CN215914435U

CN215914435U - Support structure and cooperation structure and cleaning device of support structure and identification system

Info

Publication number: CN215914435U
Application number: CN202121444218.8U
Authority: CN
Inventors: 韩玉强; 姚凯文; 刘璎皞; 许波建
Original assignee: Dreame Technology Suzhou Co ltd
Current assignee: Dreame Technology Suzhou Co ltd
Priority date: 2021-06-28
Filing date: 2021-06-28
Publication date: 2022-03-01
Anticipated expiration: 2031-06-28

Abstract

The utility model provides a supporting structure, a matching structure of the supporting structure and an identification system, and a cleaning device, wherein the supporting structure is applied to a cleaning robot, the identification system for detecting the surrounding environment is arranged outside the top of the body of the cleaning robot, and the supporting structure comprises: the sliding seat is arranged on the rack in a lifting manner under the driving of the lifting mechanism; a mount adapted for mounting an identification system; the mounting seat is movably arranged on the frame; the trigger part is arranged on the mounting seat or is suitable for being arranged on the identification system; the trigger piece is arranged on a motion path of the trigger part; the mounting seat is driven by the collision force of an external barrier received by the recognition system to move so as to drive the trigger part to trigger the trigger piece; the lifting mechanism responds to the triggering of the triggering piece to drive the sliding seat to do descending motion. Through the mode, the self-height of the self-moving robot can be adjusted according to the external environment, the low-space cleaning operation can be realized, and the cleaning capability of the self-moving robot is effectively improved.

Description

Support structure and cooperation structure and cleaning device of support structure and identification system

Technical Field

The utility model relates to the technical field of robots, in particular to a supporting structure, a supporting structure and a matching structure of the supporting structure and an identification system, and cleaning equipment.

Background

The cleaning robot is one kind of intelligent household appliances, and can automatically finish floor cleaning work in a room by means of certain artificial intelligence. Generally, robots that perform cleaning, dust collection, and floor wiping operations are collectively called floor sweeping robots. During the sweeping process, the sweeping robot is usually provided with an identification system for identifying the surrounding environment so as to plan the sweeping path. For example, the identification system may be an LDS lidar identification system, an infrared sensor identification system, or an ultrasonic identification system.

However, in the structure of the existing sweeping robot, the recognition system is generally protruded on the top surface of the sweeping machine, so that the overall height of the sweeping robot is increased, that is, the height of the sweeping robot is the sum of the height of the sweeping robot body and the height of the obstacle recognition system, which results in a limited range in which the sweeping robot can sweep.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a supporting structure, a matching structure of the supporting structure and an identification system, and cleaning equipment, which can adjust the height of the cleaning equipment according to the external environment, realize the cleaning operation of a low space, enlarge the cleaning range of the cleaning equipment and improve the cleaning capability of a cleaning robot.

The purpose of the utility model is realized by the following technical scheme:

in a first aspect of the disclosure, a support structure is provided, which is applied to a cleaning device, an identification system for detecting a surrounding environment is disposed outside a top of a machine body of the cleaning device, and the support structure includes: the sliding seat is arranged on the rack in a lifting manner under the driving of the lifting mechanism; a mounting seat adapted for mounting the identification system; the mounting seat is movably arranged on the rack; the trigger part is arranged on the mounting seat or is suitable for being arranged on the identification system; the trigger piece is arranged on a motion path of the trigger part; the mounting seat is driven by the recognition system to receive the collision force of an external obstacle to move, and the triggering part is driven to trigger the triggering piece; the lifting mechanism responds to the triggering of the triggering piece to drive the sliding seat to do descending motion.

In one embodiment, the mounting seat is movably arranged on the sliding seat, and the trigger piece is arranged on the sliding seat; the trigger part moves along with the mounting seat and triggers the trigger piece by colliding with the trigger piece.

In one embodiment, the mounting seat is vertically floatably arranged on the top of the sliding seat, and the trigger piece is positioned between the top of the sliding seat and the bottom of the trigger part; the support structure further includes a motion conversion assembly for converting at least a portion of the amount of horizontal movement of the mount upon the impact force into a vertical component of movement forcing the trigger portion to vertically impact the trigger member.

In one embodiment, the motion conversion assembly comprises at least one conversion piece, and the conversion piece is provided with a first slope surface which is inclined towards the direction of the installation seat by the sliding seat; the conversion piece is arranged on the mounting seat or the sliding seat, and the mounting seat and the sliding seat are arranged in an abutting mode through the first slope surface; at least one elastic piece is arranged between the sliding seat and the mounting seat, and the mounting seat is driven by the biasing force of the elastic piece to tend to keep abutting against the top of the first slope surface.

In one embodiment, the conversion member comprises at least two mounting holes and at least one sliding rod, one of which is arranged on the mounting seat, and the other of which is arranged on the sliding seat; the hole wall of the mounting hole is the first slope surface; two ends of the sliding rod are respectively penetrated in the mounting holes.

In one embodiment, the top of the sliding seat is provided with a mounting cavity which is concave downwards; the mounting seat is embedded into the mounting cavity, the mounting seat and the sliding seat are arranged in overlapped side walls, one side wall is provided with the mounting hole, and the other side wall is provided with the sliding rod.

In one embodiment, the mounting seat is provided with a through hole area; the trigger part is arranged on the bottom of the identification system, the trigger piece is positioned in the through hole area, and the mounting seat is driven by the collision force to move so as to force the trigger part to collide with the trigger piece.

In one embodiment, a mounting protrusion or a mounting groove is arranged on the top of the mounting seat, and the mounting protrusion or the mounting groove is used for the insertion and matching of the identification system; and/or the trigger is a trigger switch;

in one embodiment, the lifting mechanism comprises a driver, which is arranged on the frame, connected with the trigger piece and used for executing the control signal of the trigger piece; the bottom of the power piece is fixed on a rotating shaft of the driver, and the top of the power piece is hinged to the bottom of the transmission piece; the top of the transmission piece is hinged to the bottom of the sliding seat; and the guide assembly is used for guiding the sliding seat to do lifting motion along the vertical direction.

In one embodiment, the guide assembly comprises at least one guide member and at least one guide sleeve, one of which is arranged on the frame, and the other of which is arranged on the sliding seat; the guide sleeve is provided with a guide channel extending along the vertical direction, and the guide sleeve is sleeved outside the guide piece.

In a second aspect of the disclosure, there is provided a support structure and identification system mating structure, comprising a support structure as described above; and the recognition system is arranged on the mounting seat of the supporting structure.

In a third aspect of the disclosure, there is provided a cleaning apparatus comprising a body of the cleaning apparatus having a mounting area therein, and a top opening communicating with the mounting area; a mating structure as described above, the support structure of the mating structure being disposed within the mounting region, the identification system being switchable between an extended state extending out of the top opening and a retracted state retracted into the mounting region upon actuation of the support structure.

The utility model has the following beneficial effects:

according to the supporting structure, the supporting structure and the matching structure of the identifying system and the cleaning equipment, which are provided by the utility model, through mechanical collision triggering, after the identifying system collides with an external obstacle, the mounting seat is driven by the identifying system to move by receiving the collision force of the external obstacle, the triggering part moves along with the mounting seat to trigger the triggering part, and the lifting mechanism receives a control signal of the triggering part and then drives the sliding seat to do descending movement, so that the height of the identifying system is adjusted;

furthermore, the recognition system of the cleaning equipment is arranged on the supporting structure, and when the cleaning equipment meets low spaces such as the bottom of a sofa or the bottom of a bed, the recognition system can be retracted into the machine body, so that the cleaning equipment can realize the cleaning operation of the low spaces, effectively improves the cleaning capability and has the advantage of convenient use.

Drawings

Fig. 1 is a schematic perspective view of a support structure according to the present invention.

Fig. 2 is a schematic view of the structure of fig. 1 in a front view direction.

Fig. 3 is a schematic cross-sectional structure of fig. 1.

Fig. 4 is an exploded view of fig. 1.

Fig. 5 is a schematic structural view of the lifting mechanism in fig. 1.

Fig. 6 is a schematic structural view of the sliding seat in fig. 1.

Fig. 7 is a schematic view of the slide bar at the low end.

Fig. 8 is a schematic view of the slide bar at the high end.

Fig. 9 is a schematic view of the recognition system when the ascent motion is completed.

Fig. 10 is a schematic view of the recognition system when it has completed the lowering movement.

Fig. 11 is a schematic view of a cleaning apparatus proposed by the present invention.

Fig. 12 is a partially exploded view of fig. 11.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terms "comprising" and "having," as well as any variations thereof, in the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the utility model. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 to 10, the present invention provides a supporting structure for a cleaning robot, in which an identification system 600 for detecting a surrounding environment is disposed outside a top of a body 700 of the cleaning robot, the supporting structure comprising: a sliding seat 200 which is arranged on the frame 800 in a lifting manner driven by the lifting mechanism 300; a mount 100 adapted for mounting an identification system 600; the mounting base 100 is movably arranged on the frame 800; a trigger portion provided on the mount 100 or adapted to be provided on the recognition system 600; a trigger 400 provided on a movement path of the trigger; the mounting seat 100 is driven by the recognition system 600 to move when receiving the collision force of an external obstacle, and drives the trigger part to trigger the trigger piece 400; the lifting mechanism 300 drives the sliding seat 200 to move downwards in response to the triggering of the triggering member 400.

In the present invention, the supporting structure is used for height adjustment of the recognition system 600 to be suitable for different working environments, and the recognition system 600 is an LDS lidar recognition system, of course, the recognition system 600 includes but is not limited to the above structure, and may also be other mutual induction systems. The recognition system 600 achieves height adjustment through the triggering and response relationship between the trigger, the trigger 400, and the elevator mechanism 300. The triggering of the trigger 400 includes two ways, one way: mechanical collision triggering, after the recognition system 600 collides with an external obstacle, the mounting base 100 is driven by the recognition system 600 to move by receiving the collision force of the external obstacle, the triggering part moves along with the mounting base 100 to trigger the triggering piece 400, and the lifting mechanism 300 drives the sliding base 200 to move downwards after receiving the control signal of the triggering piece 400, so that the height of the recognition system 600 is adjusted; in another mode: the signal is triggered, the height of the external obstacle is detected through a triggering part on the recognition system 600, when the triggering part detects an abnormal obstacle, the triggering part 400 is triggered through the signal, and the lifting mechanism 300 drives the sliding seat 200 to do descending motion after receiving a control signal of the triggering part 400, so that the height of the recognition system 600 is adjusted. The manner in which the mechanical impact triggers are triggered is described in detail below, in particular, below.

In the utility model, the top of the mounting base 100 is provided with a mounting protrusion or a mounting groove, and the mounting protrusion or the mounting groove is used for the insertion and matching of the recognition system 600, so that the utility model has the advantages of convenient mounting and stable and reliable connection. The installation seat 100 is vertically floatably arranged on the top of the sliding seat 200, the trigger 400 is arranged on the sliding seat 200, and the trigger 400 is positioned between the top of the sliding seat 200 and the bottom of the trigger part. The trigger part moves with the mounting base 100, and triggers the trigger 400 by hitting the trigger 400, wherein the trigger 400 is a trigger switch, and the trigger 400 is preferably a push-type trigger switch. Specifically, the trigger 400 is located at the center of the sliding seat 200, the sliding seat 200 is provided with a mounting groove 230 for mounting the trigger 400, and the trigger 400 is mounted and positioned on the sliding seat 200 through the mounting groove 230.

In order to ensure that the mounting seat 100 moves on a predetermined path to ensure that the triggering portion can smoothly trigger the triggering member 400, the support structure further comprises a motion conversion assembly for converting at least a portion of the horizontal movement of the mounting seat 100 under the collision force into a vertical movement component to force the triggering portion to vertically collide with the triggering member 400. The motion converting assembly includes at least one converting member 900 and at least one elastic member 500, the converting members 900 are provided in a pair in number, the elastic members 500 are provided in a number of 2 to 5, and preferably, the elastic members 500 are provided in a number of 3, and the three elastic members 500 are distributed in a triangular shape in consideration of stability and reliability of connection.

Furthermore, the conversion piece 900 has a first slope surface inclined from the slide base 200 toward the mount base 100, the conversion piece 900 is provided on the mount base 100 or the slide base 200, and the mount base 100 and the slide base 200 are disposed in contact with each other via the first slope surface. The converter 900 includes at least two mounting holes 110 and at least one sliding rod 210, one of the two is disposed on the mounting base 100, the other is disposed on the sliding base 200, the hole wall of the mounting hole 110 is the first slope, and both ends of the sliding rod 210 respectively penetrate through the at least one mounting hole 110, wherein the sliding rod 210 is in the shape of an elongated cylinder, and the mounting hole 110 is in the shape of a runway. The mounting hole 110 and the sliding rod 210 can also limit the floating displacement of the mounting seat 100, and have the advantages of simple structure, stable and reliable connection and accurate movement. The elastic member 500 is disposed between the sliding seat 200 and the mounting seat 100, and the mounting seat 100 is biased by the elastic member 500, so that the sliding seat 200 and the mounting seat 100 are driven to be abutted at the top of the first slope surface. The resilient member 500 may also be understood to provide a displacement distance between the mount 100 and the sliding seat 200 and may actuate the identification system 600 to reset after the identification system 600 collides. The top end of the elastic member 500 is connected to the mounting seat 100, the bottom end of the elastic member 500 is connected to the sliding seat 200, and the elastic member 500 is preferably a spring and is substantially vertically distributed. The end face of the sliding seat 200 close to the elastic element 500 is provided with a limit convex part 220, and the bottom end of the elastic element 500 is clamped with the limit convex part 220 to realize the positioning of the elastic element 500.

In order to reduce the size of the support structure in the vertical direction, the support structure is compact in overall structure. The top of sliding seat 200 is equipped with undercut's installation cavity, and the vertical space has effectively been utilized in the installation cavity of mount pad 100 embedding to the setting mode of mount pad 100 embedding in the installation cavity can also play the effect of motion direction, has the reliable and stable advantage of motion. Among the overlapped side walls of the installation base 100 and the sliding base 200, one side wall is provided with an installation hole 110, and the other side wall is provided with a sliding rod 210. In order to further reduce the size of the supporting structure in the vertical direction, please refer to the drawings, a through hole area 120 is provided on the mounting base 100, the triggering portion is provided on the bottom of the recognition system 600, the triggering member 400 is located in the through hole area 120, the mounting base 100 is driven by the collision force to move, the triggering portion is forced to collide with the triggering member 400, and further the supporting structure is compact in structure and small in occupied space.

In the present invention, the lifting mechanism 300 comprises a driver 310, a power member 320, a transmission member 330 and a guide assembly 340, wherein the driver 310 is preferably a motor with a rotary motion output, and the guide assembly 340 is used for guiding the sliding base 200 to perform a lifting motion along a vertical direction. The driver 310 is disposed on the frame 800 and connected to the trigger 400 for executing a control signal of the trigger 400. The bottom of the power member 320 is fixed on the rotating shaft of the driver 310, the top of the power member 320 is hinged on the bottom of the transmission member 330, and the top of the transmission member 330 is hinged on the bottom of the sliding seat 200. The guide assembly 340 includes at least one guide member 341 and at least one guide sleeve 342, one of which is disposed on the frame 800 and the other of which is disposed on the sliding seat 200, the guide sleeve 342 having a guide passage extending in a vertical direction, the guide sleeve 342 being fitted over the guide member 341. In order to provide the sliding seat 200 with better motion stability, the number of the guiding members 341 is set to 3, and the guiding members 341 are distributed in a triangular shape. It is understood that the lifting mechanism 300 includes, but is not limited to, the above-described structure, and may also be an electric device having a linear reciprocating capability, such as a cylinder, a lead screw unit, or the like.

The frame 800 is further provided with a first micro switch 323 and a second micro switch 324, the first micro switch 323 and the second micro switch 324 are arranged near the end of the guide 341, the first micro switch 323 is configured to define the upper limit position of the sliding seat 200, and the sliding seat 200 is kept at the upper limit position; the second microswitch 324 is configured to define a lower limit position of the slide carriage 200 and to cause the slide carriage 200 to remain in the lower limit position. A first abutting block 240 for engaging with the first micro switch 323 and a second abutting block 250 for engaging with the second micro switch 324 are protruded outwardly from the edge of the sliding seat 200.

In order to realize the rapid ascending and descending of the identification system 600, in the present invention, the power member 320 rotates half a turn to complete the descending movement or ascending movement of the sliding seat 200, and the above-mentioned "half a turn" means: the rotation angle is 180 degrees of rotation. Through the mode, the time required by the sliding seat 200 to finish descending movement or ascending movement is 0.3s, and the response time is effectively shortened, so that the supporting structure has the advantages of high lifting efficiency and quick response.

It will be appreciated that the support structure of the present invention may be applied to different usage scenarios, as exemplified below.

The support structure of the present invention can be applied to a fitting structure of the support structure and the identification system. Wherein, this bearing structure and identification system's cooperation structure includes: the support structure as described above; the recognition system 600 is provided on the mount 100 of the support structure.

The support structure of the present invention is also applicable to a cleaning apparatus. Referring to fig. 11 and 12, the cleaning apparatus includes: a body 700 of the cleaning apparatus having a mounting region M therein and a top opening communicating with the mounting region M; as with the mating structure described above, the support structure of the mating structure is disposed within the mounting region M, and the identification system 600 is switchable between an extended state extending out of the top opening and a retracted state retracted within the mounting region M upon actuation of the support structure. The recognition system 600 includes a recognition system body 610 provided on the top of the mounting base 100 and a cover 620 covering the recognition system body 610, wherein the cover 620 protects the recognition system body 610. The recognition system 600 is configured to generate a surrounding image from the mobile robot, and set a walking route from the mobile robot according to the surrounding image.

The cleaning apparatus is a robot capable of performing the required cleaning operations in an environment without human guidance, and for ease of illustration, a floor sweeping robot will now be described as an example, when the sweeping robot meets low space such as the bottom of a sofa and the bottom of a bed, the height of the machine body 700 is lower than that of the bottom of the sofa, but the overall height of the body 700 and the recognition system 600 is higher than the bottom of the sofa, at this time, the recognition system 600 collides with the bottom of the sofa, in the above scenario, the forward direction of the machine body 700 is the front, the backward direction of the machine body 700 is the back, the bottom of the sofa generates a horizontal thrust force F on the recognition system 600 from the front to the back, the recognition system 600 drives the installation seat 100 to move backward and downward under the action of the horizontal thrust force F and the motion conversion component, so that the trigger 400 is triggered, and the trigger 400 sends out a control signal after being triggered, so that the lifting mechanism 300 is driven to drive the sliding seat 200 to descend. When the sweeping robot recognizes that the machine body 700 is separated from the low space through other recognition devices thereon, the lifting mechanism 300 receives a signal to drive the recognition system 600 to return to the working state, and the sweeping operation is continued. Therefore, the self-moving robot can realize the cleaning operation of a low space, effectively improves the cleaning capacity and has the advantage of convenient use.

Therefore, after the horizontal thrust F generated by the collision acts on the recognition system 600, the mounting seat 100 moves backward and downward under the combined action of the mounting hole 110 and the sliding rod 210, and further drives the trigger part to trigger the trigger piece 400. In the present invention, the amount of movement of the mount 100 is small and can be regarded as a fine movement, and the fine movement distance in the front-rear and height directions is 2 mm. The mounting hole 110 has a high end M near the identification system 600 and a low end N far from the identification system 600. When the recognition system 600 does not collide with an obstacle, please refer to the figure, the sliding rod 210 is located at the low end N; when the recognition system 600 collides with an obstacle, please refer to fig. 8, the mounting base 100 is driven by the recognition system 600 to move backward and downward, and at this time, the sliding rod 210 is located at the high end M.

Having described the structure of the support structure and the cleaning device in full, those skilled in the art will appreciate the following motion processes:

when the recognition system 600 collides with an obstacle, the recognition system 600 drives the mounting base 100 to move backwards and downwards, the triggering part at the bottom of the recognition system 600 touches the triggering part 400, the triggering part 400 generates a control signal, the driver 310 drives the power part 320 to rotate after receiving the control signal, after the power part 320 rotates 180 degrees, the sliding base 200 completes the descending movement, the sliding base 200 is at the lower limit position, at this time, the second abutting block 250 of the sliding base 200 triggers the second micro switch 324, and the driver 310 stops rotating after receiving the signal of the second micro switch 324, so that the sliding base 200 is kept at the lower limit position; when the driver 310 receives an external signal, the power member 320 is driven to rotate by 180 ° again, the sliding seat 200 moves from the lower limit position to the upper limit position to complete the ascending movement, at this time, the first abutting block 240 of the sliding seat 200 triggers the first micro switch 323, and the driver 310 stops rotating after receiving the signal of the first micro switch 323, so that the sliding seat 200 is maintained at the upper limit position.

The above is only one embodiment of the present invention, and any other modifications based on the concept of the present invention are considered as the protection scope of the present invention.

Claims

1. A support structure for a cleaning robot, the cleaning robot having a recognition system (600) for detecting the surrounding environment provided outside the top of the body, the support structure comprising:

the sliding seat (200) is arranged on the rack (800) in a lifting way under the driving of the lifting mechanism (300);

a mounting (100) adapted for mounting of the identification system (600); the mounting seat (100) is movably arranged on the rack (800);

a trigger provided on the mount (100) or adapted to be provided on the identification system (600);

a trigger (400) provided on a movement path of the trigger;

the mounting seat (100) is driven by the collision force of an external obstacle received by the recognition system (600) to move, and drives the trigger part to trigger the trigger piece (400); the lifting mechanism (300) drives the sliding seat (200) to do descending motion in response to the triggering of the triggering piece (400).

2. The support structure of claim 1, wherein the mounting base (100) is movably provided on the sliding base (200), and the triggering member (400) is provided on the sliding base (200); the trigger part moves with the mounting seat (100), and triggers the trigger piece (400) by colliding with the trigger piece (400).

3. The support structure of claim 2, wherein the mounting seat (100) is vertically floatably provided on the top of the sliding seat (200), the trigger (400) being located between the top of the sliding seat (200) and the bottom of the trigger;

the support structure further comprises a motion conversion assembly for converting at least part of the amount of horizontal movement of the mount (100) subjected to a collision force into a vertical component of movement, forcing the trigger portion to vertically impact the trigger (400).

4. The support structure of claim 3, wherein the motion conversion assembly comprises

At least one conversion piece (900) having a first slope surface inclined from the sliding seat (200) toward the mounting seat (100); the conversion piece (900) is arranged on the installation seat (100) or the sliding seat (200), and the installation seat (100) and the sliding seat (200) are arranged in an abutting mode through the first slope surface;

at least one elastic member (500) is arranged between the sliding seat (200) and the mounting seat (100), and the mounting seat (100) is biased by the elastic member (500) to drive the sliding seat (200) and the mounting seat (100) to tend to keep abutting against the top of the first slope surface.

5. The support structure of claim 4, wherein the transition piece (900) comprises

At least two mounting holes (110) and at least one sliding rod (210), one of which is arranged on the mounting base (100) and the other of which is arranged on the sliding base (200);

the hole wall of the mounting hole (110) is the first slope surface; two ends of the sliding rod (210) are respectively penetrated in at least one mounting hole (110).

6. The supporting structure of claim 5, wherein the top of the sliding seat (200) is provided with a mounting cavity recessed downwards;

the mounting seat (100) is embedded into the mounting cavity, the mounting seat (100) and the sliding seat (200) are arranged on the overlapped side walls, one side wall is provided with the mounting hole (110), and the other side wall is provided with the sliding rod (210).

7. The support structure according to any one of claims 3 to 6, wherein the mounting seat (100) is provided with a through hole region (120);

the trigger part is arranged on the bottom of the identification system (600), the trigger piece (400) is positioned in the through hole area (120), and the mounting seat (100) is driven by the collision force to move so as to force the trigger part to collide with the trigger piece (400).

8. The support structure according to any one of claims 1 to 6, wherein a mounting projection or a mounting groove is provided on the top of the mounting seat (100), the mounting projection or the mounting groove being for a plug-in fit of the identification system (600); and/or

The trigger (400) is a trigger switch.

9. The support structure of any one of claims 1 to 6, wherein the lifting mechanism (300) comprises

The driver (310) is arranged on the rack (800), is connected with the trigger (400) and is used for executing a control signal of the trigger (400);

the bottom of the power piece (320) is fixed on the rotating shaft of the driver (310), and the top of the power piece (320) is hinged on the bottom of the transmission piece (330);

the top of the transmission piece (330) is hinged to the bottom of the sliding seat (200); and

and the guide assembly (340) is used for guiding the sliding seat (200) to do lifting motion along the vertical direction.

10. The support structure of claim 9, wherein the guide assembly (340) comprises

At least one guide member (341) and at least one guide sleeve (342), one of which is arranged on the frame (800) and the other of which is arranged on the sliding seat (200);

the guide sleeve (342) is provided with a guide channel extending along the vertical direction, and the guide sleeve (342) is sleeved outside the guide piece (341).

11. A matching structure of a supporting structure and an identification system is characterized by comprising

The support structure of any one of claims 1-10;

an identification system (600) provided on a mounting seat (100) of the support structure.

12. A cleaning device is characterized by comprising

A body (700) of the cleaning device having a mounting area therein and a top opening communicating with the mounting area;

the mating structure of claim 11, a support structure of the mating structure being provided within the mounting region, the identification system (600) being switchable between an extended state extending out of the top opening and a retracted state retracted within the mounting region upon actuation of the support structure.