WO2023134157A1 - Appareil de nettoyage automatique - Google Patents

Appareil de nettoyage automatique Download PDF

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Publication number
WO2023134157A1
WO2023134157A1 PCT/CN2022/110965 CN2022110965W WO2023134157A1 WO 2023134157 A1 WO2023134157 A1 WO 2023134157A1 CN 2022110965 W CN2022110965 W CN 2022110965W WO 2023134157 A1 WO2023134157 A1 WO 2023134157A1
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WO
WIPO (PCT)
Prior art keywords
chamber
dust box
top cover
automatic cleaning
cleaning device
Prior art date
Application number
PCT/CN2022/110965
Other languages
English (en)
Chinese (zh)
Inventor
李海宾
张智斌
张玉庆
杨帆
李智军
全刚
Original Assignee
北京石头世纪科技股份有限公司
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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
Publication of WO2023134157A1 publication Critical patent/WO2023134157A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers

Definitions

  • 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 application provides an automatic cleaning device, comprising:
  • the mobile platform is configured to automatically move on the operation surface, and includes an accommodation chamber, and the accommodation chamber includes a first chamber and a second chamber;
  • the cleaning module includes a dust box, and the dust box is detachably assembled in the accommodating chamber;
  • first chamber and the second chamber are arranged sequentially and adjacently in the forward direction of the automatic cleaning device, and the depth of the first chamber is greater than the depth of the second chamber.
  • the dust box includes a receiving part and a top cover located above the receiving part, and the top cover is fixedly connected with the receiving part.
  • the top cover includes a first portion covering the accommodating portion and a second portion extending outward protruding from the accommodating portion, when the dust box is assembled in the accommodating chamber, the The accommodating part and the first part of the top cover are accommodated in the first chamber, and the second part of the top cover is accommodated in the second chamber.
  • the first portion of the top cover includes an outwardly extending edge portion protruding from an edge profile of the receptacle.
  • the accommodating chamber includes a stepped portion extending circumferentially along the top edge of the accommodating chamber, and the stepped portion is configured to accommodate at least a portion of the edge portion and at least a portion of the outer edge of the second portion. A part, so that the upper surface of the top cover is substantially coplanar with the upper surface of the mobile platform.
  • a support structure is disposed under the second portion of the top cover, configured to support the second portion of the top cover, and the support structure is integrally formed with at least a part of the accommodating portion.
  • the surface of the second chamber includes a groove that substantially matches the contour of the support structure and is configured such that when the second portion of the top cover is received in the second When in the chamber, the support structure is accommodated in the groove.
  • the top cover 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.
  • the dust box includes: a dust suction port located on a first side wall of the dust box; an air outlet located on a second side wall of the dust box opposite to the first side wall;
  • the filter screen is detachably assembled on the air outlet.
  • the cleaning module further includes a blower, located below the second chamber and corresponding to the air outlet, configured to provide suction to suck garbage from the dust suction port into the dust box.
  • the first chamber includes a first lock
  • the second chamber includes a second lock
  • the first portion of the top cover includes a first lock
  • the second portion of the top cover A second locking piece is included, the first locking piece cooperates with the first locking piece to lock, and the second locking piece cooperates with the second locking piece to lock.
  • a place where the first chamber substantially corresponds to the first locking member includes a first recess configured to receive a finger.
  • the lower surface of the second chamber includes a second recess configured to receive the second locking member.
  • the present application provides an automatic cleaning device, in particular to the dust box of the automatic cleaning device and its installation structure, by setting an accommodating chamber on the rear side of the forward direction of the automatic cleaning device, the accommodating chamber includes a first chamber and a second chamber Two chambers, and the depth of the first chamber is greater than the depth of the second chamber.
  • the upper surface of the dust box top cover is roughly coplanar with the upper surface of the mobile platform, which simplifies the automatic
  • the structure on the top surface of the cleaning device increases the design space of the accommodating chamber at the same time.
  • 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.
  • the automatic cleaning equipment can be a vacuum robot, a mopping/scrubbing robot, or 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 .
  • 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.
  • the following description in this application takes the automatic cleaning device as an example of a floor mopping robot for illustration.
  • 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 arranged on the main board 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. 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 .
  • 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; as shown in FIG. 5, 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 " ⁇ " in order 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 also 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 other end of the connecting member 6024 One 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 with 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 protrusions 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 support, 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 sealing outer lip 506 provided on the soft rubber frame 501 Through the sealing inner lip 507 and 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 a sealing structure, which makes the contact and sealing fit more closely, the fit is more sufficient, and the sealing effect is stronger, ensuring the airtight performance of the entire air path, and the suction of the cleaning equipment relying on negative pressure. 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.

Landscapes

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

Abstract

La présente demande concerne un appareil de nettoyage automatique, comprenant : une plateforme mobile, qui est conçue pour se déplacer automatiquement sur une surface de fonctionnement, la plateforme mobile comprenant une chambre de réception et la chambre de réception comprenant une première chambre et une seconde chambre ; et un module de nettoyage, qui comprend une boîte à poussière, la boîte à poussière étant assemblée de manière amovible dans la chambre de réception, les première et seconde chambre étant disposées de manière adjacente à l'avant et à l'arrière en séquence dans une direction d'avance de l'appareil de nettoyage automatique et la profondeur de la première chambre étant supérieure à la profondeur de la seconde. Une fois que la boîte à poussière est assemblée dans la chambre de réception, une surface supérieure d'un couvercle supérieur de la boîte à poussière est grossièrement coplanaire avec une surface supérieure de la plateforme mobile, ce qui simplifie la structure d'une surface supérieure de l'appareil de nettoyage automatique et augmente l'espace de conception de la chambre de réception.
PCT/CN2022/110965 2022-01-11 2022-08-08 Appareil de nettoyage automatique WO2023134157A1 (fr)

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CN202220063144.1 2022-01-11
CN202220063144.1U CN216932995U (zh) 2022-01-11 2022-01-11 一种自动清洁设备

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Publication number Priority date Publication date Assignee Title
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
CN217285630U (zh) * 2022-01-11 2022-08-26 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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Publication number Priority date Publication date Assignee Title
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
CN209252669U (zh) * 2018-08-03 2019-08-16 北京石头世纪科技股份有限公司 尘桶及具有其的手持式清洁设备
JP2020043906A (ja) * 2018-09-14 2020-03-26 アイリスオーヤマ株式会社 電気掃除機
CN212015461U (zh) * 2020-01-06 2020-11-27 盐城市丽祺机械有限公司 一种扫地机的尘盒压紧装置
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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Publication number Priority date Publication date Assignee Title
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
CN209252669U (zh) * 2018-08-03 2019-08-16 北京石头世纪科技股份有限公司 尘桶及具有其的手持式清洁设备
JP2020043906A (ja) * 2018-09-14 2020-03-26 アイリスオーヤマ株式会社 電気掃除機
CN212015461U (zh) * 2020-01-06 2020-11-27 盐城市丽祺机械有限公司 一种扫地机的尘盒压紧装置
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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