in a bent structure, and the bent structure includes a first end, a second end, and a spring located between the first end and the second end.
- the first end is connected to the button 502
- the second end is connected to the switch trigger piece 504 .
- the elastic arm also adopts other elastic structures, such as a telescopic arm.
- the number of the elastic arms 503 is, for example, two, and the two elastic arms 503 are arranged symmetrically with respect to the midline ML of the key 502 . Specifically, the bent portion in each of the two elastic gauges 503 is farther away from the centerline ML of the key 502 than its first end and second end.
- At least one protrusion 5025 is provided on the top surface of the button 502 , and the cover on the bottom surface of the mobile platform 100 will cover the in-position switch assembly, as shown in FIGS. 13 and 14 .
- Figure 14 does not reflect the specific structural details of the in-position switch assembly and does not show the cover.
- the top surface of the above-mentioned key 502 refers to the case 502 shown in Figure 13 and Figure 14, which is roughly " ⁇ " type. surface, the top surface is set facing the cover. Normally, the button 502 will not contact the cover during its movement, but with repeated movements and aging of the button 502, there is a risk of deformation of the button 502 during the movement and friction with the cover.
- the button 502 includes a pressing portion 5024 , a first sub-portion 5021 , a second sub-portion 5022 and a third sub-portion 5023 .
- the pressing portion 5024 is configured to be in contact with the protruding portion, and receives the external force of the protruding portion pressing the button 502 .
- the first sub-portion 5021 is elongated and disposed on the side of the pressing portion 5024 facing the switch component 501 , and the middle part of the first sub-portion 5021 is connected to the pressing portion 5024 .
- the first end of the elastic arm 503 is connected to the side of the first sub-portion 5021 facing the switch component 501 , and is basically located near the middle of the side.
- the second sub-section 5022 and the third sub-section 5023 respectively extend from both ends of the first sub-section 5021 toward the switch component 501 along a direction substantially perpendicular to the first sub-section 5021 .
- At least one of the second subsection 5022 and the third subsection 5023 is configured to slide on the guide rail 507 as the button 502 moves.
- the sliding rail 507 extends along the moving direction of the key 502 and is configured to guide the key 502 .
- the raised portion 5025 includes a first raised portion 50251 and a second raised portion 50252, and the first raised portion 50251 is disposed in the middle of the first sub-section 5021 , such as a strip shape, its length direction is set parallel to the moving direction of the key 502, the second raised portion 50252 is set at both ends of the first sub-section 5021, and the second sub-section 5022 and the third sub-section
- the end portion of 5023 away from the first sub-section 5021 is, for example, circular.
- the quantity, location and shape of the above-mentioned first protrusions 50251 and second protrusions 50252 are not limited to the embodiments shown in FIG. 13 and FIG. 144 .
- one end of the guide rail 507 away from at least one of the second subsection 5022 and the third subsection 5023 is connected to at least one of the second subsection 5022 and the third subsection 5023
- a compression spring 508 is provided between the free ends.
- the compression spring 508 is configured to restore the key 502 to its original position in response to the disappearance of the external force exerted on the key 502 .
- the problem of incomplete reset caused by only relying on the elastic recovery of the elastic arm to reset the button 502 is avoided.
- the side wall of the mobile platform 100 of the automatic cleaning device 10 has a groove 1001, the groove 1001 is located below the liquid storage tank 3000, and the pressing part of the button 502 5024 is disposed in the groove 1001 , and the pressing part 5024 is basically located directly below the liquid replenishment port 3005 .
- the arrival switch assembly 500 in the rearward part 110 is covered by the bottom surface of the mobile platform, rather than being exposed outside, so as to avoid adverse effects on the arrival signal caused by external interference.
- the in-position switch assembly provided in the present invention includes an elastic arm connecting the button and the switch trigger piece, so that the switch trigger piece moves to the limit piece and presses the elastic part of the switch part to trigger the switch part. Due to the elasticity of the elastic arm, the button can still Further moving toward the switch part under the action of external force increases the key stroke after the switch part is triggered, and increases the robustness of the automatic cleaning device reaching the predetermined position of the liquid replenishment pile.
- each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
- the system or device disclosed in the embodiment since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.
Abstract
Description
Claims (13)
- 一种到位开关组件,装配于自动清洁设备,配置为表征所述自动清洁设备是否返回桩体的预定位置,其特征在于,所述到位开关组件包括:开关部件;按键,配置为在外力的作用下朝向所述开关部件移动;弹性臂,自所述按键朝向所述开关部件的一面向远离所述按键的方向延伸;以及开关触发片,与所述弹性臂远离所述按键的一端连接,其中,所述开关部件配置为响应于被所述开关触发片触发,发送到位信号。
- 根据权利要求1所述的到位开关组件,其特征在于,所述开关部件包括:开关部件本体;以及弹性部件,自所述开关部件本体面向所述按键的侧面朝向所述按键延伸,其中,响应于所述按键朝向所述开关部件移动,所述开关触发片挤压所述弹性部件使得所述弹性部件被压缩;响应于所述弹性部件压缩预定量,所述开关部件发送到位信号。
- 根据权利要求2所述的到位开关组件,其特征在于,所述到位开关组件还包括:限位件,设置在所述开关部件本体面向所述按键一侧,配置为响应于所述弹性部件压缩所述预定量,阻挡所述开关触发片继续压缩所述弹性部件。
- 根据权利要求1所述的到位开关组件,其特征在于,所述到位开关组件还包括:滑轨,配置为支撑所述开关触发片,使得所述开关触发片在所述滑轨上是可滑动的。
- 根据权利要求1所述的到位开关组件,其特征在于,所述弹性臂呈弯折结构,所述弯折结构包括第一端、第二端以及位于所述第一端和第二端之间的弯折部,所述第一端与所述按键连接,所述第二端与所述开关触发片连接。
- 根据权利要求1所述的到位开关组件,其特征在于,所述弹性臂的数量至少为两个,所述至少两个弹性臂相对于所述按键的中线对称设置。
- 根据权利要求1所述的到位开关组件,其特征在于,所述按键顶面上设置有至少一个凸起结构。
- 根据权利要求1所述的到位开关组件,其特征在于,所述按键包括:按压部;第一子部,呈长条状,设置在所述按压部面向所述开关部件一侧,所述第一子部的中 部与所述按压部连接,第二子部和第三子部,分别自所述第一子部的两端沿基本垂直于所述第一子部的方向朝向所述开关部件延伸,其中,所述第二子部和第三子部中的至少一个配置为随着所述按键的移动在导轨上滑动。
- 根据权利要求8所述的到位开关组件,其特征在于,所述导轨的远离所述第二子部和第三子部中的至少一个的一端与所述第二子部和第三子部中的至少一个的自由端之间设置有压缩弹簧。
- 一种自动清洁设备,其特征在于,包括所述权利要求1-9中任一项所述的到位开关组件。
- 根据权利要求10所述的自动清洁设备,其特征在于,所述自动清洁设备包括:移动平台;以及储液箱,可拆卸地设置在所述移动平台中,所述到位开关组件设置在所述储液箱面向所述移动平台底面的一侧。
- 根据权利要求11所述的自动清洁设备,其特征在于,所述移动平台包括前向部分和后向部分,所述储液箱以及所述到位开关组件均设置在所述后向部分中。
- 根据权利要求11所述自动清洁设备,其特征在于,所述移动平台的侧壁具有凹槽,所述凹槽位于所述储液箱下方,所述按键的按压部设置在所述凹槽内。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU2022343136A AU2022343136A1 (en) | 2021-09-07 | 2022-03-09 | Position arrival switch assembly and automatic cleaning apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202122150878.1 | 2021-09-07 | ||
CN202122150878.1U CN216417043U (zh) | 2021-09-07 | 2021-09-07 | 到位开关组件以及自动清洁设备 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023035568A1 true WO2023035568A1 (zh) | 2023-03-16 |
Family
ID=81322295
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2022/080008 WO2023035568A1 (zh) | 2021-09-07 | 2022-03-09 | 到位开关组件以及自动清洁设备 |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN216417043U (zh) |
AU (1) | AU2022343136A1 (zh) |
WO (1) | WO2023035568A1 (zh) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090049640A1 (en) * | 2007-08-24 | 2009-02-26 | Samsung Electronics Co., Ltd. | Robot cleaner system having robot cleaner and docking station |
CN213129352U (zh) * | 2020-06-11 | 2021-05-07 | 深圳乐动机器人有限公司 | 一种清洁机器人系统 |
CN213963226U (zh) * | 2020-09-30 | 2021-08-17 | 杭州匠龙机器人科技有限公司 | 一种扫拖机器人系统 |
-
2021
- 2021-09-07 CN CN202122150878.1U patent/CN216417043U/zh active Active
-
2022
- 2022-03-09 WO PCT/CN2022/080008 patent/WO2023035568A1/zh active Application Filing
- 2022-03-09 AU AU2022343136A patent/AU2022343136A1/en active Pending
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090049640A1 (en) * | 2007-08-24 | 2009-02-26 | Samsung Electronics Co., Ltd. | Robot cleaner system having robot cleaner and docking station |
CN213129352U (zh) * | 2020-06-11 | 2021-05-07 | 深圳乐动机器人有限公司 | 一种清洁机器人系统 |
CN213963226U (zh) * | 2020-09-30 | 2021-08-17 | 杭州匠龙机器人科技有限公司 | 一种扫拖机器人系统 |
Also Published As
Publication number | Publication date |
---|---|
CN216417043U (zh) | 2022-05-03 |
AU2022343136A1 (en) | 2024-04-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2022142147A1 (zh) | 一种自动清洁设备 | |
US11612295B2 (en) | Autonomous cleaning device | |
EP4292493A1 (en) | Automatic cleaning apparatus | |
WO2022171091A1 (zh) | 一种自动清洁设备 | |
WO2022170722A1 (zh) | 一种自动清洁设备 | |
CN215838762U (zh) | 按键结构、储液箱以及自动清洁设备 | |
WO2023035568A1 (zh) | 到位开关组件以及自动清洁设备 | |
CN215959618U (zh) | 一种自动清洁设备 | |
WO2023029427A1 (zh) | 按键结构、储液箱以及自动清洁设备 | |
WO2022171105A1 (zh) | 一种自动清洁设备 | |
WO2022171106A1 (zh) | 一种可震动拖布及自动清洁设备 | |
WO2022171089A1 (zh) | 一种自动清洁设备 | |
WO2022171146A1 (zh) | 一种自动清洁设备 | |
US20240130593A1 (en) | Automatic cleaning device | |
CN216854568U (zh) | 一种自动清洁设备 | |
US20240130595A1 (en) | Automatic cleaning device | |
US20240130590A1 (en) | Automatic cleaning device | |
CN114617482A (zh) | 一种自动清洁设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22866046 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022343136 Country of ref document: AU Ref document number: AU2022343136 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022866046 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022343136 Country of ref document: AU Date of ref document: 20220309 Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2022866046 Country of ref document: EP Effective date: 20240408 |