WO2023134156A1 - 自动清洁设备 - Google Patents

自动清洁设备 Download PDF

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Publication number
WO2023134156A1
WO2023134156A1 PCT/CN2022/110964 CN2022110964W WO2023134156A1 WO 2023134156 A1 WO2023134156 A1 WO 2023134156A1 CN 2022110964 W CN2022110964 W CN 2022110964W WO 2023134156 A1 WO2023134156 A1 WO 2023134156A1
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WO
WIPO (PCT)
Prior art keywords
automatic cleaning
dust box
locking member
cleaning device
locking
Prior art date
Application number
PCT/CN2022/110964
Other languages
English (en)
French (fr)
Inventor
李海宾
张智斌
杨帆
李智军
Original Assignee
北京石头世纪科技股份有限公司
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 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to KR1020247025978A priority Critical patent/KR20240132056A/ko
Priority to AU2022434162A priority patent/AU2022434162A1/en
Publication of WO2023134156A1 publication Critical patent/WO2023134156A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • 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
    • A47L9/16—Arrangement or disposition of cyclones or other devices with centrifugal action
    • A47L9/1683—Dust collecting chambers; Dust collecting 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
    • A47L9/16—Arrangement or disposition of cyclones or other devices with centrifugal action
    • A47L9/1691—Mounting or coupling means for cyclonic chamber or dust 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

Definitions

  • the present application relates to the technical field of cleaning robots, in particular, to an automatic cleaning device.
  • Cleaning robots In modern life, cleaning robots are becoming more and more popular, bringing convenience to family life. Cleaning robots include sweeping robots, mopping robots, and integrated sweeping and dragging robots. With the popularity of cleaning robots, the functions and structures of cleaning robots are also becoming more and more more complex and more expensive to produce.
  • some cleaning robots have added structures or functions such as automatic charging, automatic dust removal, lifting vibration, etc., which makes the cleaning robot more intelligent and at the same time increases the complexity of each component, which brings a lot of inconvenience to subsequent maintenance. .
  • the removal structure of the dust box is either too complicated or too inconvenient.
  • the application provides an automatic cleaning device, including:
  • a mobile platform configured to automatically move over the operating surface, including a containment chamber;
  • the cleaning module includes a dust box, which is detachably assembled in the accommodating chamber, and the dust box includes an accommodating portion, a top cover located above the accommodating portion, and a locking mechanism; the locking mechanism includes approximately a first locking mechanism located on the central axis of the top cover;
  • the first locking mechanism includes at least a first handle recess and a first locking member, the first locking member is located in the first handle recess, and the first locking member is It can elastically move relative to the first handle depression; the locking mechanism also includes a second locking mechanism.
  • the top cover includes a first portion covering the receiving portion and a second portion extending outward protruding from the receiving portion, and the first handle recess is along the edge of the first portion of the top cover. Form a depression downwards.
  • the first locking member includes a first elastic arm, a first handle portion and a first buckle portion, wherein the first elastic arm extends upward from the bottom of the first handle depression , the first handle portion is located at the upwardly extending end of the first elastic arm, and the first locking portion extends laterally along the first elastic arm.
  • the first locking portion is a pair of sheet-like structures arranged symmetrically along both sides of the first elastic arm, and the width of the sheet-like structures from the root to the free end changes from large to small.
  • a first locking member is provided at a place where the inner wall of the accommodating chamber roughly corresponds to the first locking member, and the first locking member cooperates with the first locking member to lock.
  • the first locking member is a pair of through holes, and the free end of the sheet structure is inserted into the through holes to achieve locking.
  • a first recess is provided on the inner wall of the accommodating chamber approximately corresponding to the first handle recess, and the pair of through holes are provided on both sides of the first recess.
  • the second locking mechanism includes a second handle recess and a second locking member, the second handle recess forms a recess inwardly along the edge of the second part of the top cover, the first handle recess The second locking part is located below the second handle recess, and the second locking part can elastically move relative to the second handle recess under the action of an external force.
  • the second locking member includes a second handle, two symmetrically arranged second elastic arms, and symmetrically arranged two second buckle parts, wherein the second elastic arms are located at The bottom of the second handle depression extends along the opening direction of the second handle depression first, and then extends along the edge direction of the top cover and the edge direction of the second handle depression.
  • the second handle part is arranged on both sides. Above the second elastic arm, the second buckle part is arranged on the second elastic arm.
  • each of the second locking parts includes a concave groove extending inward from the end of the second locking part.
  • a second locking member is provided at a place where the inner wall of the accommodating chamber roughly corresponds to the second locking member, and the second locking member cooperates with the second locking member to lock.
  • the second locking member is a pair of protrusions, and the second buckle part extends into the bottom of the protrusions to achieve locking.
  • a second recess is disposed on the inner wall of the accommodating chamber approximately corresponding to the second handle recess, and the pair of protrusions are disposed on both sides of the second recess.
  • a support structure is provided under the second part of the top cover, configured to support the second part of the top cover, and the second locking member is provided on the support structure.
  • the second locking mechanism includes at least one first magnetic attraction module, and the first magnetic attraction module is disposed under the second portion of the top cover.
  • a support structure is disposed under the second part of the top cover, and the first magnetic attraction module is disposed between the second part of the top cover and the support structure.
  • the accommodating chamber includes at least one second magnetic attraction module, which is configured to cooperate with the first magnetic attraction module to be locked after being absorbed.
  • the application provides an automatic cleaning device, which includes a dust box locking structure.
  • a dust box locking structure By setting the locking structure symmetrically in the front and rear directions of the top cover of the dust box, when one hand exerts force on the two elastic structures at the front and back of the dust box, it can Unlocking is realized, and the dust box will not be tilted due to one-sided ejection of the dust box.
  • the elastic unlocking can be realized only by using elastic materials to form the elastic arms, which avoids the risk of easy damage to the complex unlocking device.
  • FIG. 1 is a perspective view of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to some embodiments of the present application.
  • FIG. 3A is an oblique view of a housing chamber of an automatic cleaning device according to some embodiments of the present application.
  • Fig. 3B is a schematic diagram of the air outlet structure of the accommodating chamber of the automatic cleaning device according to some embodiments of the present application.
  • FIG. 4 is a perspective view of a dust box according to some embodiments of the present application.
  • Fig. 5 is a perspective view of a dust box according to some embodiments of the present application.
  • 6A-6H are schematic diagrams of top cover structure layouts according to some embodiments of the present application.
  • Fig. 7 is an enlarged schematic view of a first locking member according to some embodiments of the present application.
  • Fig. 8 is an enlarged schematic view of a first locking member according to some embodiments of the present application.
  • Fig. 9A is an enlarged schematic view of a second locking member according to some embodiments of the present application.
  • Fig. 9B is a schematic diagram of the overall structure of the second locking member according to some embodiments of the present application.
  • FIG. 9C is an enlarged schematic view of the second handle according to some embodiments of the present application.
  • Fig. 10 is an enlarged schematic view of a second locking member according to some embodiments of the present application.
  • Fig. 11 is a three-dimensional structure diagram from an outside perspective of a filter screen of a dust box according to some embodiments of the present application.
  • Fig. 12 is a three-dimensional structural view of a dust box filter screen according to some embodiments of the present application from an inner perspective.
  • Fig. 13A is an inside front view of a filter screen of a dust box according to some embodiments of the present application.
  • Fig. 13B is a three-dimensional structure diagram of a filter screen of a dust box according to some embodiments of the present application.
  • Fig. 14 is a schematic diagram of an assembly structure of a dust box and a filter screen according to some embodiments of the present application.
  • Fig. 15 is an enlarged schematic diagram of an assembly structure of a dust box and a filter screen according to some embodiments of the present application.
  • first, second, third, etc. may be used for description in the embodiments of the present application, these terms should not be limited to these terms. These terms are only used to distinguish similar objects.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • FIGS 1-2 are schematic structural views of an automatic cleaning device according to some embodiments. It can be a window climbing robot, etc.
  • the automatic cleaning device 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 .
  • 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
  • the outer surface of the glass works, and the outer surface of the glass is the operation 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 operation surface. Purely for the needs of demonstration, the following description in this application takes the automatic cleaning equipment as an example for mopping the floor.
  • 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 Y, the front-to-back Axis X and central vertical axis Z.
  • the forward driving direction along the front-rear axis X is designated “forward” and the rearward driving direction along the front-rear axis X is designated “rearward”.
  • the transverse axis Y 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. Wherein, the automatic cleaning device can rotate around the Y 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 rotate around the Z axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device tilts to the right of the X-axis, it is a "right turn", and when the automatic cleaning device tilts to the left of the X-axis, it is a "left turn".
  • a cliff sensor 123 is provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141. damaged.
  • 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 location determination device 121 includes but are not limited to cameras and laser distance measuring devices (LDS).
  • LDS laser distance measuring devices
  • 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 disposed on the mainboard of the mobile platform 100 , and includes a computing processor, such as a central processing unit, and an application processor, communicating with a non-transitory memory, such as a hard disk, flash memory, and random access memory.
  • the application processor is configured to receive the environmental information sensed by multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to draw real-time information 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 comprehensively determine 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. What is the current working state of the machine, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, full of dust boxes, picked up, etc., and will give specific next-step action strategies for different situations. It makes the work of the automatic cleaning equipment more in line with the owner's requirements 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. As shown in FIG. 2, the driving system 140 includes a driving wheel assembly 141, and the driving system 140 can simultaneously control the left wheel and the right wheel. For more precise control of machine motion, drive system 140 includes left and right drive wheel assemblies, respectively. 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 .
  • 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.
  • 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 .
  • 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 be reduced. 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 of whether the sweeping/wiping is 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 automatic cleaning device may further include a wet cleaning module configured to clean at least a part of the operation surface in a wet cleaning manner; wherein the wet cleaning module includes a water tank, a cleaning head, a drive unit, etc. , wherein the water in the water tank flows along the waterway to the cleaning head, and the cleaning head cleans at least a part of the operation surface driven by the driving unit.
  • a wet cleaning module configured to clean at least a part of the operation surface in a wet cleaning manner
  • the wet cleaning module includes a water tank, a cleaning head, a drive unit, etc. , wherein the water in the water tank flows along the waterway to the cleaning head, and the cleaning head cleans at least a part of the operation surface driven by the driving unit.
  • the existing automatic cleaning equipment has a complex layout and frame structure, a large number of parts, long assembly hours, complicated procedures, and high costs.
  • the upper shell decoration and the upper flap can cover the ugliness and protect the internal components, the structure of the whole machine is complicated, the cost is high, and the design space of the dust box and other components under the top flip is affected.
  • the embodiment of the present application provides an automatic cleaning device without a flip cover, which simplifies unnecessary components of the automatic cleaning device and increases the design space of the dust box and its containing chamber.
  • the same structure has the same technology effects, some technical effects will not be repeated here.
  • the present application provides an automatic cleaning device, as shown in FIGS. 3-5 , including: a mobile platform 100 configured to automatically move on an operation surface, and the mobile platform 100 includes a containing chamber 200 .
  • the accommodating chamber 200 is disposed on the rear side in the advancing direction of the automatic cleaning device, and the accommodating chamber 200 includes a first chamber 201 and a second chamber 202 .
  • the automatic cleaning equipment also includes: a dry cleaning module, including a dust box 300, the dust box 300 is detachably assembled in the accommodating chamber 200; wherein, the first chamber 201 and the second chamber
  • the chambers 202 are arranged sequentially and adjacently in the forward direction of the automatic cleaning equipment, and the depth of the first chamber 201 is greater than that of the second chamber 202 .
  • the first chamber 201 and the second chamber 202 are arranged adjacent to each other in sequence in the forward direction of the automatic cleaning equipment, and the part with larger volume and weight in the entire dust box can be arranged closer to the automatic cleaning equipment
  • the position in the middle makes the dust box more stable to be arranged in the accommodation chamber 200, and also makes the center of gravity of the entire cleaning equipment more stable, and it is more stable in the process of traveling, turning, and overcoming obstacles, and is not easy to overturn; at the same time, it is convenient for dust
  • the box receiving part and the top cover of the dust box are made into an integrated structure, so that the top cover of the dust box can be used as a part of the top surface of the mobile platform, flush with other parts of the top surface of the mobile platform, omitting the clamshell structure of traditional cleaning equipment, and convenient Directly align the dust suction port located in the center of the bottom of the cleaning equipment with the dust box, so that the dust enters the dust box directly from the dust suction port, reducing the distance of dust entering the machine and
  • the depth of the first chamber 201 is greater than that of the second chamber 202, and can accommodate the dust box and the top cover of the dust box in separate structures, which facilitates the integrated design of the top cover of the dust box.
  • the bottom of the front side wall of the first chamber 201 is provided with a dust suction port 203, and the rear side wall of the connection between the first chamber 201 and the second chamber 202 is provided with an air outlet 208, and the air outlet 208 has a grid structure.
  • the space below the chamber 202 accommodates the fan, and the fan can be carried by the fan bracket.
  • the air outlet 208 constitutes a part of the fan bracket; the rear side wall of the mobile platform 100 is provided with an exhaust port 204, and under the action of the fan suction, dust enters the dust box 300 from the suction port 203, and the air flows through the dust box After being filtered by the filter screen, it is discharged from the exhaust port 204.
  • the dust box 300 includes an accommodating portion 301 and a top cover 302 located above the accommodating portion 301 , and the top cover 302 is fixedly connected with the accommodating portion 301 .
  • Fixed connection methods include but are not limited to bonding, welding, integral molding, bolt connection, snap connection, etc.
  • the accommodating portion 301 is used for accommodating the garbage sucked in from the suction port 203 , and the shape of the accommodating portion 301 roughly matches the first chamber 201 .
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and is brought to the front of the dust suction port 203 between the roller brush and the dust box 300 under the negative pressure airflow generated by the fan, and then is generated by the fan and passes through the dust collector.
  • the suction airflow of the box 300 is sucked into the dust box 300, the garbage is isolated inside the dust box 300 by the filter screen 500, and the filtered air enters the fan.
  • the receiving portion 301 of the dust box 300 has a first opening 3011 located on the front side of the dust box 300, the first opening 3011 is aligned with the dust suction port 203, and the receiving portion 301 has a second opening 3011 located on the rear side of the dust box.
  • Two openings 3012 , the filter 500 is disposed on the second opening 3012 , and the second opening 3012 is in contact with the air outlet 208 .
  • the filter screen 500 is detachably connected to the box body of the dust box 300, which is convenient for the filter screen to be disassembled and cleaned.
  • the front side refers to the X direction. After the dust box 300 is assembled in the accommodating chamber 200, the side along the advancing direction of the automatic cleaning equipment, and the rear side refers to the X direction, which is opposite to the advancing direction of the automatic cleaning equipment.
  • the top cover 302 includes a first portion 3021 covering the accommodating portion 301 and a second portion 3022 extending outward beyond the accommodating portion 301 , when the dust box 300 is assembled in the accommodating cavity
  • the accommodating part 301 and the first part 3021 of the top cover 302 are accommodated in the first chamber 201, and the second part 3022 of the top cover 302 is accommodated in the second chamber 202 in.
  • the structure of the top cover 302 and the top part of the first chamber 201 and the second chamber 202 are roughly matched, so that the dust box 300 can be stably installed in the storage chamber 200, avoiding the dust box due to the bumps in the process of automatic cleaning equipment.
  • the top cover of the dust box can just cover the location of the accommodation part and the fan, so that the upper surface of the dust box top cover is roughly level with the upper surface of the mobile platform, which ensures the smoothness of the outer surface of the automatic cleaning equipment and the overall coordination of appearance It also provides more space options for the design of the various components under the top cover, including the accommodating part. It is convenient to arrange the positions of different components.
  • the volume of the dust box can be selectively increased, and the specific size can be arranged according to the needs. Affects the overall opening size of the containing chamber and reduces mold opening costs.
  • the first portion 3021 of the top cover 302 includes an edge portion 30211 protruding from the contour of the receiving portion and extending outward.
  • the accommodating chamber 200 includes a stepped portion 205 extending around the top edge of the accommodating chamber, and the stepped portion 205 is configured to accommodate at least a portion of the edge portion 30211 and at least a portion of the outer edge of the second portion 3022 , so that the upper surface of the top cover is substantially coplanar with the upper surface of the mobile platform.
  • the accommodating chamber 200 extends around the step portion 205 along the top edge of the accommodating chamber, which can completely receive the edge of the top cover 302, so that the top cover 302 can be accommodated in the accommodating chamber 200 basically tightly, and can prevent foreign objects from falling directly. Enter the edge gap of the dust box to prevent the dust box from being stuck, and at the same time ensure the beauty of the top cover as the upper surface of the automatic cleaning equipment.
  • a supporting structure 3023 is disposed under the second portion 3022 of the top cover 302 and is configured to support the second portion 3022 of the top cover.
  • the supporting structure 3023 is integrally formed with at least a part of the receiving portion 301 , so as to strengthen the supporting force of the supporting structure 3023 on the second portion 3022 of the top cover 302 and effectively prevent it from being damaged.
  • the support structure 3023 may include, but not limited to, arc-shaped structures and linear structures.
  • the supporting structure 3023 is two arc-shaped structures symmetrically arranged approximately matching the outline of the outer edge of the second portion 3022 of the top cover 302 .
  • the lower surface of the second chamber 202 includes a groove 2021, the groove 2021 substantially matches the contour of the support structure 3023, and is configured to accommodate the second portion 3022 of the top cover.
  • the supporting structure 3023 is accommodated in the groove 2021, so that the upper surface of the top cover 302 is substantially horizontal.
  • the top cover 302 is arranged symmetrically along the central axis in the forward direction of the automatic cleaning device.
  • the shape of the top cover is at least one or a combination of: D-shaped, rectangular, square, circular, oval, triangular, quadrangular, pentagonal, hexagonal, heptagonal or octagonal shape, as shown in Figures 6A-6H.
  • the symmetrical setting can make the appearance of the machine more beautiful without the outer cover, and it is more convenient for the installation and removal of the dust box.
  • the first chamber 201 includes a first locking member 701; as shown in FIG. 10, the second chamber 202 includes a second locking member 72; 7, the first part 3021 of the top cover includes a first lock 601; as shown in FIG. 9A, the second part 3022 of the top cover includes a second lock 602, and the first lock 601 and The first locking member 701 cooperates to lock, and the second locking member 602 cooperates to lock with the second locking member 72 .
  • the above embodiments relate to the dust box of the automatic cleaning equipment and its installation structure, by setting the accommodating chamber on the rear side of the forward direction of the automatic cleaning equipment, the accommodating chamber includes a first chamber and a second chamber, and the The depth of the first chamber is greater than the depth of the second chamber.
  • the upper surface of the top cover of the dust box is roughly coplanar with the upper surface of the mobile platform, which simplifies the structure of the top surface of the automatic cleaning device.
  • the production cost is reduced, and the design space of the containing chamber is increased at the same time.
  • the existing automatic cleaning equipment is equipped with a pop-up dust box and a non-pop-up dust box.
  • the top surface of the pop-up dust box is flipped and a flip mechanism is used.
  • This embodiment needs to set up a complex dust box ejection mechanism.
  • the dust box ejection mechanism includes multiple parts such as springs. Due to the repeated use of the spring, the elasticity decreases, so that the dust box cannot be ejected smoothly. In addition, many other parts It is also easy to cause the dust box to fail to eject normally, affecting use.
  • the non-pop-up dust box mostly adopts a complex locking structure, and the spring components in it are easily damaged due to aging, and the pressing parts are not comfortable enough to match with fingers during operation, and the overall use experience is poor.
  • an automatic cleaning device includes: a mobile platform 100 configured to automatically move on the operating surface, including an accommodating chamber 200 arranged on the rear side in the forward direction; a cleaning module, including The dust box 300 is detachably assembled in the accommodating chamber 200 , and the dust box includes an accommodating portion 301 , a top cover 302 located above the accommodating portion and a locking mechanism.
  • the locking mechanism includes a first locking mechanism 610 roughly located on the central axis of the top cover; wherein, the first locking mechanism 610 includes at least a first handle recess 603 and a first locking member 601, and the first lock
  • the stopper 601 is located in the first handle recess 603 , and the first lock member 601 can elastically move relative to the first handle recess 603 under the action of an external force.
  • the first handle recess 603 forms a recess downward along the edge of the first part of the top cover.
  • the first handle recess 603 provides sufficient depth in the Z direction so that the height of the first locking member 601 is lower than the surface of the top cover.
  • the first handle recess 603 provides enough elastic space in the X direction so that there is enough room for movement when the first locking member 601 elastically moves inward.
  • the first locking member 601 includes a first elastic arm 6011, a first handle portion 6012 and a first buckle portion 6013, wherein the first elastic arm 6011 is released from the first buckle
  • the bottom of the hand recess 603 extends upwards
  • the first gripping portion 6012 is located at the upwardly extending end of the first elastic arm 6011
  • the first locking portion 6013 extends laterally along the first elastic arm 6011 .
  • the first elastic arm 6011 is generally in the shape of " ⁇ " to reduce material and increase elasticity, and the shape and structure are not limited.
  • the first handle portion 6012 is horizontally arranged above the first elastic arm 6011.
  • the first handle portion 6012 includes a bottom surface protruding generally outward and a handle surface extending upward along the bottom surface.
  • the handle surface extends to be approximately flush with the top cover.
  • the surface of the clasp can be in an arc-shaped structure, that is, its projection on the horizontal plane is arc-shaped; the clasp surface is convenient for receiving manual operations, and the shape of the finger is more in line with the ergonomic force relationship.
  • the first locking portion 6013 is a pair of sheet-like structures arranged symmetrically along both sides of the first elastic arm 6011, and the width of the sheet-like structures from the root to the free end varies from large to large. Small, so as to be inserted into the first locking member 701 smoothly.
  • the whole first elastic arm 6011 can be made of common elastic material, such as plastic or organic elastic material.
  • FIG. 8 which is an enlarged schematic view of the first locking member 701 at A in FIG. 3A
  • the inner wall of the accommodation chamber 200 roughly corresponds to the first locking member 601
  • the first locking member 601 cooperates with the first locking member 701 to lock.
  • the first locking member 701 is a pair of through holes, and the free end of the sheet-like structure is inserted into the through holes to achieve locking.
  • a first recess 206 is provided on the inner wall of the accommodating chamber approximately corresponding to the first handle recess 603 , and the pair of through holes are provided on both sides of the first recess 206 . Locking is realized when the first locking member 601 extends into the through hole, and unlocking is realized when the first locking member 601 is pulled out from the through hole through the first recess 206 and a finger is applied to exert force.
  • the cooperation between the first recess 206 and the first handle recess 603 makes it easier and more convenient for fingers to insert.
  • the locking mechanism further includes a second locking mechanism 620
  • the second locking mechanism 620 includes a second handle recess 605 and a second locking member 602
  • the second handle The recess 605 forms a notch inward along the approximate midline of the second part 3022 of the top cover, such as an arc or a square notch, which is convenient for fingers to insert into for the buckling operation
  • the second locking member 602 is located in the second clasp recess 605
  • the second handle recess 605 provides enough space for fingers to control the second locking member 602, and the second locking member 602 elastically moves inward under the action of external force.
  • the second locking member 602 includes a second elastic arm 6021 , a second handle portion 6022 and a second buckle portion 6023 , wherein the second elastic arm 6021 is located below the second handle depression 605 ,
  • the second elastic arm 6021 includes two symmetrical parts. Each second elastic arm 6021 first extends along the opening direction of the second handle recess 605, then extends along the edge of the top cover, and then extends along the second handle recess 605.
  • FIG. 9A Extending in the edge direction, wherein, the opening direction of the second handle depression 605 is shown in Figure 9A, which is the A direction from the center of the top cover outward, and in this embodiment is also the rear direction of the dust box top cover, two parts
  • the second elastic arm 6021 is roughly arranged symmetrically in two "several"-shaped structures, and the second handle 6022 is connected to two parts of the second elastic arm 6021 that are symmetrically arranged.
  • the second handle 6022 is arranged on two Above the second elastic arm, as shown in FIG. 9B and FIG. 9C, FIG. 9C is an enlarged view of the second handle at C in FIG.
  • the bottom of the second handle 6022 includes a bottom surface that protrudes roughly outwards 60221 and the buckle surface 60222 extending upward along the bottom surface.
  • the buckle surface extends to a position roughly flush with the top cover.
  • the buckle surface can be in an arc-shaped structure.
  • the buckle surface is convenient for receiving manual operations and for fingers to exert force.
  • the second handle portion 6022 is integrally formed with the symmetrically arranged second elastic arm 6021 , and the second buckle portion 6023 is disposed on a laterally extending portion of the second elastic arm.
  • the second buckle part 6023 is a pair of symmetrically arranged along the two sides of the second elastic arm 6021, for example, a protrusion or a sheet-like structure extending along the direction A.
  • each The second buckle part 6023 includes a groove extending inward from the end of the second buckle part 6023, the groove can prevent a whole piece of the second buckle part from excessive deformation after forming and cooling, resulting in buckle difficulty.
  • the second locking member 602 further includes a symmetrically arranged connecting member 6024, the connecting member 6024 is substantially planar, one end of the second elastic arm 6021 is connected to one side of the connecting member 6024, and the connecting member 6024 The other side is connected and fixed with the end face of the supporting structure.
  • the second handle part 6022 leaks out of the second handle recess 605 in the X direction, so that when unlocking, fingers can extend into the second handle recess 605 and press on the second handle part 6022, along the X-axis Apply force to the inside of the dust box and drive the second buckle part 6023 to elastically shrink inward, so that the second buckle part 6023 pops out from the bottom of the second locking part 702 to realize unlocking.
  • the second elastic arm 6021 can be made of common elastic material as a whole, such as plastic or organic elastic material.
  • FIG. 10 which is an enlarged view of the second locking member 702 shown at B in FIG. 3B
  • the inner wall of the accommodating chamber 200 roughly corresponds to the second locking member 602
  • a second locking piece 702 is provided in the place, and the second locking piece 602 cooperates with the second locking piece 702 to lock.
  • the second locking member 702 is a pair of protrusions, and the second locking portion 6023 extends into the bottom of the second locking member 702 to achieve locking.
  • the protrusion may be flat, cylindrical, cuboid, etc., which is not limited, as long as it can lock the second buckle part.
  • a second recess 207 is provided on the lower surface of the second chamber 202 approximately corresponding to the second handle recess 605 , and the pair of protrusions are arranged in the second chamber 202 at the same height.
  • the second recess 207 is configured to avoid and accommodate the second locking member 602 when the dust box 300 is put into the accommodation chamber 200 , so that the entire dust box can be better placed in place in the accommodation chamber 200 .
  • the top cover includes a first part covering the receiving part and a second part extending outward protruding from the receiving part, the second handle recess 605 and the second locking part 602 is located on the second portion of the top cover.
  • the provided support structure 3023 forms an inward compression space in the X direction.
  • the locking structure is arranged symmetrically in the front and rear directions of the top cover of the dust box, so that when one hand applies force to the two elastic structures at the front and back of the dust box, the unlocking can be realized.
  • the dust box will not be tilted due to ejecting the dust box from one side after only one side is unlocked.
  • the elastic unlocking can be realized only by using elastic materials to form the elastic arms, which avoids the risk of easy damage of complex unlocking devices such as springs.
  • the second locking mechanism 620 includes at least one first magnetic attraction module 604, and the first magnetic attraction module 604 is arranged on the second part of the top cover and the between supporting structures.
  • the accommodating chamber includes at least one second magnetic attraction module 606 , which is configured to cooperate with the first magnetic attraction module 604 to be locked after being adsorbed. During the application process, push the first locking part 601 and the second handle recess 605 by hand to retract the first locking part 601 corresponding to the dust box.
  • the first buckle part 6013 on the first locking part 601 will automatically pop out and be inserted into the first locking part 701, the first magnetic attraction module 604 and the second magnetic attraction module 606 will attract each other, thereby realizing the locking of the dust box.
  • the structure is simple, easy to operate, and convenient to realize the locking of the dust box.
  • the above-mentioned second locking mechanism 620 may be an implementation that includes the second handle recess 605 and the second locking member 602 , or an implementation that includes the first magnetic attraction module 604 , or Embodiments that include both are not limited to this.
  • the dust box of the existing automatic cleaning equipment needs to be equipped with a replaceable dust box filter.
  • the traditional filter is generally made of plastic or metal with a rigid frame.
  • the laminated filter element is placed in the frame, and glue is used to connect the frame and the periphery of the filter element to seal. Then paste the sealing strip on the frame to seal the gap between the filter screen and the dust box. Therefore, the filter part of the traditional dust box has a complex structure, and the installation steps of the filter are cumbersome, which wastes labor and cost, and the glue used for sealing is not economical nor environmentally friendly.
  • an embodiment of the present application provides an automatic cleaning device, including: a mobile platform configured to automatically move on the operating surface, including a housing chamber; a cleaning module, including a dust box, which is detachably assembled on the The accommodating chamber, the dust box includes a dust box filter, and the dust box filter is applied to the dust box of the automatic cleaning device, which simplifies the assembly process of the dust box filter.
  • a mobile platform configured to automatically move on the operating surface, including a housing chamber
  • a cleaning module including a dust box, which is detachably assembled on the The accommodating chamber, the dust box includes a dust box filter, and the dust box filter is applied to the dust box of the automatic cleaning device, which simplifies the assembly process of the dust box filter.
  • the dust box filter screen 500 includes: a soft rubber frame 501, which includes at least one soft rubber protrusion for sealing the assembly gap with the dust box during the assembly process; the filter element 502, sleeved in the soft rubber frame 501; wherein, the soft rubber frame 501 is non-detachably connected to the filter element 502.
  • the non-detachable connection process between the soft rubber frame 501 and the filter element 502 can use an overmolding injection molding process, and the filter element is pre-set in the frame, and then the beer soft rubber is placed on the set frame assembly.
  • Glue forming a plurality of required sealing protrusions in one piece.
  • a two-shot process can be used to first inject the hard rubber frame body, set the filter element behind the frame body, and then inject soft rubber to form inner and outer sealing protrusions.
  • the soft rubber frame 501 can be in a rectangular, square, elliptical, circular, polygonal, and other structures, which are not limited.
  • the soft rubber frame is a rectangular structure, and the soft rubber frame 501 of the rectangular structure includes two first side walls 50111 and two second side walls 50113 oppositely arranged;
  • the soft rubber protrusion It includes first protrusions 5011 distributed on the outer peripheral surface of one of the first side walls 50111 and second protrusions 5015 distributed on the outer peripheral surface of the other first side wall 50111, a pair of first side walls 50111 and a pair of
  • the second side wall 50113 encloses a rectangular structural frame, and a filter element is sleeved in the rectangular structural frame, as shown in FIGS. 11 and 12 .
  • the first protrusion 5011 and the second protrusion 5015 can be a continuous protrusion structure, for example, the first protrusion 5011 and the second protrusion 5015 are continuous from one end of the outer peripheral surface of the first side wall 50111 extended to the other end. Since the first protrusion 5011 and the second protrusion 5015 are soft rubber structures, when the dust box filter is assembled on the dust box, the first protrusion 5011 and the second protrusion 5015 will be squeezed and directly sealed to the dust box Between the filter screen 500 and the second opening 3012 of the dust box, the inner wall extending roughly along the horizontal direction with the second opening 3012 of the dust box is fully contacted and sealed, replacing the traditional dust box. After the filter screen is assembled on the dust box, it needs to be sealed The step of sealing the strip.
  • the undercut structure is configured to seal the assembly gap between the soft rubber frame and the dust box. At the same time, prevent the filter screen of the dust box from falling off from the dust box.
  • the undercut structure is an arc structure, and the arc structure is inclined to a side opposite to the assembly direction of the dust box filter. The undercut structure is convenient for the dust box filter to be dumped to the opposite side of the assembly direction with the friction force of the dust box filter extending into the dust box assembly opening during the assembly process of the dust box filter, and then squeezed and sealed between the dust box filter and the dust box filter. between dust bins.
  • the second side wall of the soft rubber frame further includes at least one third protrusion 5012 , and the third protrusion 5012 is distributed on the outer peripheral surface of at least one second side wall 50113 of the frame structure.
  • the third protrusion 5012 can be a plurality of discrete protrusion structures. As an embodiment, the third protrusion 5012 is distributed on the outer peripheral surfaces of the two second side walls 50113 of the frame structure.
  • the third protrusion 5012 located on the outer peripheral surface of a second side wall 50113 of the frame structure has a slightly longer structure, which can extend into the depression of the side wall of the dust box to play a buckle and prevent the filter screen of the dust box from falling off
  • the slightly longer third protrusion 5012 can be inserted into the depression of the side wall of the dust box first, and after rotating around the third protrusion 5012, the other side of the filter screen of the dust box can be inserted Put it in the dust box.
  • the third protrusion 5012 distributed on the outer peripheral surface of the other second side wall 50113 of the frame structure has a more rounded structure.
  • the elastic structure 5013 on the side wall of the box interferes and locks to prevent the filter screen of the dust box from falling off.
  • the elastic structure 5013 is roughly an S structure, which has an inner concave part for accommodating the third protrusion 5012 and an outer part that is locked with the third protrusion 5012.
  • the protruding part, the protruding part can elastically move under the action of external force and lock with the third protrusion 5012, as shown in Figure 15, which is an installation structure diagram of the filter screen of the dust box viewed from the bottom of the dust box.
  • the soft rubber frame further includes: a first rib 510 disposed on the outer peripheral surface of the second side wall, configured to prevent the dust box filter from being installed.
  • the dust box is too deep or too shallow, resulting in poor assembly.
  • the first rib 510 will be against the pillow 5014 set at the corresponding position on the frame of the dust box, preventing the filter from extending further inward, which can prevent the dust box from The filter is installed too deep in the dust box.
  • the soft rubber frame further includes: a fool-proof protrusion 509 disposed on the outer peripheral surface of the second side wall, configured to prevent the dust box filter from being installed. opposite.
  • the position corresponding to the dust box and the fool-proof protrusion 509 will be provided with a depression.
  • the fool-proof protrusion 509 will enter the depression so that the dust box filter screen can be assembled normally.
  • the fool-proof protrusion 509 will prevent the assembly of the dust box filter screen, thus playing the fool-proof effect of prompting the dust box filter screen to be installed reversely.
  • the accommodating chamber 200 includes a first chamber 201 and a second chamber 202, and the first chamber 201 and the second chamber 202 are in the The automatic cleaning equipment is arranged adjacent to each other in sequence in the advancing direction, and the depth of the first chamber 201 is greater than that of the second chamber 202 .
  • the bottom of the front side wall of the first chamber 201 is provided with a dust suction port 203, and the rear side wall of the connection between the first chamber 201 and the second chamber 202 is provided with an air outlet 208, and the space below the second chamber 202 accommodates a blower fan.
  • the rear side wall of the platform 100 is provided with an exhaust port 204.
  • the air outlet 208 is provided with a grid structure.
  • the soft rubber frame also includes: a sealing inner lip 507, which is arranged on the first end surface 50116 of the soft rubber frame 501 around the filter element 502, configured to realize the dust box filter screen and
  • the sealing fit between the assembly surface 30121 of the second opening 3012 of the dust box, the assembly surface 30121 of the second opening 3012 of the dust box is formed on the side of the second opening close to the inner wall of the dust box, and is roughly a planar structure , for assembling the soft rubber frame after abutting against the first end surface 50116 of the soft rubber frame 501, as shown in FIG.
  • the second end surface 50115 is configured to seal the filter screen of the dust box and the edge of the air outlet 208 of the accommodating chamber 200 .
  • the sealing inner lip 507 and the sealing outer lip 506 are higher than the first end surface 50116 or the second end surface 50115 where they are located. After being assembled in place, the sealing inner lip 507 will be squeezed between the dust box filter screen and the assembly surface of the dust box, Since the sealing inner lip 507 is a flexible material, it seals the assembly surface of the dust box filter screen and the dust box under the action of extrusion force; when the dust box is assembled on the automatic cleaning equipment, the sealed outer surface of the dust box filter screen The lip 506 will be squeezed between the dust box filter screen and the outside of the grille of the air outlet 208 of the accommodation chamber 200, thereby sealing the assembly surface of the dust box filter screen and the fan bracket, as shown in Figures 3A and 3B, the first The side wall connecting the first chamber 201 and the second chamber 202 constitutes the assembly surface of the fan bracket, the fan is arranged below the second chamber 202, and the grille air outlet 208 is arranged on the first chamber 201 and the second chamber.
  • the side walls of the chamber 202 are connected.
  • the sealing inner lip 507 and the sealing outer lip 506 provided on the soft rubber frame 501 Through the sealing inner lip 507 and the sealing outer lip 506 provided on the soft rubber frame 501, the connection between the inner end surface of the dust box filter screen 500 and the assembly surface of the dust box air outlet, as well as the outer end surface of the dust box filter screen 500 and the accommodating chamber are realized.
  • the sealing fit of the outer surface of the air outlet grille of 200 omits the cumbersome steps of installing sealing strips on the inside and outside of the traditional dust box filter to meet the sealing requirements of the air passage, and the soft rubber frame 501 is used as a carrier, which also has a certain degree of flexibility.
  • the sealing inner lip 507 and the sealing outer lip 506 are used as the sealing structure, which makes the contact and sealing fit more closely, the fit is more sufficient, and the sealing effect is stronger. Functions such as dust and dust removal have played a better role in protection.
  • the soft rubber frame further includes: a stepped surface 503 extending outward along the second end surface 50115 of the soft rubber frame 501 , so that the stepped surface 503 and the The side wall of the soft rubber frame 501 forms a stepped structure, which is configured to prevent the dust box filter from being loaded too deep into the dust box.
  • the step surface 503 will abut against the outer edge of the dust box assembly, thereby locking on the outer edge of the dust box, preventing the dust box filter from being loaded into the dust box Too deep, as shown in Figure 14.
  • the soft rubber frame further includes a magnetic component installation hole 504, which is arranged on the second end surface 50115 of the soft rubber frame 501, and is configured to accommodate a magnetic component to ensure that the The dust box filter screen is installed in place, and the magnetic element can be a magnet or other electromagnetic components; the magnetic element mounting hole 504 is installed with an induction magnetic element, and the magnetic element mounting hole 504 has sufficient depth to ensure that the magnetic element can be installed at a fixed position inside the filter screen. When the overall filter is installed in a fixed position, it can be checked by the Hall sensor to ensure that the filter is installed in place.
  • the soft rubber frame further includes a second rib 5041 disposed around the periphery of the magnetic element installation hole, configured to prevent liquid from entering the magnetic element installation hole.
  • the second rib 5041 tightly wraps the outer end of the magnetic element outside the mounting hole 504 of the magnetic element, which can prevent the magnetic element from rusting and failing.
  • the second rib 5041 can be a soft rubber material, which further wraps the magnetic element after being squeezed.
  • the soft rubber frame further includes a clasp 505 disposed at a position where the step surface 503 extends outward, and is configured to facilitate taking out the filter screen of the dust box.
  • the shape and structure of the clasp 505 is not limited, and may be semicircular, square, or rectangular.
  • the soft rubber frame further includes a hollow structure 508 disposed on the first side wall and/or the second side wall of the frame, configured to reduce the overall weight of the frame,
  • the hollow structure 508 may be a plurality of blind holes recessed inward, and the structure of the blind holes is not limited, and may be circular, square, rectangular, irregular, etc.
  • the automatic cleaning equipment described in the above embodiments wherein the filter screen of the dust box, due to the design of the soft rubber frame, can be directly squeezed and assembled on the opening of the dust box during the assembly process, and at the same time cooperate with the first protrusion, the sealing inner lip and the
  • the sealing outer lip and other structures can make the filter screen and the assembly surface achieve a tight sealing effect during assembly, avoiding the manual assembly part of the traditional process of installing the filter screen and then gluing it, simplifying the process and reducing the number of assembly parts.
  • the cost is reduced, and there is no glue bonding, no peculiar smell, and it is more environmentally friendly.

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  • Cleaning In General (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

本申请提供一种自动清洁设备，包括：移动平台，配置为在操作面上自动移动，包括容纳腔室；清洁模组，包括尘盒，尘盒可拆卸的装配于容纳腔室，所述尘盒包括容纳部、位于所述容纳部上方的顶盖和锁定机构；所述锁定机构包括大致位于所述顶盖中心轴线的第一锁定机构；其中，所述第一锁定机构至少包括第一扣手凹陷和第一锁止件，所述第一锁止件位于所述第一扣手凹陷内，所述第一锁止件在外力作用下可以相对于所述第一扣手凹陷弹性移动；所述锁定机构还包括第二锁定机构。本申请锁定机构中弹性结构简单，仅仅采用弹性材料形成弹性臂即可实现弹性解锁，避免了复杂的解锁装置易损坏的风险。

Description

自动清洁设备
相关申请交叉引用
本申请基于申请号为202220060395.4、申请日为2022年1月11日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及清洁机器人技术领域，具体而言，涉及一种自动清洁设备。
背景技术
现代生活中，清洁机器人越来越普及，为家庭生活带来了便利，清洁机器人包括扫地机器人、拖地机器人以及扫拖一体机器人等，随着清洁机器人的普及，清洁机器人的功能及结构也越来越复杂，生产成本也越来越高。
相关技术中，一些清洁机器人增加了自动充电、自动除尘、升降震动等结构或功能，使清洁机器人更加智能化的同时，增加了各零部件的复杂程度，为后续的维修保养带来了诸多不便。此外，尘盒的取出结构要么过于复杂，要么过于不便。
发明内容
根据本申请的具体实施方式，本申请提供一种自动清洁设备，包括：
移动平台，配置为在操作面上自动移动，包括容纳腔室；
清洁模组，包括尘盒，所述尘盒可拆卸的装配于所述容纳腔室，所述尘盒包括容纳部、位于所述容纳部上方的顶盖和锁定机构；所述锁定机构包括大致位于所述顶盖中心轴线的第一锁定机构；
其中，所述第一锁定机构至少包括第一扣手凹陷和第一锁止件，所述第一锁止件位于所述第一扣手凹陷内，所述第一锁止件在外力作用下可以相对于所述第一扣手凹陷弹性移动；所述锁定机构还包括第二锁定机构。
在一些实施例中，所述顶盖包括覆盖所述容纳部的第一部分和突出所述容纳部向外延伸的的第二部分，所述第一扣手凹陷沿所述顶盖的第一部分边缘向下形成凹陷。
在一些实施例中，所述第一锁止件包括第一弹性臂、第一抠手部和第一卡 扣部，其中，所述第一弹性臂从所述第一扣手凹陷底部向上延伸，所述第一抠手部位于所述第一弹性臂向上延伸的末端，所述第一卡扣部沿所述第一弹性臂横向延伸。
在一些实施例中，所述第一卡扣部为沿所述第一弹性臂两侧对称设置的一对片状结构，所述片状结构从根部到自由端部的宽度由大变小。
在一些实施例中，所述容纳腔室内壁与所述第一锁止件大致对应的地方设置有第一锁定件，所述第一锁止件与所述第一锁定件配合锁止。
在一些实施例中，所述第一锁定件为一对通孔，所述片状结构的自由端部插入所述通孔实现锁止。
在一些实施例中，所述容纳腔室内壁与所述第一扣手凹陷大致对应的地方设置有第一凹陷，所述一对通孔设置于所述第一凹陷两侧。
在一些实施例中，所述第二锁定机构包括第二扣手凹陷和第二锁止件，所述第二扣手凹陷沿所述顶盖的第二部分边缘向内形成凹陷，所述第二锁止件位于所述第二扣手凹陷下方，所述第二锁止件在外力作用下可以相对于所述第二扣手凹陷弹性移动。
在一些实施例中，所述第二锁止件包括第二抠手部、对称设置的两个第二弹性臂和对称设置的两个第二卡扣部，其中，所述第二弹性臂位于所述第二扣手凹陷的下方且先沿所述第二扣手凹陷开口方向延伸再沿顶盖边缘方向和所述第二扣手凹陷边缘方向延伸，所述第二抠手部设置于两个所述第二弹性臂的上方，所述第二卡扣部设置于所述第二弹性臂上。
在一些实施例中，每一所述第二卡扣部包括一从所述第二卡扣部端部向内延伸的凹陷槽。
在一些实施例中，所述容纳腔室内壁与所述第二锁止件大致对应的地方设置有第二锁定件，所述第二锁止件与所述第二锁定件配合锁止。
在一些实施例中，所述第二锁定件为一对突起，所述第二卡扣部伸入所述突起底部实现锁止。
在一些实施例中，所述容纳腔室内壁与所述第二扣手凹陷大致对应的地方设置有第二凹陷，所述一对突起设置于所述第二凹陷两侧。
在一些实施例中，所述顶盖的第二部分下方设置支撑结构，配置为支撑所述顶盖的第二部分，所述第二锁止件设置于所述支撑结构上。
在一些实施例中，所述第二锁定机构包括至少一个第一磁吸模块，所述第一磁吸模块设置于所述顶盖的第二部分的下方。
在一些实施例中，所述顶盖的第二部分下方设置支撑结构，所述第一磁吸模块设置于所述顶盖的第二部分与所述支撑结构之间。
在一些实施例中，所述容纳腔室包括至少一个第二磁吸模块，配置为与所述第一磁吸模块配合吸附后锁止。
本申请提供一种自动清洁设备，包括尘盒锁止结构，通过在尘盒顶盖前后方向对称的设置锁止结构，使得当单手施加作用力于尘盒前后两个弹性结构时，即可实现解锁，不会由于单侧弹出尘盒而造成尘盒倾斜。同时，由于弹性结构简单，仅仅采用弹性材料形成弹性臂即可实现弹性解锁，避免了复杂的解锁装置易损坏的风险。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本申请的实施例，并与说明书一起用于解释本申请的原理。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的前提下，还可以根据这些附图获得其他的附图。在附图中：
图1为根据本申请的一些实施例的自动清洁设备的斜视图。
图2为根据本申请的一些实施例的自动清洁设备底部结构的示意图。
图3A为根据本申请的一些实施例的自动清洁设备容纳腔室的斜视图。
图3B为根据本申请的一些实施例的自动清洁设备容纳腔室的出风口结构示意图。
图4为根据本申请的一些实施例的尘盒的立体视图。
图5为根据本申请的一些实施例的尘盒的斜视图。
图6A-6H为根据本申请的一些实施例的顶盖结构布局示意图。
图7为根据本申请的一些实施例的第一锁止件的放大示意图。
图8为根据本申请的一些实施例的第一锁定件的放大示意图。
图9A为根据本申请的一些实施例的第二锁止件的放大示意图。
图9B为根据本申请的一些实施例的第二锁止件的整体结构示意图。
图9C为根据本申请的一些实施例的第二扣手部的放大示意图。
图10为根据本申请的一些实施例的第二锁定件的放大示意图。
图11为根据本申请的一些实施例的尘盒滤网的外侧视角立体结构图。
图12为根据本申请的一些实施例的尘盒滤网的内侧视角立体结构图。
图13A为根据本申请的一些实施例的尘盒滤网的内侧正视结构图。
图13B为根据本申请的一些实施例的尘盒滤网的内侧视角立体结构图。
图14为根据本申请的一些实施例的尘盒与滤网装配结构示意图。
图15为根据本申请的一些实施例的尘盒与滤网装配结构及放大示意图。
具体实施方式
为了使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请作进一步地详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
应当理解，尽管在本申请实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将类似的对象区分开。例如，在不脱离本申请实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。
下面结合附图详细说明本申请的可选实施例。
图1-图2是根据一些实施例示出的一种自动清洁设备的结构示意图，如图1-图2所示，自动清洁设备可以真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知系统120、控制系统130、驱动系统140、清洁模组150、能源系统160和人机交互系统170。
移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃外表面为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示 的需要，本申请中下面的描述以自动清洁设备为拖地机器人为例进行说明。
在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是系统或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。
感知系统120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。
为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴移动的各种组合在地面上行进：横向轴Y、前后轴X及中心垂直轴Z。沿着前后轴X的前向驱动方向标示为“前向”，且沿着前后轴X的后向驱动方向标示为“后向”。横向轴Y实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕Y轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕Z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向X轴的右侧倾斜为“右转”，当自动清洁设备向X轴的左侧倾斜为“左转”。
如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器123用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。
位置确定装置121的具体类型包括但不限于摄像头、激光测距装置(LDS)。
感知系统120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。
例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制系统130控制自动清洁设备进行地毯模式清洁。
移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。
控制系统130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器。应用处理器被配置为接收感知系统120传来的多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动系统140进行前进、后退和/或转向等操作。进一步地，控制系统130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。
在一些实施例中，控制系统130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。
驱动系统140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。如图2所示，驱动系统140包含驱动轮组件141，驱动系统140可以同时控制左轮和右轮。为了更为精确地控制机器的运动，驱动系统140分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。
为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
如图2所示，清洁模组150可包括干式清洁模组151。
干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会减少。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷152，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。
在一些实施例中，自动清洁设备还可以包括湿式清洁模组，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组包括水箱、清洁头、驱动单元等，其中，水箱的水沿水路流动到清洁头，清洁头在驱动单元的驱动下清洁操作面的至少一部分。
现有的自动清洁设备壳体布局框架结构复杂、零件数量多、组装工时长、工序繁杂、成本高，例如增加自动清洁设备顶面翻盖及翻动机构，顶面翻盖上设计上壳装饰件等，上壳装饰件、上翻盖虽然能起到遮丑、保护内部元件等功能，但造成整机结构复杂、成本高，且对顶面翻盖下的尘盒等元件的设计空间造成了影响。
为此，本申请实施例提供一种无翻盖的自动清洁设备，简化了自动清洁设 备不必要的元件的同时，增大了尘盒及其容纳腔室的设计空间，相同的结构具有相同的技术效果，部分技术效果在此不做赘述。本申请提供一种自动清洁设备，如图3-5所示，包括：移动平台100，配置为在操作面上自动移动，移动平台100包括容纳腔室200。在一些实施例中，所述容纳腔室200设置于自动清洁设备前进方向上的偏后侧，所述容纳腔室200包括第一腔室201和第二腔室202。该自动清洁设备还包括：干式清洁模组，包括尘盒300，所述尘盒300可拆卸的装配于所述容纳腔室200；其中，所述第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，且所述第一腔室201深度大于所述第二腔室202深度。第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，可以将整个尘盒中体积和重量更大的部分设置于更加靠近自动清洁设备中部的位置，使得尘盒更加稳定的设置于容纳腔室200，也使整个清洁设备的重心更稳定，在行进、转弯、越障等过程中表现的更平稳，不容易倾覆；同时便于将尘盒容纳部和尘盒顶盖做成一体结构，使得尘盒顶盖可以做为移动平台顶面的一部分，和移动平台顶面的其他部分齐平，省略了传统清洁设备的翻盖结构，同时便于将位于清洁设备底部大致中央位置的吸尘口直接对准尘盒，使灰尘从吸尘口直接进入尘盒，减少灰尘进入机器内部的行程，避免灰尘对机器内部的污染。第一腔室201深度大于第二腔室202深度，能够分结构的容纳尘盒和尘盒顶盖，便于尘盒顶盖的一体化设计。第一腔室201前侧壁底部设置有吸尘口203，第一腔室201与第二腔室202连接处的后侧壁设置有出风口208，出风口208具有格栅结构，第二腔室202下方空间容纳风机，风机可由风机支架承载。在一些实施例中，出风口208构成风机支架的一部分；移动平台100后侧壁设置有排气口204，在风机吸力的作用下，灰尘从吸尘口203进入尘盒300，气流经尘盒滤网过滤后从排气口204排出。
在一些实施例中，所述尘盒300包括容纳部301和位于所述容纳部301上方的顶盖302，所述顶盖302与所述容纳部301固定连接。固定连接方式包括但不限于粘结、焊接、一体成型、螺栓连接、卡扣连接等。容纳部301用于容纳从吸尘口203吸入的垃圾，容纳部301的外型与所述第一腔室201大致匹配。
与地面具有一定干涉的滚刷将地面上的垃圾扫起并在风机产生的负压气流作用下卷带到滚刷与尘盒300之间的吸尘口203前方，然后被风机产生并经过尘盒300的有吸力的气流吸入尘盒300，垃圾被滤网500隔离在尘盒300内部，经过过滤后的空气进入风机。
在一些实施例中，尘盒300的容纳部301具有位于尘盒300前侧的第一开口3011，第一开口3011与吸尘口203对准设置，容纳部301具有位于尘盒后 侧的第二开口3012，滤网500设置于所述第二开口3012，第二开口3012与出风口208相对接。所述滤网500与尘盒300的盒体为可拆卸连接，方便滤网拆卸和清洗。其中，前侧是指X方向，尘盒300装配于容纳腔室200后，沿自动清洁设备前进方向的一侧，后侧是指X方向，与自动清洁设备前进方向相反的一侧。
在一些实施例中，所述顶盖302包括覆盖所述容纳部301的第一部分3021和超出所述容纳部301向外延伸的第二部分3022，当所述尘盒300装配于所述容纳腔室200时，所述容纳部301及所述顶盖302的第一部分3021容置于所述第一腔室201中，所述顶盖302的第二部分3022容置于所述第二腔室202中。顶盖302和第一腔室201的顶端部分以及第二腔室202结构大致匹配，使得尘盒300可以稳定的安装到容纳腔室200当中，避免了尘盒由于自动清洁设备行进过程中的颠簸而造成的晃动，同时，尘盒顶盖能够恰好的覆盖容纳部和风机所在位置，使得尘盒顶盖上表面与移动平台上表面大致水平，保证了自动清洁设备外表面的平整，外观整体协调性更好，也为顶盖下面包括容纳部在内的各部件的设计提供了更多的空间选择，方便安排不同部件的位置，尘盒容积可选择性提高，可以按需布置具体大小，不影响容纳腔室的总体开口大小，减少开模成本。
在一些实施例中，所述顶盖302的第一部分3021包括突出所述容纳部边缘轮廓向外延伸的边缘部30211。所述容纳腔室200包括沿所述容纳腔室顶端边缘环绕延伸的台阶部205，所述台阶部205配置为容纳所述边缘部30211的至少一部分以及所述第二部分3022外边缘的至少一部分，使得所述顶盖上表面与所述移动平台上表面大致共面。容纳腔室200沿所述容纳腔室顶端边缘环绕延伸的台阶部205，能够完整的接纳顶盖302的边缘，使得顶盖302能够基本严丝合缝的容置于容纳腔室200，能够防止异物直接掉入尘盒边缘缝隙，进步一防止卡住尘盒，同时保证了顶盖作为自动清洁设备上表面的美观。
在一些实施例中，所述顶盖302的第二部分3022下方设置有支撑结构3023，配置为支撑所述顶盖的第二部分3022。在一些实施例中，所述支撑结构3023与所述容纳部301的至少一部分一体成型，以增强所述支撑结构3023对于顶盖302的第二部分3022的支撑力，有效防止其损坏。支撑结构3023可以包括但不限于弧形结构、直线型结构。例如，支撑结构3023为与顶盖302的第二部分3022外边缘轮廓大致匹配的对称设置的两个弧形结构。
在一些实施例中，所述第二腔室202的下表面包括一凹槽2021，所述凹槽2021与所述支撑结构3023轮廓大致匹配，配置为当所述顶盖的第二部分3022容置于所述第二腔室202中时，所述支撑结构3023容置于所述凹槽2021， 以使得顶盖302上表面基本水平。
在一些实施例中，所述顶盖302沿所述自动清洁设备的前进方向中轴线对称设置。在一些实施例中，所述顶盖形状为以下至少之一或组合：D型、长方形、方形、圆形、椭圆形、三角形、四边形、五边形、六边形、七边形或八边形，如图6A-6H所示。对称设置可以使得机器外形无外盖遮挡的情况下，仍然比较美观，且对于尘盒的安装与拆卸都比较便利。
在一些实施例中，如图8所示，所述第一腔室201包括第一锁定件701；如图10所示，所述第二腔室202包括第二锁定件72；如图5、7所示，所述顶盖第一部分3021包括第一锁止件601；如图9A所示，所述顶盖第二部分3022包括第二锁止件602，所述第一锁止件601与所述第一锁定件701配合锁止，所述第二锁止件602与所述第二锁定件72配合锁止。
上述实施例涉及到自动清洁设备的尘盒及其安装结构，通过在自动清洁设备前进方向的后侧设置容纳腔室，所述容纳腔室包括第一腔室和第二腔室，且所述第一腔室深度大于所述第二腔室深度，当尘盒装配于容纳腔室后，尘盒顶盖上表面与移动平台上表面大致共面，简化了自动清洁设备顶面的结构，降低了生成成本，同时增加了容纳腔室的设计空间。
现有的自动清洁设备设置有弹出式尘盒和非弹出式尘盒，弹出式尘盒顶面翻盖及翻动机构，取放尘盒时，需要将顶面翻盖打开，再通过按压尘盒的方式将尘盒弹出，该实施方式需要设置复杂的尘盒弹出机构，尘盒弹出机构包括弹簧等多个零件，由于弹簧反复使用导致弹性下降，使得尘盒不能顺利弹起，此外其他诸多的零部件也容易导致尘盒无法正常弹出，影响使用。非弹出式尘盒多采用结构复杂的锁定结构，其中的弹簧组件易老化损坏，按压部件在操作时和手指的匹配舒适度也不足，整体使用体验较差。
为此，本申请实施例提供一种无翻盖的自动清洁设备，简化了自动清洁设备不必要的元件的同时，方便了尘盒的顺利取放，本实施例同上述实施例相比简述了部分结构特征，相同的结构具有相同的技术效果，部分技术效果在此也不做赘述。如图1-5、7所示，一种自动清洁设备，包括：移动平台100，配置为在操作面上自动移动，包括设置于前进方向上后侧的容纳腔室200；清洁模组，包括尘盒300，所述尘盒300可拆卸的装配于所述容纳腔室200，所述尘盒包括容纳部301、位于所述容纳部上方的顶盖302和锁定机构。所述锁定机构包括大致位于所述顶盖中心轴线的第一锁定机构610；其中，所述第一锁定机构610至少包括第一扣手凹陷603和第一锁止件601，所述第一锁止件601位于所述第一扣手凹陷603内，所述第一锁止件601在外力作用下可以相对于所述第一扣手凹陷603弹性移动。第一扣手凹陷603沿顶盖第一部分边缘向下 形成凹陷，第一扣手凹陷603在Z向提供足够的深度，使得第一锁止件601高度低于顶盖表面，第一扣手凹陷603在X方向提供足够的弹性空间使得当第一锁止件601向内弹性移动时具有足够的活动空间。
在一些实施例中，所述第一锁止件601包括第一弹性臂6011、第一抠手部6012和第一卡扣部6013，其中，所述第一弹性臂6011从所述第一扣手凹陷603底部向上延伸，所述第一抠手部6012位于所述第一弹性臂6011向上延伸的末端，所述第一卡扣部6013沿所述第一弹性臂6011横向延伸。第一弹性臂6011整体大致呈“冂”字形，以减少物料，增加弹性，对此形状结构不做限定。第一抠手部6012横向设置于第一弹性臂6011上方，第一抠手部6012包括一个大致向外突出的底面和沿底面向上延伸的扣手面，扣手面延伸至大致与顶盖齐平位置，扣手面可以为弧形结构，即其在水平面的投影为弧形；扣手面便于接收手动操作，与手指形状更符合人体工程学受力关系。在一些实施例中，所述第一卡扣部6013为沿所述第一弹性臂6011两侧对称设置的一对片状结构，所述片状结构从根部到自由端部的宽度由大变小，以便于顺利的插入第一锁定件701。第一弹性臂6011整体采用常见的弹性材料制作即可，例如塑料或有机弹性材料。
在一些实施例中，如图8所示，图8为图3A中A处的第一锁定件701的放大示意图，所述容纳腔室200内壁与所述第一锁止件601大致对应的地方设置有第一锁定件701，所述第一锁止件601与所述第一锁定件701配合锁止。在一些实施例中，所述第一锁定件701为一对通孔，所述片状结构的自由端部插入所述通孔实现锁止。
在一些实施例中，所述容纳腔室内壁与所述第一扣手凹陷603大致对应的地方设置有第一凹陷206，所述一对通孔设置于所述第一凹陷206两侧。当第一锁止件601伸入所述通孔时实现锁止，当通过第一凹陷206伸入手指施加作用力将第一锁止件601从通孔拔出时，实现解锁。第一凹陷206和第一扣手凹陷603的协同配合，使得手指的伸入操作变得更为轻松方便。
在一些实施例中，如图9A所示，所述锁定机构还包括第二锁定机构620，所述第二锁定机构620包括第二扣手凹陷605和第二锁止件602，第二扣手凹陷605沿顶盖第二部分3022大致中线位置向内形成缺口，例如弧形或方形缺口，便于手指伸入进行扣动操作，所述第二锁止件602位于所述第二扣手凹陷605下侧，第二扣手凹陷605为手指控制第二锁止件602提供足够的空间，所述第二锁止件602在外力作用下向内弹性移动。所述第二锁止件602包括第二弹性臂6021、第二抠手部6022和第二卡扣部6023，其中，所述第二弹性臂6021位于所述第二扣手凹陷605的下方，第二弹性臂6021包括对称的两部分， 每一第二弹性臂6021先沿所述第二扣手凹陷605开口方向延伸，然后沿顶盖边缘方向延伸，再沿所述第二扣手凹陷605边缘方向延伸，其中，所述第二扣手凹陷605开口方向如图9A所示，为从顶盖中心向外的A方向，在本实施例中也为尘盒顶盖的后向，两部分第二弹性臂6021大致呈两个“几”字形结构对称相连设置，所述第二抠手部6022连接对称设置的两部分第二弹性臂6021，所述第二抠手部6022设置于两个所述第二弹性臂的上方，如图9B和图9C所示，图9C是图9B中C处第二抠手部的放大图，第二抠手部6022底部包括一个大致向外突出的底面60221和沿底面向上延伸的扣手面60222，扣手面延伸至大致与顶盖齐平位置，扣手面可以为弧形结构，扣手面便于接收手动操作，供手指施加作用力，在一些实施例中，所述第二抠手部6022与对称设置的第二弹性臂6021一体成型，所述第二卡扣部6023设置于所述第二弹性臂的横向延伸部分。所述第二卡扣部6023为沿所述第二弹性臂6021两侧对称设置的一对，例如为沿所述A方向延伸的凸起或片状结构，在一些实施例中，每一所述第二卡扣部6023包括一从所述第二卡扣部6023端部向内延伸的凹槽，凹槽可以防止一整块第二卡扣部成型冷却后产生过大形变，造成卡扣困难。在一些实施例中，所述第二锁止件602还包括对称设置的连接件6024，连接件6024大致为平面状，第二弹性臂6021的一端与连接件6024的一面连接，连接件6024的另一面与支撑结构端面连接固定。第二抠手部6022在X方向上漏出所述第二扣手凹陷605，以使得当解锁时，手指可以伸入第二扣手凹陷605并按压在第二抠手部6022上，沿X轴向尘盒内侧施力并带动第二卡扣部6023向内弹性收缩，使第二卡扣部6023从第二锁定件702底部弹出，实现解锁。第二弹性臂6021整体采用常见的弹性材料制作即可，例如塑料或有机弹性材料。
在一些实施例中，如图10所示，图10为图3B中B处所示第二锁定件702的放大图，所述容纳腔室200内壁与所述第二锁止件602大致对应的地方设置有第二锁定件702，所述第二锁止件602与所述第二锁定件702配合锁止。所述第二锁定件702为一对突起，第二卡扣部6023伸入所述第二锁定件702底部实现锁止。所述突起可以为扁平状、圆柱状、长方体状等，对此不做限定，以能卡止所述第二卡扣部为限。
在一些实施例中，所述第二腔室202的下表面与所述第二扣手凹陷605大致对应的部位设置有第二凹陷207，所述一对突起等高地设置于第二腔室202的后侧壁上，位于所述第二凹陷207上方。第二凹陷207配置为在尘盒300放入容纳腔室200时避让和容纳第二锁止件602，使整个尘盒更好的在容纳腔室200中放置到位。
在一些实施例中，所述顶盖包括覆盖所述容纳部的第一部分和突出所述容 纳部向外延伸的的第二部分，所述第二扣手凹陷605和所述第二锁止件602位于所述顶盖的第二部分。所述顶盖的第二部分下方包括支撑结构3023，配置为支撑所述顶盖的第二部分，所述第二锁止件602设置于所述支撑结构3023上，如图4所示，对称设置的支撑结构3023，形成X方向向内的压缩空间，当第二弹性臂6021连接于对称的支撑结构3023时，有足够的弹性空间可以响应施加的向内的作用力。
对于上述实施例所述的尘盒锁止结构，通过在尘盒顶盖前后方向对称的设置锁止结构，使得当单手施加作用力于尘盒前后两个弹性结构时，即可实现解锁，不会由于仅单侧解锁后从单侧弹出尘盒而造成尘盒倾斜。同时，由于弹性结构简单，仅仅采用弹性材料形成弹性臂即可实现弹性解锁，避免了使用弹簧等复杂的解锁装置易损坏的风险。
在一些实施例中，如图4所示，所述第二锁定机构620包括至少一个第一磁吸模块604，所述第一磁吸模块604设置于所述顶盖的第二部分与所述支撑结构之间。如图3A所示，所述容纳腔室包括至少一个第二磁吸模块606，配置为与所述第一磁吸模块604配合吸附后锁止。在应用过程中，用手推压第一锁止件601及第二扣手凹陷605可将尘盒对应的第一锁止件601收回，当将尘盒放入容纳腔室放开手后，第一锁止件601上的第一卡扣部6013会自动弹出并插入第一锁定件701，第一磁吸模块604与第二磁吸模块606相吸，从而实现尘盒锁固，该锁定结构简单，易操作，便于实现尘盒的锁定。
在一些实施例中，如上所述的第二锁定机构620可以为包括第二扣手凹陷605和第二锁止件602的实施方式，也可以为包括第一磁吸模块604的实施方式，或者二者均包括的实施方式，对此不做限定。
现有的自动清洁设备的尘盒需要配备可更换尘盒滤网，传统滤网一般由塑胶或者金属做成硬质框架，将层叠式滤芯放置到框架中，点胶连接框架和滤芯周边密封，然后再在框架上粘贴密封条来密封滤网与尘盒之间的缝隙。因此，传统的尘盒滤网部分结构复杂，滤网安装步骤繁琐，浪费人工和成本，且密封时使用的胶水不经济也不环保。
为此，本申请实施例提供一种自动清洁设备，包括：移动平台，配置为在操作面上自动移动，包括容纳腔室；清洁模组，包括尘盒，所述尘盒可拆卸的装配于所述容纳腔室，所述尘盒包括尘盒滤网，尘盒滤网应用于自动清洁设备的尘盒当中，简化了尘盒滤网的装配过程，本实施例同上述实施例相比简述了部分结构特征，相同的结构具有相同的技术效果，部分技术效果在此也不做赘述。如图11-图12所示，尘盒滤网500，包括：软胶框架501，所述软胶框架包括至少一个软胶凸起，用于在装配过程中密封与尘盒的装配间隙；滤芯502， 套设于所述软胶框架501内；其中，所述软胶框架501与所述滤芯502不可拆卸式连接。在一些实施例中，软胶框架501与所述滤芯502不可拆卸式连接工艺，可以采用包胶注塑工艺，将滤芯预先套设在框架内，再在套设好的框架组合体上套啤软胶，一体形成多个需要的密封凸起。或者，可以采用双射工艺先注塑硬胶框架主体，将滤芯套设在框架主体后，再注射软胶形成内外密封凸起。
所述软胶框架501可以为矩形、方形、椭圆形、圆形、多边形等结构，对此结构不做限定。在一些实施例中，所述软胶框架为矩形结构，所述矩形结构的软胶框架501包括相对设置的两个第一侧壁50111和两个第二侧壁50113；所述软胶凸起包括分布于一个所述第一侧壁50111外周面的第一凸起5011和分布于另一个所述第一侧壁50111外周面的第二凸起5015，一对第一侧壁50111和一对第二侧壁50113围成矩形结构框架，矩形结构框架内套设有滤芯，如图11和12所示。
在一些实施例中，第一凸起5011和第二凸起5015可以是连续的凸起结构，例如第一凸起5011和第二凸起5015为从第一侧壁50111外周面的一端连续的延伸至另一端。由于第一凸起5011和第二凸起5015为软胶结构，当尘盒滤网装配到尘盒上时，第一凸起5011和第二凸起5015会受到挤压并直接密封于尘盒滤网500和尘盒第二开口3012之间，与尘盒第二开口3012大致沿水平方向延申的内壁充分接触密封，代替了传统尘盒滤网装配到尘盒上后，还需要通过密封条进行密封的步骤。
在一些实施例中，如图14所示，所述第一凸起和第二凸起至少之一为倒扣结构，所述倒扣结构配置为密封所述软胶框架与尘盒装配间隙的同时，防止所述尘盒滤网从所述尘盒脱落。比如，所述倒扣结构为弧形结构，所述弧形结构向相对于所述尘盒滤网装配方向相反的一侧倾斜。倒扣结构便于在尘盒滤网装配过程中，随着尘盒滤网伸入尘盒装配开口的摩擦力，而向装配方向相反一侧倾倒，然后被挤压密封于尘盒滤网与尘盒之间。
在一些实施例中，所述软胶框架第二侧壁还包括至少一个第三凸起5012，所述第三凸起5012分布于所述框架结构至少一个第二侧壁50113外周面上。第三凸起5012可以是离散的多个凸起结构，作为一种实施方式，第三凸起5012分布于所述框架结构的两个第二侧壁50113外周面上，当尘盒滤网装配到尘盒上时，位于框架结构一个第二侧壁50113外周面上第三凸起5012具有稍长的结构，能够伸入尘盒侧壁的凹陷，起到卡扣、防止尘盒滤网脱落的作用，同时，在装配尘盒滤网时，可以先将该稍长的第三凸起5012伸入尘盒侧壁的凹陷，绕第三凸起5012旋转后将尘盒滤网另一侧装入尘盒。分布于所述框架结构另一个第二侧壁50113外周面上的第三凸起5012具有更圆滑的结构，当 尘盒滤网装配到尘盒上时，该侧的第三凸起5012与尘盒侧壁弹性结构5013过盈卡止，防止尘盒滤网脱落，其中，弹性结构5013大致为S结构，其具有容纳第三凸起5012的内凹部和与第三凸起5012卡止的外凸部，外凸部可以在外力作用下弹性移动而与第三凸起5012卡止，如图15所示，为从尘盒底端仰视尘盒滤网的安装结构图。在一些实施例中，如图13A、图13B所示，所述软胶框架还包括：第一筋位510，设置于所述第二侧壁外周面，配置为防止所述尘盒滤网装入尘盒过深或过浅，导致装配不良。尘盒滤网装入尘盒过程中，当装配到位后，第一筋位510会抵靠于尘盒边框对应位置设置的枕位5014，阻止滤网进一步向内伸入，即可防止尘盒滤网装入尘盒过深。同时，当装配过程中没有使第一筋位510抵靠于尘盒边框的枕位5014，则认为没有装配到位，可防止尘盒滤网装入尘盒过浅，如图15所示。
在一些实施例中，如图13A、图13B所示，所述软胶框架还包括：防呆凸起509，设置于所述第二侧壁外周面，配置为防止所述尘盒滤网装反。尘盒与所述防呆凸起509对应的位置会设置有凹陷，当尘盒滤网正常装入时，防呆凸起509会进入该凹陷而使得尘盒滤网能正常装配，当尘盒滤网装反时，由于尘盒另一侧没有该凹陷而使得防呆凸起509会阻止尘盒滤网的装配，因此而起到提示尘盒滤网装反的防呆作用。
在一些实施例中，如图3A和3B所示，所述容纳腔室200包括第一腔室201和第二腔室202，所述第一腔室201和所述第二腔室202在所述自动清洁设备的前进方向上按序前后相邻布设，且所述第一腔室201深度大于所述第二腔室202深度。第一腔室201前侧壁底部设置有吸尘口203，第一腔室201与第二腔室202连接处的后侧壁设置有出风口208，第二腔室202下方空间容纳风机，移动平台100后侧壁设置有排气口204，在风机吸力的作用下，灰尘从吸尘口203进入尘盒300，气流经尘盒滤网过滤后从排气口204排出。其中，出风口208设置有格栅结构。
如图11和12所示，所述软胶框架还包括：密封内唇507，环绕所述滤芯502设置于所述软胶框架501的第一端面50116，配置为实现所述尘盒滤网与所述尘盒第二开口3012的装配面30121之间的密封配合，所述尘盒第二开口3012的装配面30121形成于所述第二开口内靠近尘盒内壁的一侧，大致为平面结构，用于与所述软胶框架501的第一端面50116抵接后装配所述软胶框架，如图14所示；密封外唇506，环绕所述滤芯502设置于所述软胶框架501的第二端面50115，配置为密封所述尘盒滤网与容纳腔室200的出风口208边缘。密封内唇507和密封外唇506高于其所在的第一端面50116或第二端面50115，在装配到位后，密封内唇507会挤压于尘盒滤网和尘盒的装配面之间，由于密 封内唇507为柔性材料，在挤压力作用下密封所述尘盒滤网与所述尘盒的装配面；当尘盒装配到自动清洁设备上后，尘盒滤网的密封外唇506会挤压于尘盒滤网与容纳腔室200的出风口208的格栅外侧之间，从而密封所述尘盒滤网与风机支架的装配面，如图3A、3B所示，第一腔室201和第二腔室202连接的侧壁构成了所述风机支架的装配面，风机设置于第二腔室202下方，格栅式出风口208设置于第一腔室201和第二腔室202连接的侧壁。通过在软胶框架501上设置的密封内唇507和密封外唇506，实现了尘盒滤网500内端面与尘盒出风口装配面之间，以及尘盒滤网500外端面与容纳腔室200的出风口格栅外表面的密封配合，省略了传统尘盒滤网需要再内外侧加装密封条以满足风路密封需求的繁琐步骤，且软胶框架501作为载体，同样具有一定柔性的密封内唇507和密封外唇506作为密封结构，使得接触密封配合更为紧密，贴合更充分，密封效果更强，保证了整个风路的气密性能，对清洁设备依赖负压实现的吸尘和排尘等功能起到了更好保障作用。
在一些实施例中，如图11和12所示，所述软胶框架还包括：台阶面503，沿所述软胶框架501的第二端面50115向外延伸，使得所述台阶面503与所述软胶框架501的侧壁形成台阶结构，配置为防止所述尘盒滤网装入尘盒过深。在装配过程中，尘盒滤网伸入尘盒装配开口时，台阶面503会抵靠到尘盒的装配外边缘，从而卡止于尘盒外边缘，避免尘盒滤网装入尘盒过深，如图14所示。
在一些实施例中，如图11所示，所述软胶框架还包括磁性元件安装孔504，设置于所述软胶框架501的第二端面50115，配置为装入磁性元件用以确保所述尘盒滤网安装到位，磁性元件可以为磁铁或其他电磁元气件；磁性元件安装孔504安装感应磁性元件，磁性元件安装孔504有足够的深度保证磁性元件可以安装在滤网内侧的固定位置，在整体滤网安装到固定位置时可以被霍尔传感器检查到，确保滤网安装到位。
在一些实施例中，如图11所示，所述软胶框架还包括第二筋位5041，环绕所述磁性元件安装孔的周边设置，配置为防止液体进入所述磁性元件安装孔。第二筋位5041在磁性元件安装孔504外侧紧密包裹磁性元件外端，可以防止磁性元件生锈失效。第二筋位5041可以为软胶材料，受挤压后进一步包裹磁性元件。
在一些实施例中，如图11所示，所述软胶框架还包括扣手505，设置于所述台阶面503向外延展的位置，配置为便于取出所述尘盒滤网。扣手505的形状结构不做限定，可以为半圆形、方形、矩形等。
在一些实施例中，如图12所示，所述软胶框架还包括镂空结构508，设 置于所述框架的第一侧壁和/或第二侧壁上，配置为减轻框架的整体重量，镂空结构508可以为向内凹陷的多个盲孔，盲孔的结构不做限定，可以为圆形、方形、矩形、不规则形等。
以上实施例所述自动清洁设备，其中，尘盒滤网，由于采用了软胶框架设计，其在装配过程中可以直接挤压装配于尘盒开口，同时配合第一凸起、密封内唇和密封外唇等结构，在装配的同时能够使得滤网与装配面达到紧密密封的效果，避免了传统工艺装入滤网后再点胶粘接的手工装配部分，工序简化，组装零部件减少，同时降低了成本，且无胶水粘接，无异味，更加环保。
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。

Claims (17)

  1. 一种自动清洁设备，包括：
    移动平台，配置为在操作面上自动移动，包括容纳腔室；
    清洁模组，包括尘盒，所述尘盒可拆卸的装配于所述容纳腔室，所述尘盒包括容纳部、位于所述容纳部上方的顶盖和锁定机构；所述锁定机构包括大致位于所述顶盖中心轴线的第一锁定机构；
    其中，所述第一锁定机构至少包括第一扣手凹陷和第一锁止件，所述第一锁止件位于所述第一扣手凹陷内，所述第一锁止件在外力作用下可以相对于所述第一扣手凹陷弹性移动；所述锁定机构还包括第二锁定机构。
  2. 根据权利要求1所述的自动清洁设备，其中，所述顶盖包括覆盖所述容纳部的第一部分和突出所述容纳部向外延伸的的第二部分，所述第一扣手凹陷沿所述顶盖的第一部分边缘向下形成凹陷。
  3. 根据权利要求1所述的自动清洁设备，其中，所述第一锁止件包括第一弹性臂、第一抠手部和第一卡扣部，其中，所述第一弹性臂从所述第一扣手凹陷底部向上延伸，所述第一抠手部位于所述第一弹性臂向上延伸的末端，所述第一卡扣部沿所述第一弹性臂横向延伸。
  4. 根据权利要求3所述的自动清洁设备，其中，所述第一卡扣部为沿所述第一弹性臂两侧对称设置的一对片状结构，所述片状结构从根部到自由端部的宽度由大变小。
  5. 根据权利要求4所述的自动清洁设备，其中，所述容纳腔室内壁与所述第一锁止件大致对应的地方设置有第一锁定件，所述第一锁止件与所述第一锁定件配合锁止。
  6. 根据权利要求5所述的自动清洁设备，其中，所述第一锁定件为一对通孔，所述片状结构的自由端部插入所述通孔实现锁止。
  7. 根据权利要求6所述的自动清洁设备，其中，所述容纳腔室内壁与所述第一扣手凹陷大致对应的地方设置有第一凹陷，所述一对通孔设置于所述第一凹陷两侧。
  8. 根据权利要求2所述的自动清洁设备，其中，所述第二锁定机构 包括第二扣手凹陷和第二锁止件，所述第二扣手凹陷沿所述顶盖的第二部分边缘向内形成凹陷，所述第二锁止件位于所述第二扣手凹陷下方，所述第二锁止件在外力作用下可以相对于所述第二扣手凹陷弹性移动。
  9. 根据权利要求8所述的自动清洁设备，其中，所述第二锁止件包括第二抠手部、对称设置的两个第二弹性臂和对称设置的两个第二卡扣部，其中，所述第二弹性臂位于所述第二扣手凹陷的下方且先沿所述第二扣手凹陷开口方向延伸再沿顶盖边缘方向和所述第二扣手凹陷边缘方向延伸，所述第二抠手部设置于两个所述第二弹性臂的上方，所述第二卡扣部设置于所述第二弹性臂上。
  10. 根据权利要求9所述的自动清洁设备，其中，每一所述第二卡扣部包括一从所述第二卡扣部端部向内延伸的凹陷槽。
  11. 根据权利要求10所述的自动清洁设备，其中，所述容纳腔室内壁与所述第二锁止件大致对应的地方设置有第二锁定件，所述第二锁止件与所述第二锁定件配合锁止。
  12. 根据权利要求11所述的自动清洁设备，其中，所述第二锁定件为一对突起，所述第二卡扣部伸入所述突起底部实现锁止。
  13. 根据权利要求12所述的自动清洁设备，其中，所述容纳腔室内壁与所述第二扣手凹陷大致对应的地方设置有第二凹陷，所述一对突起设置于所述第二凹陷两侧。
  14. 根据权利要求8所述的自动清洁设备，其中，所述顶盖的第二部分下方设置支撑结构，配置为支撑所述顶盖的第二部分，所述第二锁止件设置于所述支撑结构上。
  15. 根据权利要求2所述的自动清洁设备，其中，所述第二锁定机构包括至少一个第一磁吸模块，所述第一磁吸模块设置于所述顶盖的第二部分的下方。
  16. 根据权利要求15所述的自动清洁设备，其中，所述顶盖的第二部分下方设置支撑结构，所述第一磁吸模块设置于所述顶盖的第二部分与所述支撑结构之间。
  17. 根据权利要求15所述的自动清洁设备，其中，所述容纳腔室包括至少一个第二磁吸模块，配置为与所述第一磁吸模块配合吸附后锁止。
PCT/CN2022/110964 2022-01-11 2022-08-08 自动清洁设备 WO2023134156A1 (zh)

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Citations (5)

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JP2010253134A (ja) * 2009-04-28 2010-11-11 Hitachi Appliances Inc 電気掃除機
CN109717797A (zh) * 2019-01-31 2019-05-07 莱克电气股份有限公司 一种扫地机器人
CN209074459U (zh) * 2018-04-04 2019-07-09 苏州德震电器有限公司 一种方便握持的吸尘器
CN216854580U (zh) * 2022-01-11 2022-07-01 北京石头世纪科技股份有限公司 自动清洁设备
CN216932995U (zh) * 2022-01-11 2022-07-12 北京石头世纪科技股份有限公司 一种自动清洁设备

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010253134A (ja) * 2009-04-28 2010-11-11 Hitachi Appliances Inc 電気掃除機
CN209074459U (zh) * 2018-04-04 2019-07-09 苏州德震电器有限公司 一种方便握持的吸尘器
CN109717797A (zh) * 2019-01-31 2019-05-07 莱克电气股份有限公司 一种扫地机器人
CN216854580U (zh) * 2022-01-11 2022-07-01 北京石头世纪科技股份有限公司 自动清洁设备
CN216932995U (zh) * 2022-01-11 2022-07-12 北京石头世纪科技股份有限公司 一种自动清洁设备

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