WO2023029427A1 - Button structure, liquid storage tank, and automatic cleaning device - Google Patents

Button structure, liquid storage tank, and automatic cleaning device Download PDF

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Publication number
WO2023029427A1
WO2023029427A1 PCT/CN2022/080010 CN2022080010W WO2023029427A1 WO 2023029427 A1 WO2023029427 A1 WO 2023029427A1 CN 2022080010 W CN2022080010 W CN 2022080010W WO 2023029427 A1 WO2023029427 A1 WO 2023029427A1
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WO
WIPO (PCT)
Prior art keywords
liquid storage
storage tank
automatic cleaning
cleaning device
button structure
Prior art date
Application number
PCT/CN2022/080010
Other languages
French (fr)
Chinese (zh)
Inventor
秦运根
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to EP22862576.0A priority Critical patent/EP4397224A1/en
Priority to AU2022337419A priority patent/AU2022337419A1/en
Publication of WO2023029427A1 publication Critical patent/WO2023029427A1/en

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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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present disclosure relates to the technical field of cleaning robots, in particular, to a button structure, a liquid storage tank and automatic cleaning equipment.
  • Automatic cleaning equipment is used to automatically clean designated places.
  • Existing automatic cleaning equipment includes sweepers, mopping machines, and all-in-one sweeping and dragging machines.
  • automatic cleaning equipment capable of mopping the floor it must be equipped with a liquid storage tank to provide cleaning liquid.
  • detachable for water tank is convenient to the operations such as cleaning, maintenance, water injection to water tank.
  • detachable buttons need to be designed according to different water tank structures and automatic cleaning equipment structures.
  • the existing detachable buttons are either inconvenient to disassemble the water tank, or the volume is too large, which affects the installation of other parts of the automatic cleaning equipment. And the volume of water tank brings inconvenience to the detachment of water tank.
  • the purpose of the present disclosure is to provide a button structure, a liquid storage tank and an automatic cleaning device, which can solve the technical problem of inconvenient disassembly of the liquid storage tank.
  • the present disclosure provides a button structure, which is assembled in a liquid storage tank and is configured such that the liquid storage tank is detachably assembled in an automatic cleaning device, and the button structure includes: a button body The pressing part is located at one end of the button body, and when it is subjected to a downward force, the liquid storage tank is unlocked from the automatic cleaning device; the boss is located at the opposite side of the button body to the pressing part One end; wherein, when the button structure is assembled on the liquid storage tank, the pressing part is higher than the boss, and the moving direction of the boss is opposite to that of the pressing part, so that the liquid storage The box is detachably assembled to the automatic cleaning device.
  • the boss includes: a first surface, which is a curved surface extending upward along the upper surface of the key body; a second surface, which is a curved surface smoothly connected with the first surface, configured to be The tongue of the automatic cleaning device abuts and locks; the third surface is a plane extending in a substantially vertical direction after being smoothly connected with the second surface.
  • the connecting portion between the first surface and the second surface is higher than the connecting portion between the second surface and the third surface.
  • the key structure further includes: lugs symmetrically arranged on both sides of the key body; a rotating shaft connecting the lugs with the liquid storage tank so that the key structure is around the The shaft turns.
  • the key structure further includes: a first elastic member disposed on the lower surface of the pressing portion, so that when the force applied to the pressing portion is released, the pressing portion provides Resilience.
  • the upper surface of the pressing portion is higher than the upper surface of the key body, and the lower surface of the pressing portion is higher than the lower surface of the key body.
  • the lower surface of the pressing portion includes a plurality of reinforcing ribs, and/or, the lower surface of the key body includes a plurality of reinforcing ribs.
  • the present disclosure provides a liquid storage tank, including the button structure described in any one of the above items.
  • the liquid storage box further includes a first assembling portion, which is located approximately in the center of the liquid storage box, and is used for assembling the button structure.
  • the first assembly portion includes a groove for accommodating the key structure when the key structure is assembled in the liquid storage tank.
  • the first assembly part further includes a light opening located above the key structure, and the light opening matches the position of the postback light on the automatic cleaning device.
  • the liquid storage tank further includes a second assembly part, which is located approximately in the center of the liquid storage tank, and is used for injecting cleaning liquid into the liquid storage tank after being connected with the base station.
  • the second assembling part further includes a liquid replenishing port, located approximately in the center of the second assembling part, for injecting cleaning liquid into the liquid storage tank.
  • the present disclosure provides an automatic cleaning device, including the liquid storage tank as described in any one of the above items.
  • the automatic cleaning device includes a liquid storage tank assembly structure, and the liquid storage tank includes a notch matching the liquid storage tank assembly structure.
  • the liquid storage tank assembly structure is assembled in the notch.
  • the assembly structure of the liquid storage tank includes a tongue configured to abut against the boss and lock.
  • the tongue includes a slope, and when the tongue abuts against the boss, the slope is locked with the boss.
  • the assembly structure of the liquid storage tank further includes a second elastic member configured to make the protruding tongue move vertically.
  • the liquid storage box includes a groove, and when the liquid storage box is assembled on the automatic cleaning device, the tongue is engaged with the groove.
  • the protruding tongue further includes a vertical surface, which is configured to engage with the inner surface of the groove when the liquid storage tank is assembled on the automatic cleaning device.
  • the disclosure provides a button structure, a liquid storage tank and an automatic cleaning device, wherein the button structure is a sheet-like structure, which is convenient for controlling the disassembly of the liquid storage tank while occupying a small volume.
  • the button structure can realize seesaw-like movement, and it is more convenient to realize detachability with the elastic cooperation of the tongue of the automatic cleaning equipment, so as to avoid the occurrence of stuck phenomenon.
  • Fig. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 3 is an exploded view of an automatic cleaning device according to an embodiment of the present disclosure.
  • Fig. 4 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present disclosure.
  • Fig. 5 is a structural diagram of a vibrating element of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 6 is a structural diagram of a vibrating element according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present disclosure.
  • Fig. 8 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present disclosure.
  • FIG. 9 is a structural diagram of a motor-driven lifting module according to an embodiment of the present disclosure.
  • Fig. 10 is an overall structural diagram of an automatic cleaning device according to an embodiment of the present disclosure.
  • Fig. 11 is a structural diagram of a liquid storage tank according to an embodiment of the present disclosure.
  • FIG. 12 is a partial cross-sectional view of a liquid storage tank according to an embodiment of the present disclosure.
  • FIG. 13 is a partial cross-sectional view of a liquid storage tank according to an embodiment of the present disclosure.
  • Fig. 14 is an assembly diagram of a button structure according to an embodiment of the present disclosure.
  • FIG. 15 is a perspective schematic diagram of a button structure according to an embodiment of the present disclosure.
  • FIG. 16 is an oblique schematic diagram of a button structure according to an embodiment of the present disclosure.
  • first, second, third, etc. may be used for description in the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to distinguish.
  • the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
  • Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment.
  • the automatic cleaning device can be a vacuum robot, or a mopping/scrubbing robot, It can also be a window climbing robot, etc.
  • the automatic cleaning equipment can include a mobile platform 100 , a perception system 120 , a control system 130 , a drive system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
  • the mobile platform 100 may be configured to automatically move in a target direction on the operating surface.
  • the operation surface may be the surface to be cleaned by the automatic cleaning equipment.
  • the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface;
  • the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface;
  • the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface.
  • the following description in this application takes a mopping robot as an example.
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions based on unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions based on unexpected environmental inputs. Operational decision-making, but it can execute established procedures or operate according to certain logic.
  • the target direction can be determined by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction can be set by the system or manually.
  • the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
  • the perception system 120 includes a position determination device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 located at the bottom of the mobile platform, an ultrasonic sensor (not shown), an infrared sensor (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
  • the device provides various position information and motion state information of the machine to the control system 130.
  • the autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, The front and rear axis y and the central vertical axis z.
  • the forward driving direction along the front-rear axis y is designated "forward” and the rearward driving direction along the front-rear axis y is designated “rear”.
  • the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device.
  • the automatic cleaning device can rotate around the x-axis.
  • a self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and “pitched” is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards.
  • the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right of the Y axis, it is “right turn”, and when the automatic cleaning device is tilted to the left of the y axis, it is "left turn".
  • a cliff sensor 123 is provided on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage.
  • the aforementioned "front” refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned “rear” refers to the side opposite to the direction of travel of the automatic cleaning device.
  • the position determining device 121 includes but not limited to a camera and a laser distance measuring device (LDS).
  • LDS laser distance measuring device
  • Each component in the perception system 120 can operate independently or jointly to achieve the purpose function more accurately.
  • the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface material, cleanliness, etc., and can be combined with cameras, laser distance measuring devices, etc. to make more accurate judgments.
  • the ultrasonic sensor can be used to determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is made of carpet, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
  • the forward part 111 of the mobile platform 100 is provided with a buffer 122.
  • the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor.
  • a sensor system such as an infrared sensor.
  • the automatic cleaning device can pass through the events (or objects) detected by the buffer 122, such as obstacles, walls, and control the driving wheel assembly 141 so that the automatic cleaning device can respond to the event (or an object) to respond, such as moving away from an obstacle.
  • the control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory.
  • the device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform forward, backward, and/or steering operations according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.
  • the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.
  • Drive system 140 may execute drive commands to steer the autonomous cleaning device across the ground based on specific distance and angular information, such as x, y, and theta components.
  • the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the motion of the machine more accurately, the drive system 140 can include a left drive wheel assembly and a right drive wheel components.
  • the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
  • the automatic cleaning equipment can include one or more steering assemblies 142, and the steering assembly 142 can be a driven wheel or a driving wheel, and its structural form Including but not limited to universal wheels, the steering assembly 142 may be located in front of the driving wheel assembly 141 .
  • Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
  • the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
  • the driving wheel may have a biased drop suspension system, fastened in a movably manner, for example attached in a rotatable manner, to the automatic cleaning device moving platform 100, and with a certain ground force by elastic elements such as tension springs or compression springs.
  • the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
  • Energy system 160 includes rechargeable batteries, such as NiMH and Lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit are connected with the single-chip microcomputer control circuit.
  • the main unit is charged by being connected to the charging pile through the charging electrodes arranged on the side or the bottom of the fuselage. If there is dust on the exposed charging electrodes, due to the cumulative effect of charges during the charging process, the plastic body around the electrodes will be melted and deformed, and even the electrodes themselves will be deformed, making it impossible to continue charging normally.
  • the human-computer interaction system 170 includes buttons on the panel of the host computer, which are used for the user to select functions; and may also include a display screen and/or an indicator light and/or a horn, and the display screen, the indicator light and the horn show the user the current state of the machine or Functional options; may also include mobile phone client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, and can provide users with more abundant and humanized functional items.
  • the cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400 .
  • the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it to the front of the dust suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passed through the dust box.
  • the dust removal ability of the sweeper can be characterized by the cleaning efficiency DPU (Dust pickup efficiency) of the garbage.
  • the cleaning efficiency DPU is affected by the structure and material of the roller brush, and is affected by the suction port, dust box, fan, air outlet and the connecting parts between the four.
  • the wind power utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design issue.
  • the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also increase. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion 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 wet cleaning module 400 provided in the present disclosure is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, a driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to basically reciprocate along the target surface, the The target surface is part of the operating surface.
  • the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned by reciprocating motion, thereby removing the surface to be cleaned. stains.
  • High-frequency reciprocating motion also called reciprocating vibration
  • the friction frequency is close to sound waves.
  • the cleaning effect will be much higher than the rotational friction cleaning of dozens of circles per minute.
  • the tufts on the surface of the cleaning head will be more neatly extended in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of only being exerted under the condition of low-frequency rotation to increase friction Force to improve the cleaning effect, only the down pressure will not make the hair tufts extend in the same direction.
  • the effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no chaotic water stains will be left.
  • the reciprocating motion may be repeated motion along any one or multiple directions within the operating surface, or vibration perpendicular to the operating surface, which is not strictly limited.
  • the reciprocating direction of the cleaning module is approximately perpendicular to the direction of travel of the machine, because the reciprocating direction parallel to the direction of travel of the machine will cause instability to the machine itself, because the thrust and resistance in the direction of travel will cause
  • the driving wheel is easy to slip, and the effect of slipping is more obvious when the wet cleaning module is included, because the slippery operating surface increases the possibility of slipping, and slipping not only affects the smooth running and cleaning of the machine, but also causes the odometer Sensors such as gyroscopes and gyroscopes are inaccurate in ranging, which leads to the inability of accurate positioning and map drawing of navigation-type automatic cleaning equipment.
  • the drive unit 420 includes: a drive platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; a support platform 422 detachably connected to the The driving platform 421 is used to support the cleaning head 410 and can be driven up and down by the driving platform 421 .
  • a lifting module is provided between the cleaning module 150 and the mobile platform 100 to make the cleaning module 150 better contact with the surface to be cleaned, or to adopt different cleaning methods for different materials of the surface to be cleaned. Strategy.
  • the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can pass the lifting module Overcome obstacles more easily.
  • the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module.
  • the wet cleaning module 400 is lifted by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning means.
  • the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the mobile platform 100, and outputs power through the output shaft of the motor; a driving wheel 4212, which is connected to the motor The output shaft is connected, and the driving wheel 4212 is an asymmetric structure; the vibrating element 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected to the driving wheel 4212. Reciprocating motion is realized under asymmetrical rotation.
  • the drive platform 421 may further include a gear mechanism.
  • a gear mechanism may connect the motor 4211 and the drive wheel 4212.
  • the motor 4211 can directly drive the driving wheel 4212 to do the rotary motion, and also can indirectly drive the driving wheel 4212 to do the rotary motion through the gear mechanism.
  • the gear mechanism can be one gear, or a gear set composed of multiple gears.
  • the motor 4211 transmits power to the cleaning head 410, the drive platform 421, the support platform 422, the water delivery mechanism, the liquid storage tank, etc. through the power transmission device.
  • the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
  • the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
  • the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device At the same time, it can drive the vibrating part 4213 of the driving platform in the wet cleaning assembly 400 to basically reciprocate and the water delivery mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to lift through the power transmission device.
  • the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibrating element 4213 so that the vibrating element 4213 extends to a preset position, wherein The extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214, so that the reciprocating direction of the vibrating member 4213 is substantially perpendicular to the machine traveling direction.
  • the motor 4211 is connected with the driving wheel 4212, the vibrating element 4213, the connecting rod 4214 and the shock buffering device 4215 through a power transmission device.
  • the vibrating element 4213 and the connecting rod 4214 form an approximate L-shaped structure, as shown in FIG. 6 , the vibrating element 4213 reciprocates driven by the connecting rod 4214 .
  • the vibration buffer device 4215 plays a role in damping and reducing the vibration of the motion driven by the driving wheel 4212 , so that the vibration part 4213 can vibrate stably within the range of motion provided by the supporting platform 422 .
  • the shock buffering device 4215 is made of soft material, optionally a rubber structure, and the shock buffering device 4215 is sheathed on the connecting rod 4214 .
  • the shock buffer device 4215 can also protect the vibrating element 4213 from being damaged due to collision with the driving platform 421 , which also affects the reciprocating motion of the vibrating element 4213 .
  • the movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed.
  • the movement restrictions of the above two make the movement of the vibrating member 4213 not an accurate reciprocating movement, but a basic reciprocating movement.
  • the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212.
  • the vibration buffer device 4215 drives the vibration part 4213 along the driving platform 421
  • the surface basically reciprocates
  • the vibrating element 4213 basically reciprocates along the surface of the support platform 422 with the cleaning substrate 4221
  • the cleaning substrate 4221 basically reciprocates along the active area 412 along the surface to be cleaned.
  • the clear water pump makes clear water flow out from the clear liquid storage tank, and sprinkles clear water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 then cleans the surface to be cleaned by reciprocating motion.
  • the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
  • the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
  • the perception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
  • the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the cleaning head 410 .
  • the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller;
  • the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger.
  • the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger.
  • the cleaning head 410 needs to perform fewer reciprocating movements and the water pump provides relatively less water to clean the desktop. clean.
  • the support platform 422 includes: a cleaning substrate 4221 freely movable on the support platform 422 , and the cleaning substrate 4221 basically reciprocates under the vibration of the vibrating member 4213 .
  • the cleaning substrate 4221 includes: an assembly notch 42211, which is arranged at a position in contact with the vibrating element 4213, when the supporting platform 422 is connected to the driving platform 421 When it is on, the vibrating element 4213 is assembled in the fitting notch 42211 , so that the cleaning substrate 4221 can basically reciprocate synchronously with the vibrating element 4213 .
  • the four first limiting positions 42212 are flexibly connected to the cleaning substrate 4221, but the elastic scaling space is small, so the cleaning substrate 4221 is limited to be cleaned.
  • a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221 for allowing the water flowing out of the water outlet device 4217 to flow to the cleaning head 410 through the water outlet hole.
  • the movement of the cleaning substrate 4221 is basically reciprocating.
  • the cleaning substrate 4221 is located on a part of the supporting platform 422, and the local vibration method can make the vibration frequency higher, such as reaching the range of the sound wave frequency.
  • the movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed.
  • the support platform 422 also includes: an elastic detachment button 4229, which is arranged on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421 , so that the supporting platform 422 is detachably fixed mechanically on the driving platform 421, fixed relative to the driving platform and the automatic cleaning device itself.
  • At least one assembly area 4224 is provided on the support platform 422 for assembling the cleaning head 410 . Fitting area 4224 may be formed of an adhesive material with an adhesive layer.
  • the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221 and basically reciprocating along the cleaning surface driven by the cleaning substrate 4221 sports.
  • the active area 412 is disposed approximately at the center of the cleaning head 410 .
  • an adhesive layer is provided on a side of the active area 412 connected to the cleaning substrate 4221 , and the active area 412 is connected to the cleaning substrate 4221 through the adhesive layer.
  • the cleaning head 410 further includes: a fixed area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , the fixed area 411 follows the support platform 422 Moving to clean at least a portion of the work surface.
  • the cleaning head 410 further includes: a flexible connection part 413 disposed between the fixed area 411 and the movable area 412 for connecting the fixed area 411 and the active area 412 .
  • the cleaning head 410 further includes: a sliding buckle 414 extending along the edge of the cleaning head 410 and detachably installed at the locking position 4225 of the supporting platform 422 .
  • the cleaning head 410 can be made of a material with certain elasticity, and the cleaning head 410 is fixed on the surface of the supporting platform 422 through an adhesive layer, so as to realize reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 is always in contact with the surface to be cleaned.
  • the water delivery mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected to the cleaning liquid outlet of the liquid storage tank (not shown), that is, the liquid outlet of the cleaning liquid storage tank, wherein the cleaning liquid can pass through the liquid storage tank.
  • the cleaning liquid outlet of the tank flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
  • a connecting piece (not shown in the figure) may be provided on the water outlet device, through which the water outlet device is connected with the cleaning liquid outlet of the liquid storage tank.
  • a distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port.
  • the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connection piece of the water outlet device, and is evenly coated on the operation surface through the distribution port.
  • the water delivery mechanism may also include a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 may be directly connected to the cleaning solution outlet of the liquid storage tank, or may be connected through the clean water pump tube 4218.
  • the clean water pump 4219 can be connected with the connection part of the water outlet device, and can be configured to pump the cleaning liquid from the liquid storage tank to the water outlet device.
  • the clean water pump can be gear pump, vane pump, plunger pump, peristaltic pump and so on.
  • the water delivery mechanism pumps out the cleaning liquid in the clear liquid storage tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. onto the cleaning head to moisten the cleaning head and the surface to be cleaned. Stains on the surface to be cleaned can be cleaned more easily after wetting.
  • the power/flow rate of the clean water pump can be adjusted.
  • the motor 4211 drives the clean water pump 4219 to peristalize through the gear set 42193, and the peristalsis of the clean water pump 4219 enables clean water to enter from the water inlet 42191, flow out from the water outlet 42192, and then be transported to the water outlet through the clean water pump tube 4218 device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
  • the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wrapped around the drive platform 421, and the cable gear 42196 pulls the cable 42194 to lift and falling so as to realize the rising and falling of the driving platform 421.
  • Cable gear 42196 and cable 42194 are the core components of the lifting module.
  • a clutch 42195 is provided on the gear set 42193 and the cable gear 42196.
  • the clutch 42195 includes a spring and a plate.
  • the motor 4211 controls the three motion modules, and rotates in one direction to drive the vibration. Vibration, while realizing the water supply of the clean water pump 4219, rotating in the opposite direction through the cable 42194 to drive the lifting module up and down.
  • the combination design of the gear set realizes the control of different combinations of the three motion modules, such as rotating the clean water pump in one direction to supply water, and realizing the control of lifting and vibration in the opposite direction.
  • two motors can also be used to control the three motion modules, but using one more motor also increases the cost.
  • the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module, more comprehensive cleaning functions can be provided.
  • the wet cleaning module by increasing the drive unit and the vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be cleaned repeatedly, so that in the trajectory of the cleaning robot, it can pass through a certain area at one time.
  • the cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
  • the lifting module can perform cleaning operations on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface, and on the floor/ Surfaces such as floor tiles are cleaned by putting down the wet cleaning module to achieve a more comprehensive cleaning effect.
  • the automatic cleaning device 10 includes a liquid storage tank 3000, and the liquid storage tank 3000 also includes a liquid replenishment port 3005. As shown in FIGS. When the cleaning device 10 stops at the base station, the base station can inject cleaning liquid into the liquid storage tank 3000 of the automatic cleaning device 10 through the liquid replenishment port 3005 .
  • a second assembly part 3004 is provided on the liquid storage tank 3000, and the second assembly part 3004 is used to connect with the base station, so that the base station can pass the liquid replenishment port 3005 to the automatic
  • the liquid storage tank 3000 of the cleaning device 10 is filled with cleaning liquid.
  • the second assembling part 3004 further includes a liquid replenishing port 3005 , which is located approximately in the center of the second assembling part 3004 and is used for injecting cleaning liquid into the liquid storage tank 3000 .
  • a valve 17 is provided on the liquid replenishment port 3005 of the liquid storage tank 300 , and the valve 17 can be opened and closed to control the communication and disconnection between the liquid replenishment port 3005 and the liquid storage tank 3000 . open.
  • a pipeline 18 is arranged in the liquid storage tank 3000 , and a valve 17 is arranged at one end of the pipeline 18 .
  • the valve 17 may be an electronic valve or a manual valve, which is ensured to be opened or closed by corresponding control. In other embodiments of the present disclosure, the valve 17 can also be a check valve. When the liquid storage tank 3000 completes rehydration and the connection between the rehydration port 3005 and the liquid storage tank 3000 is disconnected, the valve 17 is automatically closed to prevent the liquid storage tank 3000 from Cleaning fluid flows out.
  • the valve 17 may be a cross valve, a lift check valve, a swing check valve and the like.
  • the automatic cleaning device 10 includes a liquid storage tank assembly structure 4000 , and the liquid storage tank 3000 includes a notch 3006 matching the liquid storage tank assembly structure 4000 , When the liquid storage tank 3000 is assembled on the automatic cleaning device 10 , the liquid storage tank assembly structure 4000 is assembled on the notch 3006 to achieve complete matching.
  • the liquid storage tank assembly structure 4000 includes a protruding tongue 4001 configured to abut against the boss 2002 of the button structure 12 and lock it.
  • the liquid storage tank assembly structure 4000 also includes a second elastic member 4004, which provides elastic force in the vertical direction to make the tongue 4001 stretch and move in the vertical direction.
  • the second elastic member 4004 and the tongue 4001 It can be located in the same slideway to realize the above telescopic movement, and the second elastic member 4004 is, for example, a coil spring or the like.
  • the tongue 4001 includes a slope 4002 , and when the tongue 4001 abuts against the boss, the slope 4002 matches with the slope of the boss and locks.
  • the tongue 4001 also includes a vertical surface 4003, and when the liquid storage tank is assembled on the automatic cleaning device, the vertical surface 4003 is locked with the inner surface of the groove 3002.
  • the inclined surface 4002 and the vertical surface 4003 can ensure that the liquid storage tank 3000 can be positioned accurately in the forward and backward directions after being installed on the automatic cleaning equipment, so as to avoid sending phenomenon in any direction.
  • the liquid storage tank 3000 includes a first assembly part 3001, the first assembly part 3001 is located in the approximate center of the liquid storage tank 3000, the first assembly part 3001 can be a rectangular, circular or other structure, for this No limit.
  • the first assembly part 3001 includes a button structure 12 , a groove 3002 and a light opening 3003 .
  • the groove 3002 is formed at the bottom of the first assembly part 3001 and is recessed downwards, which forms a shape matching the button structure 12.
  • the groove 3002 is used to accommodate The button structure 12.
  • the button structure 12 is assembled on the first assembly part 3001 of the liquid storage tank, and is configured so that the liquid storage tank can be detachably assembled to the automatic cleaning equipment, and the button structure is roughly a sheet-like structure , comprising: a substantially flat key body 2000, the key body 2000 may be a rectangular structure; a pressing part 2001, located at one end of the key body 2000, when subjected to a downward force, pushes the liquid storage tank from the The automatic cleaning device is unlocked, so that the liquid storage tank is in a detachable state from the automatic cleaning device.
  • the pressing part 2001 has a wider edge to facilitate the implementation of pressing force.
  • the pressing part 2001 can be fan-shaped Structure; the outer edge and both side edges of the pressing part 2001 also have raised edge parts to prevent slipping when pressing, and at the same time have the effect of covering the internal structure of the water tank.
  • the liquid storage tank can be completely disassembled from the automatic cleaning device by pulling the protruding edge of the outer edge of the pressing part 2001 outward.
  • the button structure also includes a boss 2002, which is located at the end of the button body 2000 opposite to the pressing portion 2001; when the button structure 12 is assembled on the liquid storage tank 3000, under the natural state of the first elastic member,
  • the pressing part 2001 is higher than the boss 2002, which is conducive to increasing the movable stroke of the pressing part 2001 and the boss 2002, ensuring that the liquid storage tank can be installed stably in the installed state, not easy to fall off, and can be removed when it needs to be disassembled.
  • the moving direction of the boss 2002 is opposite to that of the pressing part 2001, and realize the state of a seesaw.
  • the movable stroke makes it easier for the liquid storage tank to be detachably assembled to the automatic cleaning device.
  • the boss 2002 further includes: a first surface 20021, which is a curved surface extending upward along the upper surface of the key body 2000; a second surface 20022, which is in line with the first surface
  • One side 20021 is a curved surface that is smoothly connected, and is configured to be locked after abutting against the tongue of the automatic cleaning device
  • the third surface 20023 is a plane that is smoothly connected to the second surface 20022 and extends along a substantially vertical direction.
  • the third surface can be fitted to the plane of the inner surface of the groove, combined with the plane of the tongue, to achieve stable locking of the three planes.
  • the second surface 20022 may be a concave multi-curved surface, which is used to cooperate with the end of the tongue and the inclined surface to realize stable locking.
  • the connecting portion between the first surface 20021 and the second surface 20022 is higher than the connecting portion between the second surface 20022 and the third surface 20023 , when the tongue and the second surface When in contact, it can ensure that the tongue will not slide forward and backward, so as to achieve stable locking.
  • the button structure further includes: lugs 2003 symmetrically arranged on both sides of the button body 2000; a rotating shaft 2004 connecting the lugs 2003 with the liquid storage tank , so that the key structure rotates around the rotating shaft 2004 .
  • the rotating shaft 2004 can be arranged on the side closer to the pressing part 2001. In this way, when the button structure realizes seesaw movement through the rotating shaft, the boss has a longer movable stroke than the pressing part, so that it is easier to lift the tongue through the boss. , so that the liquid storage tank can be disassembled more easily.
  • the button structure further includes: a first elastic member 2005 disposed on the lower surface of the pressing portion 2001 so that when the force applied to the pressing portion 2001 is released, When , a restoring force is provided for the pressing part 2001 .
  • the first elastic member 2005 is, for example, a coil spring or the like.
  • the upper surface of the pressing portion 2001 is higher than the upper surface of the key body 2000
  • the lower surface of the pressing portion 2001 is higher than the lower surface of the key body 2000 surface. Therefore, more movable space can be provided for the pressing part 2001, the moving stroke of the pressing part 2001 can be ensured, and the disassembly of the liquid storage tank can be facilitated.
  • the lower surface of the pressing part 2001 includes a plurality of reinforcing ribs, and/or, the lower surface of the key body 2000 includes a plurality of reinforcing ribs, so as to enhance the structural rigidity of the key. While reducing the overall weight of the button structure.
  • the groove 3002 includes a groove wall 30021.
  • the boss 2002 is lower than the groove wall under the abutment of the tongue 4001. 30021, so that the tongue 4001 can abut against the top of the boss 2002 and lock to the groove wall 30021.
  • shaft holes are provided on the two side walls of the groove 3002 for inserting and rotating the key structure shaft.
  • the protruding tongue 4001 When the liquid storage tank is placed on the automatic cleaning equipment, the protruding tongue 4001 first moves upwards under the push of the liquid storage tank, and when it reaches the position of the groove, it extends downward under the action of the spring, and the protruding tongue 4001 moves from The inclined surface 4002 slides into the groove 3002, and then, the end of the tongue abuts against the second surface 20022 of the boss, and at the same time, the vertical surface 4003 of the tongue is engaged with the inner surface of the groove wall 30021 and then locked.
  • the third surface 20023 of the boss 2002 also abuts against the inner surface of the groove wall 30021 and locks, so that the liquid storage tank is fastened to the automatic cleaning equipment.
  • the pressing plate When it is necessary to take out the liquid storage tank, the pressing plate is pressed down, and under the action of the rotating shaft, the boss is lifted up and the tongue is pushed up. At this time, the rear side of the tongue is no longer in contact with the side wall of the groove, and the storage can be realized. Removal of the liquid tank.
  • the first assembly part 3001 further includes a light opening 3003 located above the key structure 12, the light opening 3003 is connected to the back of the automatic cleaning device.
  • the positions of the post lights are matched, and the return post lights are emitted through the light opening 3003 to realize communication with the charging post.
  • the button structure provided by the embodiments of the present disclosure is a sheet-like structure with a small volume, which increases the volume of the liquid storage tank, and is convenient for controlling disassembly of the liquid storage tank while occupying a small volume.
  • the button structure can realize seesaw-like movement, and it is more convenient to realize detachability with the elastic cooperation of the tongue of the automatic cleaning equipment, so as to avoid the occurrence of stuck phenomenon.
  • each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
  • the system or device disclosed in the embodiment since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.

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  • Cleaning By Liquid Or Steam (AREA)

Abstract

A button structure, a liquid storage tank (3000), and an automatic cleaning device. The button structure comprises: a button body (2000); a pressing portion (2001) that is located at one end of the button body (2000) and removes, when a downward force is applied to the pressing portion, the liquid storage tank (3000) from the automatic cleaning device; and a boss (2002) that is located at the end of the button body (2000) opposite to the pressing portion (2001). When the button structure is assembled in the liquid storage tank (3000), the pressing portion (2001) is higher than the boss (2002), and the moving direction of the boss (2002) is opposite to that of the pressing portion (2001), such that the liquid storage tank (3000) is detachably assembled in the automatic cleaning device. The button structure facilitates controlling the removal of the liquid storage tank (3000) while occupying a small volume.

Description

按键结构、储液箱以及自动清洁设备Button structure, liquid storage tank and automatic cleaning equipment
相关申请的交叉引用Cross References to Related Applications
本申请要求2021年9月1日提交的中国专利申请号202111021326.9的优先权，该中国专利申请的全部公开内容通过引用的方式并入本文。This application claims the priority of Chinese Patent Application No. 202111021326.9 filed on September 1, 2021, the entire disclosure of which is incorporated herein by reference.
技术领域technical field
本公开涉及清洁机器人技术领域，具体而言，涉及一种按键结构、储液箱以及自动清洁设备。The present disclosure relates to the technical field of cleaning robots, in particular, to a button structure, a liquid storage tank and automatic cleaning equipment.
背景技术Background technique
自动清洁设备用于对指定场所进行自动清洁，现有的自动清洁设备包括扫地机、拖地机、扫拖一体机等。对于能够实现拖地功能的自动清洁设备，必须配备储液箱以提供清洁用液体。Automatic cleaning equipment is used to automatically clean designated places. Existing automatic cleaning equipment includes sweepers, mopping machines, and all-in-one sweeping and dragging machines. For automatic cleaning equipment capable of mopping the floor, it must be equipped with a liquid storage tank to provide cleaning liquid.
而对于水箱通常是可拆卸的，便于对水箱进行清洁、保养、注水等操作。对于可拆卸水箱，需要根据不同的水箱结构、自动清洁设备结构设计不同的可拆卸按钮，现有的可拆卸按钮要么不便于水箱的拆卸，要么体积过大，影响了自动清洁设备其他部件的安装以及水箱的容积，给水箱的可拆卸带来了不便。And usually detachable for water tank, is convenient to the operations such as cleaning, maintenance, water injection to water tank. For the detachable water tank, different detachable buttons need to be designed according to different water tank structures and automatic cleaning equipment structures. The existing detachable buttons are either inconvenient to disassemble the water tank, or the volume is too large, which affects the installation of other parts of the automatic cleaning equipment. And the volume of water tank brings inconvenience to the detachment of water tank.
发明内容Contents of the invention
本公开的目的在于提供一种按键结构、储液箱以及自动清洁设备，能够解决储液箱拆卸不便的技术问题。The purpose of the present disclosure is to provide a button structure, a liquid storage tank and an automatic cleaning device, which can solve the technical problem of inconvenient disassembly of the liquid storage tank.
根据本公开的具体实施方式，一方面，本公开提供一种按键结构，装配于储液箱，配置为使所述储液箱可拆卸的装配于自动清洁设备，所述按键结构包括：按键本体；按压部，位于所述按键本体的一端，当受到向下的作用力时将所述储液箱从所述自动清洁设备解锁；凸台，位于所述按键本体的与所述按压部相反的一端；其中，当所述按键结构装配于所述储液箱时，所述按压部高于所述凸台，且所述凸台与所述按压部的移动方向相反，从而使得所述储液箱可拆卸的装配于所述自动清洁设备。According to a specific embodiment of the present disclosure, on the one hand, the present disclosure provides a button structure, which is assembled in a liquid storage tank and is configured such that the liquid storage tank is detachably assembled in an automatic cleaning device, and the button structure includes: a button body The pressing part is located at one end of the button body, and when it is subjected to a downward force, the liquid storage tank is unlocked from the automatic cleaning device; the boss is located at the opposite side of the button body to the pressing part One end; wherein, when the button structure is assembled on the liquid storage tank, the pressing part is higher than the boss, and the moving direction of the boss is opposite to that of the pressing part, so that the liquid storage The box is detachably assembled to the automatic cleaning device.
在本公开的实施例中，所述凸台包括：第一面，为沿所述按键本体上表面向上延伸的曲面；第二面，为与所述第一面平滑连接的曲面，配置为与所述自动清洁设备的凸舌抵接后卡止；第三面，为与所述第二面平滑连接后沿基本竖直方向延伸的平面。In an embodiment of the present disclosure, the boss includes: a first surface, which is a curved surface extending upward along the upper surface of the key body; a second surface, which is a curved surface smoothly connected with the first surface, configured to be The tongue of the automatic cleaning device abuts and locks; the third surface is a plane extending in a substantially vertical direction after being smoothly connected with the second surface.
在本公开的实施例中，所述第一面与所述第二面的连接部高于所述第二面与所述第三面的连接部。In an embodiment of the present disclosure, the connecting portion between the first surface and the second surface is higher than the connecting portion between the second surface and the third surface.
在本公开的实施例中，所述按键结构还包括：凸耳，对称设置于所述按键本体两侧；转轴，连接所述凸耳与所述储液箱，使得所述按键结构绕所述转轴转动。In an embodiment of the present disclosure, the key structure further includes: lugs symmetrically arranged on both sides of the key body; a rotating shaft connecting the lugs with the liquid storage tank so that the key structure is around the The shaft turns.
在本公开的实施例中，所述按键结构还包括：第一弹性件，设置于所述按压部的下表面，使得当施加于所述按压部的作用力释放时，为所述按压部提供恢复力。In an embodiment of the present disclosure, the key structure further includes: a first elastic member disposed on the lower surface of the pressing portion, so that when the force applied to the pressing portion is released, the pressing portion provides Resilience.
在本公开的实施例中，所述按压部的上表面高于所述按键本体的上表面，且所述按压部的下表面高于所述按键本体的下表面。In an embodiment of the present disclosure, the upper surface of the pressing portion is higher than the upper surface of the key body, and the lower surface of the pressing portion is higher than the lower surface of the key body.
在本公开的实施例中，所述按压部的下表面包括多个加强筋，和/或，所述按 键本体的下表面包括多个加强筋。In an embodiment of the present disclosure, the lower surface of the pressing portion includes a plurality of reinforcing ribs, and/or, the lower surface of the key body includes a plurality of reinforcing ribs.
根据本公开的具体实施方式，另一方面，本公开提供一种储液箱，包括如上任一项所述的按键结构。According to a specific embodiment of the present disclosure, in another aspect, the present disclosure provides a liquid storage tank, including the button structure described in any one of the above items.
在本公开的实施例中，所述储液箱还包括第一装配部，位于所述储液箱大致中央的位置，用于装配所述按键结构。In an embodiment of the present disclosure, the liquid storage box further includes a first assembling portion, which is located approximately in the center of the liquid storage box, and is used for assembling the button structure.
在本公开的实施例中，所述第一装配部包括一凹槽，当所述按键结构装配于所述储液箱时，用于容纳所述按键结构。In an embodiment of the present disclosure, the first assembly portion includes a groove for accommodating the key structure when the key structure is assembled in the liquid storage tank.
在本公开的实施例中，所述第一装配部还包括一通光口，位于所述按键结构上方，所述通光口与所述自动清洁设备上的回桩灯位置相匹配。In an embodiment of the present disclosure, the first assembly part further includes a light opening located above the key structure, and the light opening matches the position of the postback light on the automatic cleaning device.
在本公开的实施例中，所述储液箱还包括第二装配部，位于所述储液箱大致中央的位置，用于与基站连接后为所述储液箱注入清洁液。In an embodiment of the present disclosure, the liquid storage tank further includes a second assembly part, which is located approximately in the center of the liquid storage tank, and is used for injecting cleaning liquid into the liquid storage tank after being connected with the base station.
在本公开的实施例中，所述第二装配部还包括补液口，位于所述第二装配部大致中央的位置，用于为所述储液箱注入清洁液。In an embodiment of the present disclosure, the second assembling part further includes a liquid replenishing port, located approximately in the center of the second assembling part, for injecting cleaning liquid into the liquid storage tank.
根据本公开的具体实施方式，另一方面，本公开提供一种自动清洁设备，包括如上任一项所述的储液箱。According to a specific embodiment of the present disclosure, in another aspect, the present disclosure provides an automatic cleaning device, including the liquid storage tank as described in any one of the above items.
在本公开的实施例中，所述自动清洁设备包括储液箱装配结构，所述储液箱包括一与所述储液箱装配结构匹配的缺口部，当所述储液箱装配于所述自动清洁设备时，所述储液箱装配结构装配于所述缺口部。In an embodiment of the present disclosure, the automatic cleaning device includes a liquid storage tank assembly structure, and the liquid storage tank includes a notch matching the liquid storage tank assembly structure. When the liquid storage tank is assembled on the When automatically cleaning equipment, the liquid storage tank assembly structure is assembled in the notch.
在本公开的实施例中，所述储液箱装配结构包括一凸舌，配置为与所述凸台抵接后卡止。In an embodiment of the present disclosure, the assembly structure of the liquid storage tank includes a tongue configured to abut against the boss and lock.
在本公开的实施例中，所述凸舌包括一斜面，当所述凸舌与所述凸台抵接后，所述斜面与所述凸台卡止。In an embodiment of the present disclosure, the tongue includes a slope, and when the tongue abuts against the boss, the slope is locked with the boss.
在本公开的实施例中，所述储液箱装配结构还包括第二弹性件，配置为使所述凸舌沿竖直方向伸缩运动。In an embodiment of the present disclosure, the assembly structure of the liquid storage tank further includes a second elastic member configured to make the protruding tongue move vertically.
在本公开的实施例中，所述储液箱包括还一凹槽，当所述储液箱装配于所述自动清洁设备时，所述凸舌与所述凹槽卡止。In an embodiment of the present disclosure, the liquid storage box includes a groove, and when the liquid storage box is assembled on the automatic cleaning device, the tongue is engaged with the groove.
在本公开的实施例中，所述凸舌还包括一竖直面，配置为当所述储液箱装配于所述自动清洁设备时，所述竖直面与所述凹槽内侧面卡止。In an embodiment of the present disclosure, the protruding tongue further includes a vertical surface, which is configured to engage with the inner surface of the groove when the liquid storage tank is assembled on the automatic cleaning device. .
本公开提供一种按键结构、储液箱以及自动清洁设备，其中，按键结构为一种薄片状结构，便于占用较小体积的情况下控制储液箱的拆卸。同时按键结构能够实现跷跷板式的移动，与自动清洁设备的凸舌弹性配合更加方便的实现可拆卸，避免卡死现象的发生。The disclosure provides a button structure, a liquid storage tank and an automatic cleaning device, wherein the button structure is a sheet-like structure, which is convenient for controlling the disassembly of the liquid storage tank while occupying a small volume. At the same time, the button structure can realize seesaw-like movement, and it is more convenient to realize detachability with the elastic cooperation of the tongue of the automatic cleaning equipment, so as to avoid the occurrence of stuck phenomenon.
附图说明Description of drawings
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。在附图中：The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure. Apparently, the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can obtain other drawings according to these drawings without creative efforts. In the attached picture:
图1为本公开的一个实施例的自动清洁设备的斜视图。Fig. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure.
图2为本公开的一个实施例的自动清洁设备的底部结构的示意图。FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present disclosure.
图3为本公开的一个实施例的自动清洁设备的***图。FIG. 3 is an exploded view of an automatic cleaning device according to an embodiment of the present disclosure.
图4为本公开的一个实施例的自动清洁设备支撑平台的结构图。Fig. 4 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present disclosure.
图5为本公开的一个实施例的自动清洁设备震动件的结构图。Fig. 5 is a structural diagram of a vibrating element of an automatic cleaning device according to an embodiment of the present disclosure.
图6为本公开的一个实施例的震动件的结构图。FIG. 6 is a structural diagram of a vibrating element according to an embodiment of the present disclosure.
图7为本公开的一个实施例的清洁基板装配结构示意图。FIG. 7 is a schematic diagram of an assembly structure of a cleaning substrate according to an embodiment of the present disclosure.
图8为本公开的一个实施例的电机驱动清水泵的结构图。Fig. 8 is a structural diagram of a motor-driven clean water pump according to an embodiment of the present disclosure.
图9为本公开的一个实施例的电机驱动升降模组的结构图。FIG. 9 is a structural diagram of a motor-driven lifting module according to an embodiment of the present disclosure.
图10为本公开的一个实施例的自动清洁设备整体结构图。Fig. 10 is an overall structural diagram of an automatic cleaning device according to an embodiment of the present disclosure.
图11为本公开的一个实施例的储液箱结构图。Fig. 11 is a structural diagram of a liquid storage tank according to an embodiment of the present disclosure.
图12为本公开的一个实施例的储液箱局部剖面图。FIG. 12 is a partial cross-sectional view of a liquid storage tank according to an embodiment of the present disclosure.
图13为本公开的一个实施例的储液箱局部剖面图。13 is a partial cross-sectional view of a liquid storage tank according to an embodiment of the present disclosure.
图14为本公开的一个实施例的按键结构装配图。Fig. 14 is an assembly diagram of a button structure according to an embodiment of the present disclosure.
图15为本公开的一个实施例的按键结构立体示意图。FIG. 15 is a perspective schematic diagram of a button structure according to an embodiment of the present disclosure.
图16为本公开的一个实施例的按键结构斜上示意图。FIG. 16 is an oblique schematic diagram of a button structure according to an embodiment of the present disclosure.
具体实施方式Detailed ways
为了使本公开的目的、技术方案和优点更加清楚，下面将结合附图对本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.
在本公开实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。在本公开实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种。Terms used in the embodiments of the present disclosure are for the purpose of describing specific embodiments only, and are not intended to limit the present disclosure. The singular forms "a", "said" and "the" used in the embodiments of this disclosure and the appended claims are also intended to include plural forms, unless the context clearly indicates otherwise, "a plurality" Generally contain at least two.
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the term "and/or" used herein is only an association relationship describing associated objects, which means that there may be three relationships, for example, A and/or B, which may mean that A exists alone, and A and B exist simultaneously. B, there are three situations of B alone. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.
应当理解，尽管在本公开实施例中可能采用术语第一、第二、第三等来描述，但这些不应限于这些术语。这些术语仅用来将区分开。例如，在不脱离本公开实施例范围的情况下，第一也可以被称为第二，类似地，第二也可以被称为第一。It should be understood that although the terms first, second, third, etc. may be used for description in the embodiments of the present disclosure, these should not be limited to these terms. These terms are used only to distinguish. For example, without departing from the scope of the embodiments of the present disclosure, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个”限定的要素，并不排除在包括所述要素的商品或者装置中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that an article or arrangement comprising a list of elements includes not only those elements but also includes items not expressly listed. other elements of the product, or elements inherent in the product or device. Without further limitations, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the article or device comprising said element.
下面结合附图详细说明本公开的可选实施例。Optional embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings.
图1-2是根据一示例性实施例示出的一种自动清洁设备的结构示意图，如图1-2所示，自动清洁设备可以是真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知***120、控制***130、驱动***140、清洁模组150、能源***160和人机交互***170。其中：Fig. 1-2 is a schematic structural diagram of an automatic cleaning device according to an exemplary embodiment. As shown in Fig. 1-2, the automatic cleaning device can be a vacuum robot, or a mopping/scrubbing robot, It can also be a window climbing robot, etc. The automatic cleaning equipment can include a mobile platform 100 , a perception system 120 , a control system 130 , a drive system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本申请中下面的描述以拖地机器人为例进行说明。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. In some embodiments, the automatic cleaning equipment can be a mopping robot, and the automatic cleaning equipment works on the ground, and the ground is the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the ground Working on the outer surface of the glass, the glass is the operating surface; the automatic cleaning equipment can also be a pipeline cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipeline, and the inner surface of the pipeline is the operating surface. Purely for the sake of demonstration, the following description in this application takes a mopping robot as an example.
在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地 及适应性地做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是***或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。In some embodiments, 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. Correspondingly, when the mobile platform 100 is an autonomous mobile platform, 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. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
感知***120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制***130提供机器的各种位置信息和运动状态信息。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.
为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕x轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向Y轴的右侧倾斜为“右转”，当自动清洁设备向y轴的左侧倾斜为“左转”。In order to more clearly describe the behavior of the autonomous cleaning device, the following orientation definitions are made: The autonomous cleaning device can travel on the ground through various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: the lateral axis x, The front and rear axis y and the central vertical axis z. The forward driving direction along the front-rear axis y is designated "forward" and the rearward driving direction along the front-rear axis y is designated "rear". The transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning device. Wherein, the automatic cleaning device can rotate around the x-axis. A self-cleaning device is "pitched" when the forward part is sloped upwards and the rearward part is sloped downwards, and "pitched" is when the forward part of the automatic cleaning device is sloped downwards and the rearward part is sloped upwards. In addition, the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is tilted to the right of the Y axis, it is "right turn", and when the automatic cleaning device is tilted to the left of the y axis, it is "left turn".
如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。As shown in Figure 2, on the bottom of the mobile platform 100 and at the front and rear of the drive wheel assembly 141, a cliff sensor 123 is provided, and the cliff sensor is used to prevent the automatic cleaning device from falling when it retreats, thereby preventing the automatic cleaning device from being damaged. damage. The aforementioned "front" refers to the side in the same direction of travel relative to the automatic cleaning device, and the aforementioned "rear" refers to the side opposite to the direction of travel of the automatic cleaning device.
位置确定装置121包括但不限于摄像头、激光测距装置(LDS)。The position determining device 121 includes but not limited to a camera and a laser distance measuring device (LDS).
感知***120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面材质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。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.
例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制***130控制自动清洁设备进行地毯模式清洁。For example, 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.
移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器***，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。The forward part 111 of the mobile platform 100 is provided with a buffer 122. During the cleaning process, when the driving wheel assembly 141 pushes the automatic cleaning device to walk on the ground, the buffer 122 detects that the automatic cleaning device is in the driving path through a sensor system, such as an infrared sensor. One or more events (or objects), 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.
控制***130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知***120传来的所述多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动***140进行前进、后退和/或转向等操作。进一步地，控制***130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。The control system 130 is arranged on the circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, and a non-transitory memory, such as a hard disk, a flash memory, and a random access memory. The device is configured to receive the environmental information sensed by the multiple sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving route according to the environmental information and the environmental map, and then control the drive system 140 to perform forward, backward, and/or steering operations according to the autonomously determined driving route. Further, the control system 130 may also decide whether to activate the cleaning module 150 to perform cleaning operations according to the environmental information and the environmental map.
具体地，控制***130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制***能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。Specifically, the control system 130 can combine the distance information and speed information fed back by the buffer 122, the cliff sensor 123, and ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, odometers and other sensing devices to comprehensively judge that the sweeper is currently in What kind of working status, such as over the threshold, on the carpet, on the cliff, stuck above or below, full of dust box, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the requirements of the owner and has a better user experience. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, greatly improving the cleaning efficiency of automatic cleaning equipment.
驱动***140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。如图2所示，驱动***140包含驱动轮组件141，驱动***140可以同时控制左轮和右轮，为了更为精确地控制机器的运动，驱动***140可以分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。 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 Figure 2, the drive system 140 includes a drive wheel assembly 141, the drive system 140 can control the left wheel and the right wheel at the same time, in order to control the motion of the machine more accurately, the drive system 140 can include a left drive wheel assembly and a right drive wheel components. The left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。In order for the automatic cleaning equipment to move more stably on the ground or have a stronger movement ability, 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 .
驱动马达146为驱动轮组件141和/或转向组件142的转动提供动力。Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
驱动轮组件141可以可拆卸地连接到移动平台100上，方便拆装和维修。驱动轮可具有偏置下落式悬挂***，以可移动方式紧固，例如以可旋转方式附接，到自动清洁设备移动平台100，并通过弹性元件，如拉簧或者压簧以一定的着地力维持与地面的接触及牵引，同时自动清洁设备的清洁模组150也以一定的压力接触待清洁表面。The driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance. The driving wheel may have a biased drop suspension system, fastened in a movably manner, for example attached in a rotatable manner, to the automatic cleaning device moving platform 100, and with a certain ground force by elastic elements such as tension springs or compression springs. To maintain contact and traction with the ground, at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
能源***160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。 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.
人机交互***170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。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. For path-guided cleaning equipment, 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.
清洁模组150可包括干式清洁模组151和/或湿式清洁模组400。The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400 .
如图2所示，干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的***设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷152， 旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。As shown in FIG. 2 , 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. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy. Because the improvement of dust removal ability directly and effectively reduces the energy requirements, that is to say, the original machine that can clean 80 square meters of ground with one charge can evolve to clean 180 square meters or more with one charge. And the service life of the battery with reduced charging times will also be greatly increased, so that the frequency of user replacement of the battery will also increase. More intuitively and importantly, the improvement of the dust removal ability is the most obvious and important user experience, and the user will directly draw the conclusion 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 .
根据本公开的具体实施方式，如图3-5所示，本公开提供的湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：清洁头410、驱动单元420，其中，清洁头410用于清洁所述操作面的至少一部分，驱动单元420用于驱动所述清洁头410沿着目标面基本上往复运动的，所述目标面为所述操作面的一部分。所述清洁头410沿待清洁表面做往复运动，清洁头410与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。According to a specific embodiment of the present disclosure, as shown in FIGS. 3-5 , the wet cleaning module 400 provided in the present disclosure is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, a driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to basically reciprocate along the target surface, the The target surface is part of the operating surface. The cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned by reciprocating motion, thereby removing the surface to be cleaned. stains.
摩擦频率越高，代表单位时间内的摩擦次数越多，高频往复运动，也叫往复震动，清洁能力要远大于普通的往复运动，比如转动，摩擦清洗，可选地，摩擦频率接近声波，清洁效果会远高于每分钟几十圈的转动摩擦清洗。另一方面，清洁头表面的毛簇会在高频震动的抖动下更加整齐划一朝同一方向延展，因此整体清洁效果更加均匀，而不是在低频率转动的情况下仅仅被施加下压力增大摩擦力而提高清洁效果，仅仅下压力并不会使毛簇们朝接近同一方向延展，在效果上的体现就是高频震动清洁后的操作面水痕更加均匀，不会留下混乱的水渍。The higher the friction frequency, the more friction times per unit time. High-frequency reciprocating motion, also called reciprocating vibration, has a cleaning ability much greater than that of ordinary reciprocating motion, such as rotation and friction cleaning. Optionally, the friction frequency is close to sound waves. The cleaning effect will be much higher than the rotational friction cleaning of dozens of circles per minute. On the other hand, the tufts on the surface of the cleaning head will be more neatly extended in the same direction under the vibration of high-frequency vibration, so the overall cleaning effect is more uniform, instead of only being exerted under the condition of low-frequency rotation to increase friction Force to improve the cleaning effect, only the down pressure will not make the hair tufts extend in the same direction. The effect is that the water marks on the operating surface after high-frequency vibration cleaning are more uniform, and no chaotic water stains will be left.
往复运动可以是沿操作面内任意一个或多个方向的反复运动，也可以是垂直于操作面的震动，对此不做严格限制。可选地，清洁模组的往复运动方向与机器行进方向大致垂直，因为平行于机器行进方向的往复运动方向会对行进中的机器本身带来不稳定，因为行进方向上的推力和阻力会使驱动轮容易打滑，在包含湿式清洁模组的情况下打滑的影响更为明显，因为操作面的湿滑增加了打滑的可能性，而打滑除了影响机器的平稳行进清洁外，更会造成里程计、陀螺仪等传感器测距不准，从而导致导航型自动清洁设备不能准确定位和画地图，在打滑频发的情况下，对SLAM的影响将不能忽略，因此需要尽量避免打滑的机器行为。除了打滑之外，在机器行进方向上的清洁头运动分量使得机器在行进时不停地受向前向后的推动，因此机器的行走会一顿一顿地不稳定平顺。The reciprocating motion may be repeated motion along any one or multiple directions within the operating surface, or vibration perpendicular to the operating surface, which is not strictly limited. Optionally, the reciprocating direction of the cleaning module is approximately perpendicular to the direction of travel of the machine, because the reciprocating direction parallel to the direction of travel of the machine will cause instability to the machine itself, because the thrust and resistance in the direction of travel will cause The driving wheel is easy to slip, and the effect of slipping is more obvious when the wet cleaning module is included, because the slippery operating surface increases the possibility of slipping, and slipping not only affects the smooth running and cleaning of the machine, but also causes the odometer Sensors such as gyroscopes and gyroscopes are inaccurate in ranging, which leads to the inability of accurate positioning and map drawing of navigation-type automatic cleaning equipment. In the case of frequent slipping, the impact on SLAM will not be ignored. Therefore, it is necessary to avoid slipping machine behavior as much as possible. In addition to slipping, the movement component of the cleaning head in the direction of machine travel makes the machine constantly pushed forward and backward when it is traveling, so the walking of the machine will be unstable and smooth.
作为本公开的实施方式，如图3所示，所述驱动单元420包括：驱动平台421，连接于所述移动平台100底面，用于提供驱动力；支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410，且可以在驱动平台421的驱动下实现升降。As an embodiment of the present disclosure, as shown in FIG. 3 , the drive unit 420 includes: a drive platform 421 connected to the bottom surface of the mobile platform 100 for providing driving force; a support platform 422 detachably connected to the The driving platform 421 is used to support the cleaning head 410 and can be driven up and down by the driving platform 421 .
作为本公开的实施方式，清洁模组150与移动平台100间设有升降模组，用于使清洁模组150更好的与待清洁表面接触，或者针对不同材质的待清洁表面采用不同的清洁策略。As an embodiment of the present disclosure, a lifting module is provided between the cleaning module 150 and the mobile platform 100 to make the cleaning module 150 better contact with the surface to be cleaned, or to adopt different cleaning methods for different materials of the surface to be cleaned. Strategy.
在本公开的实施例中，所述干式清洁模组151可以通过被动式升降模组与所述移动平台100相连接，当清洁设备遇到障碍时，干式清洁模组151可以通过升降模组更便捷的越过障碍。In an embodiment of the present disclosure, the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can pass the lifting module Overcome obstacles more easily.
在本公开的实施例中，所述湿式清洁模组400可以通过主动式升降模组与所述移动平台100相连接，当湿式清洁模组400暂时不参与工作，或者遇到无法采用湿式清洁模组400进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁模组400升起，与待清洁表面分离，从而实现清洁手段的变化。In an embodiment of the present disclosure, the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the group 400 cleans the surface to be cleaned, the wet cleaning module 400 is lifted by the active lifting module and separated from the surface to be cleaned, thereby realizing the change of cleaning means.
如图4-5所示，所述驱动平台421包括：电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构；震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现往复运动。As shown in Figures 4-5, the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the mobile platform 100, and outputs power through the output shaft of the motor; a driving wheel 4212, which is connected to the motor The output shaft is connected, and the driving wheel 4212 is an asymmetric structure; the vibrating element 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected to the driving wheel 4212. Reciprocating motion is realized under asymmetrical rotation.
驱动平台421可以进一步包括齿轮机构。齿轮机构可以连接电机4211和驱动轮4212。电机4211可以直接带动驱动轮4212做回转运动，也可以通过齿轮机构 间接带动驱动轮4212做回转运动。本领域普通技术人员可以理解，齿轮机构可以为一个齿轮，也可以是多个齿轮组成的齿轮组。The drive platform 421 may further include a gear mechanism. A gear mechanism may connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to do the rotary motion, and also can indirectly drive the driving wheel 4212 to do the rotary motion through the gear mechanism. Those skilled in the art can understand that the gear mechanism can be one gear, or a gear set composed of multiple gears.
电机4211通过动力传送装置将动力同时传递给清洁头410、驱动平台421、支撑平台422、送水机构、储液箱等。能源***160为电机4211提供动力和能源，并由控制***130进行整体控制。所述动力传送装置可以是齿轮传动、链传动、带传动，也可以是蜗轮蜗杆等等。The motor 4211 transmits power to the cleaning head 410, the drive platform 421, the support platform 422, the water delivery mechanism, the liquid storage tank, etc. through the power transmission device. The energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole. The power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
电机4211包括正向输出模式和反向输出模式，正向输出模式时电机4211正向旋转，反向输出模式时电机4211反向旋转，电机4211的正向输出模式中，电机4211通过动力传送装置能同时带动湿式清洁组件400中的驱动平台震动件4213基本上往复运动、送水机构同步运动，电机4211的反向输出模式中，电机4211通过动力传送装置带动驱动平台421升降。The motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates forward, and in the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device At the same time, it can drive the vibrating part 4213 of the driving platform in the wet cleaning assembly 400 to basically reciprocate and the water delivery mechanism to move synchronously. In the reverse output mode of the motor 4211, the motor 4211 drives the driving platform 421 to lift through the power transmission device.
进一步的，所述驱动平台421还包括：连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置，其中，所述震动件4213延伸方向与所述连接杆4214垂直，使得震动件4213的往复运动方向和机器行进方向大致垂直。Further, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibrating element 4213 so that the vibrating element 4213 extends to a preset position, wherein The extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214, so that the reciprocating direction of the vibrating member 4213 is substantially perpendicular to the machine traveling direction.
电机4211通过动力传送装置与驱动轮4212、震动件4213、连接杆4214及震动缓冲装置4215连接。其中，震动件4213以及连接杆4214构成近似于L型结构，如图6所示，震动件4213在连接杆4214的带动下做往复运动。震动缓冲装置4215对驱动轮4212带动的运动行为起到减震减少抖动的作用，使震动件4213在支撑平台422所能提供的运动幅度范围内震动平稳。可选地，震动缓冲装置4215为软性材料，可选地为橡胶结构，震动缓冲装置4215套设于连接杆4214。另一方面，震动缓冲装置4215还能保护震动件4213不与驱动平台421之间磕碰造成损坏，也就还对震动件4213的往复运动产生了影响。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。上述两者运动限制使得震动件4213的运动方式不是准确的往复，而是基本上的往复运动。当湿式清洁组件400启动时，电机4211启动工作开始正转，电机4211通过驱动轮4212带动连接杆4214沿着驱动平台421表面做往复运动，同时震动缓冲装置4215带动震动件4213沿着驱动平台421表面做基本上往复运动，震动件4213带着清洁基板4221沿着支撑平台422表面做基本上往复运动，清洁基板4221带着活动区域412沿着待清洁表面做基本上往复运动。此时，清水泵使清水从清储液箱流出，并通过出水装置4217将清水洒在清洁头410上，清洁头410则通过往复运动清洁待清洁表面。The motor 4211 is connected with the driving wheel 4212, the vibrating element 4213, the connecting rod 4214 and the shock buffering device 4215 through a power transmission device. Wherein, the vibrating element 4213 and the connecting rod 4214 form an approximate L-shaped structure, as shown in FIG. 6 , the vibrating element 4213 reciprocates driven by the connecting rod 4214 . The vibration buffer device 4215 plays a role in damping and reducing the vibration of the motion driven by the driving wheel 4212 , so that the vibration part 4213 can vibrate stably within the range of motion provided by the supporting platform 422 . Optionally, the shock buffering device 4215 is made of soft material, optionally a rubber structure, and the shock buffering device 4215 is sheathed on the connecting rod 4214 . On the other hand, the shock buffer device 4215 can also protect the vibrating element 4213 from being damaged due to collision with the driving platform 421 , which also affects the reciprocating motion of the vibrating element 4213 . The movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed. The movement restrictions of the above two make the movement of the vibrating member 4213 not an accurate reciprocating movement, but a basic reciprocating movement. When the wet cleaning assembly 400 starts, the motor 4211 starts to work and starts to rotate forward. The motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212. At the same time, the vibration buffer device 4215 drives the vibration part 4213 along the driving platform 421 The surface basically reciprocates, the vibrating element 4213 basically reciprocates along the surface of the support platform 422 with the cleaning substrate 4221 , and the cleaning substrate 4221 basically reciprocates along the active area 412 along the surface to be cleaned. At this moment, the clear water pump makes clear water flow out from the clear liquid storage tank, and sprinkles clear water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 then cleans the surface to be cleaned by reciprocating motion.
自动清洁设备的清洁强度/效率也可以根据自动清洁设备的工作环境自动动态调整。比如自动清洁设备可以根据感知***120检测待清洁表面的面的物理信息实现动态调整。例如，感知***120可以检测待清洁表面的平整度、待清洁表面的材质、是否有油污和灰尘，等等信息，并将这些信息传给自动清洁设备的控制***130。相应地，控制***130可以指挥自动清洁设备根据自动清洁设备的工作环境自动动态调整电机的转速及动力传送装置的传动比，因而调整所述清洁头410往复运动的预设往复周期。The cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment. For example, the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 . For example, the perception system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device. Correspondingly, the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating cycle of the reciprocating motion of the cleaning head 410 .
例如，当自动清洁设备在平坦的地面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备在不太平坦的地面上工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于不太平坦的地面，平面的地面较容易清洁，因此清洁不平坦地面需要清洁头410更快的往复运动(即更高的频率)和更大的水量。For example, when the automatic cleaning equipment works on a flat ground, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; When working, the preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat floor is easier to clean than a less flat floor, so cleaning an uneven floor requires a faster reciprocating movement (ie, a higher frequency) of the cleaning head 410 and a larger amount of water.
又例如，当自动清洁设备在桌面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备100在地面工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于地面，桌面的灰尘、油污较少，构成桌面的材质也较容易清洁，因此需要清洁头410进行较少次数的往复运动、水泵提供相对较少的水量就能将桌面清理干净。For another example, when the automatic cleaning device 100 is working on the desktop, the preset reciprocating cycle can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating cycle can be automatically and dynamically adjusted to be shorter, and the water volume of the water pump can be automatically and dynamically adjusted to be larger. This is because, compared with the ground, the desktop has less dust and oil stains, and the material that constitutes the desktop is also easier to clean. Therefore, the cleaning head 410 needs to perform fewer reciprocating movements and the water pump provides relatively less water to clean the desktop. clean.
作为本公开的实施方式，所述支撑平台422包括：清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下做基本上往复运动。在本公开的实施例中，如图7所示，所述清洁基板4221包括：装配缺口42211，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口42211，使得清洁基板4221可以随着震动件4213同步基本上往复运动。在清洁基板4221的清洁设备行进方向包括4个第一限制位42212，该4个第一限制位42212与清洁基板4221之间软性连接，但弹性缩放空间较小，因此限定清洁基板4221在清洁设备行进方向上的相对于支撑平台422的运动；在清洁基板4221的与清洁设备行进方向垂直的方向包括两个第二限制位42213，该两个第二限制位42213限制了清洁基板4221在与清洁设备行进方向垂直的方向上做往复运动的范围。此外，在清洁基板4221的装配缺口42211附近设置有出水孔42214，用于使得出水装置4217流出的水经过出水孔流至清洁头410。因为受到限制位和震动缓冲装置的影响，清洁基板4221的运动在基本上是往复运动的。清洁基板4221位于支撑平台422的一部分，局部震动的方式可以将震动频率做到更大，比如达到声波频率范围。驱动平台421的活动件与固定件之间在机器行进方向上通过弹性较小的连接方式限制运动，在与行进方向大致垂直的方向上，即震动件4213的震动方向上通过灵活的方式连接并允许运动。As an embodiment of the present disclosure, the support platform 422 includes: a cleaning substrate 4221 freely movable on the support platform 422 , and the cleaning substrate 4221 basically reciprocates under the vibration of the vibrating member 4213 . In the embodiment of the present disclosure, as shown in FIG. 7 , the cleaning substrate 4221 includes: an assembly notch 42211, which is arranged at a position in contact with the vibrating element 4213, when the supporting platform 422 is connected to the driving platform 421 When it is on, the vibrating element 4213 is assembled in the fitting notch 42211 , so that the cleaning substrate 4221 can basically reciprocate synchronously with the vibrating element 4213 . There are four first limiting positions 42212 in the direction of cleaning equipment for cleaning the substrate 4221. The four first limiting positions 42212 are flexibly connected to the cleaning substrate 4221, but the elastic scaling space is small, so the cleaning substrate 4221 is limited to be cleaned. The movement relative to the support platform 422 in the direction of equipment travel; the cleaning substrate 4221 includes two second limiting positions 42213 in a direction perpendicular to the direction of cleaning equipment traveling, and the two second limiting positions 42213 limit the cleaning substrate 4221 in the same direction as The range of reciprocating motion in the direction perpendicular to the direction of travel of the cleaning equipment. In addition, a water outlet hole 42214 is provided near the assembly notch 42211 of the cleaning substrate 4221 for allowing the water flowing out of the water outlet device 4217 to flow to the cleaning head 410 through the water outlet hole. Due to the influence of the limiting position and the vibration buffer device, the movement of the cleaning substrate 4221 is basically reciprocating. The cleaning substrate 4221 is located on a part of the supporting platform 422, and the local vibration method can make the vibration frequency higher, such as reaching the range of the sound wave frequency. The movement between the movable part and the fixed part of the driving platform 421 is limited by a less elastic connection in the direction of travel of the machine, and in a direction approximately perpendicular to the direction of travel, that is, the vibration direction of the vibrating part 4213 is connected in a flexible manner and Movement is allowed.
进一步的，所述支撑平台422还包括：弹性拆卸按钮4229，设置于所述支撑平台422的至少一侧，用于使所述支撑平台422可拆卸的连接于所述驱动平台421的卡爪4216，使得支撑平台422可拆卸地机械固定在驱动平台421上，相对于驱动平台和自动清洁设备本身固定。至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。装配区域4224可以为具有粘结层的粘结材料形成。Further, the support platform 422 also includes: an elastic detachment button 4229, which is arranged on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421 , so that the supporting platform 422 is detachably fixed mechanically on the driving platform 421, fixed relative to the driving platform and the automatic cleaning device itself. At least one assembly area 4224 is provided on the support platform 422 for assembling the cleaning head 410 . Fitting area 4224 may be formed of an adhesive material with an adhesive layer.
作为本公开的实施方式，如图3所示，所述清洁头410包括：活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述清洁表面基本上往复运动。活动区域412设置于清洁头410大致中央位置。As an embodiment of the present disclosure, as shown in FIG. 3 , the cleaning head 410 includes: an active area 412 connected to the cleaning substrate 4221 and basically reciprocating along the cleaning surface driven by the cleaning substrate 4221 sports. The active area 412 is disposed approximately at the center of the cleaning head 410 .
在本公开的实施例中，所述活动区域412与所述清洁基板4221连接的一侧设置有粘结层，所述活动区域412与所述清洁基板4221通过所述粘结层连接。In an embodiment of the present disclosure, an adhesive layer is provided on a side of the active area 412 connected to the cleaning substrate 4221 , and the active area 412 is connected to the cleaning substrate 4221 through the adhesive layer.
在本公开的实施例中，所述清洁头410还包括：固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。In an embodiment of the present disclosure, the cleaning head 410 further includes: a fixed area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , the fixed area 411 follows the support platform 422 Moving to clean at least a portion of the work surface.
进一步的，所述清洁头410还包括：柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。所述清洁头410还包括：滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422的卡接位置4225。Further, the cleaning head 410 further includes: a flexible connection part 413 disposed between the fixed area 411 and the movable area 412 for connecting the fixed area 411 and the active area 412 . The cleaning head 410 further includes: a sliding buckle 414 extending along the edge of the cleaning head 410 and detachably installed at the locking position 4225 of the supporting platform 422 .
本实施例中，如图3所示，清洁头410可以用有一定弹性的材料制成，清洁头410通过粘贴层固定于支撑平台422的表面，从而实现往复运动。在清洁头410工作时，清洁头410始终接触待清洁表面。In this embodiment, as shown in FIG. 3 , the cleaning head 410 can be made of a material with certain elasticity, and the cleaning head 410 is fixed on the surface of the supporting platform 422 through an adhesive layer, so as to realize reciprocating motion. When the cleaning head 410 is working, the cleaning head 410 is always in contact with the surface to be cleaned.
所述送水机构包括出水装置4217，出水装置4217可以与储液箱(未图示)的清洁液出口即清储液箱的出液口直接或间接连接，其中，所述清洁液可以经储液箱 的所述清洁液出口流向出水装置4217，并可以通过出水装置均匀地涂在所述待清洁表面上。出水装置上可以设有连接件(图中未示出)，出水装置通过所述连接件与储液箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。所述清洁液经储液箱的所述清洁液出口和出水装置的所述连接件流向分配口，经所述分配口均匀地涂在所述操作面上。The water delivery mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected to the cleaning liquid outlet of the liquid storage tank (not shown), that is, the liquid outlet of the cleaning liquid storage tank, wherein the cleaning liquid can pass through the liquid storage tank. The cleaning liquid outlet of the tank flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device. A connecting piece (not shown in the figure) may be provided on the water outlet device, through which the water outlet device is connected with the cleaning liquid outlet of the liquid storage tank. A distribution port is provided on the water outlet device, and the distribution port can be a continuous opening or a combination of several disconnected small openings, and several nozzles can be arranged at the distribution port. The cleaning liquid flows to the distribution port through the cleaning liquid outlet of the liquid storage tank and the connection piece of the water outlet device, and is evenly coated on the operation surface through the distribution port.
送水机构还可以包括清水泵4219和/或清水泵管4218，清水泵4219与储液箱的清洁液出口可以直接连通，也可以通过清水泵管4218连通。The water delivery mechanism may also include a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 may be directly connected to the cleaning solution outlet of the liquid storage tank, or may be connected through the clean water pump tube 4218.
清水泵4219可以同出水装置的所述连接件连接，并且可以被配置为从储液箱中抽取所述清洁液至出水装置。清水泵可为齿轮泵、叶片泵、柱塞泵、蠕动泵等等。The clean water pump 4219 can be connected with the connection part of the water outlet device, and can be configured to pump the cleaning liquid from the liquid storage tank to the water outlet device. The clean water pump can be gear pump, vane pump, plunger pump, peristaltic pump and so on.
送水机构通过清水泵4219和清水泵管4218将清储液箱中的清洁液抽出，并运送到出水装置，所述出水装置4217可以为喷头、滴水孔、浸润布等，并将水均匀散布在清洁头上，从而湿润清洁头与待清洁表面。湿润后的待清洁表面上的污渍能够更容易的被清洁干净。在湿式清洁组件400中，清水泵的功率/流量可以调整。The water delivery mechanism pumps out the cleaning liquid in the clear liquid storage tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. onto the cleaning head to moisten the cleaning head and the surface to be cleaned. Stains on the surface to be cleaned can be cleaned more easily after wetting. In the wet cleaning assembly 400, the power/flow rate of the clean water pump can be adjusted.
进一步的，如图8所示，电机4211通过齿轮组42193带动清水泵4219蠕动，通过清水泵4219的蠕动实现清水从进水口42191进入，从出水口42192流出，再通过清水泵管4218运送到出水装置4217，经出水装置4217流出的水经过出水孔流至清洁头410。Further, as shown in Figure 8, the motor 4211 drives the clean water pump 4219 to peristalize through the gear set 42193, and the peristalsis of the clean water pump 4219 enables clean water to enter from the water inlet 42191, flow out from the water outlet 42192, and then be transported to the water outlet through the clean water pump tube 4218 device 4217, the water flowing out of the water outlet device 4217 flows to the cleaning head 410 through the water outlet hole.
如图9所示，电机4211通过齿轮组42193带动拉索齿轮42196转动，拉索齿轮42196上缠绕有拉索42194，拉索42194缠挂在驱动平台421上，拉索齿轮42196拉动拉索42194提升和下落从而实现驱动平台421的上升和下降。拉索齿轮42196和拉索42194是升降模组的核心组成部件。As shown in Figure 9, the motor 4211 drives the cable gear 42196 to rotate through the gear set 42193, the cable gear 42196 is wound with a cable 42194, the cable 42194 is wrapped around the drive platform 421, and the cable gear 42196 pulls the cable 42194 to lift and falling so as to realize the rising and falling of the driving platform 421. Cable gear 42196 and cable 42194 are the core components of the lifting module.
齿轮组42193和拉索齿轮42196上设置有离合器42195，离合器42195包括一个弹簧和片状件，通过控制离合器42195的离合实现电机4211对三个运动模组的控制，在一个方向旋转，驱动震动件的震动，同时实现清水泵4219的供水，在反方向旋转通过拉索42194驱动升降模组升降。可选地，对齿轮组的组合设计实现对三个运动模组的不同组合形式的控制，例如一个方向旋转清水泵供水，反方向实现升降和震动的控制。可选地，也可以用两个电机实现对三个运动模组的控制，但多使用一个电机也是成本的增加。A clutch 42195 is provided on the gear set 42193 and the cable gear 42196. The clutch 42195 includes a spring and a plate. By controlling the clutch 42195, the motor 4211 controls the three motion modules, and rotates in one direction to drive the vibration. Vibration, while realizing the water supply of the clean water pump 4219, rotating in the opposite direction through the cable 42194 to drive the lifting module up and down. Optionally, the combination design of the gear set realizes the control of different combinations of the three motion modules, such as rotating the clean water pump in one direction to supply water, and realizing the control of lifting and vibration in the opposite direction. Optionally, two motors can also be used to control the three motion modules, but using one more motor also increases the cost.
由于自动清洁设备的清洁模组设置有干式清洁模组和湿式清洁模组，能够提供更加全面的清洁功能。同时，在湿式清洁模组中，通过增加驱动单元、震动区域，使清洁头可以往复运动，从而可以在待清洁表面进行反复清洁，使得在清洁机器人运动轨迹中，一次通过某一区域可以实现多次清洁，从而大大增强了清洁效果，特别是对于污渍比较多的区域，清洁效果明显。Since the cleaning module of the automatic cleaning device is provided with a dry cleaning module and a wet cleaning module, more comprehensive cleaning functions can be provided. At the same time, in the wet cleaning module, by increasing the drive unit and the vibration area, the cleaning head can reciprocate, so that the surface to be cleaned can be cleaned repeatedly, so that in the trajectory of the cleaning robot, it can pass through a certain area at one time. The cleaning effect is greatly enhanced, especially for areas with more stains, the cleaning effect is obvious.
配合表面介质传感器等能够检测待清洁表面的表面类型的传感器，升降模组能够将湿式清洁模组根据不同的待清洁表面进行清洁操作，如在地毯表面将湿式清洁模组抬升，并在地板/地砖等表面将湿式清洁模组放下进行清洁，从而实现更为全面的清洁效果。Cooperating with surface media sensors and other sensors that can detect the surface type of the surface to be cleaned, the lifting module can perform cleaning operations on the wet cleaning module according to different surfaces to be cleaned, such as lifting the wet cleaning module on the carpet surface, and on the floor/ Surfaces such as floor tiles are cleaned by putting down the wet cleaning module to achieve a more comprehensive cleaning effect.
在本公开实施例中，自动清洁设备10包括储液箱3000，储液箱3000还包括补液口3005，如图10至图12所示，补液口3005可以位于储液箱3000侧壁，当自动清洁设备10停靠基站时，基站可以通过该补液口3005向自动清洁设备10的储液箱3000注入清洁液体。In the embodiment of the present disclosure, the automatic cleaning device 10 includes a liquid storage tank 3000, and the liquid storage tank 3000 also includes a liquid replenishment port 3005. As shown in FIGS. When the cleaning device 10 stops at the base station, the base station can inject cleaning liquid into the liquid storage tank 3000 of the automatic cleaning device 10 through the liquid replenishment port 3005 .
在本公开实施例中，如图11所示，储液箱3000上设置有第二装配部3004，第二装配部3004用于与基站相连接，以此使得基站可以通过该补液口3005向自动清洁设备10的储液箱3000注入清洁液体。所述第二装配部3004还包括补液口3005，位于所述第二装配部3004大致中央的位置，用于为所述储液箱3000注入清 洁液。In the embodiment of the present disclosure, as shown in FIG. 11 , a second assembly part 3004 is provided on the liquid storage tank 3000, and the second assembly part 3004 is used to connect with the base station, so that the base station can pass the liquid replenishment port 3005 to the automatic The liquid storage tank 3000 of the cleaning device 10 is filled with cleaning liquid. The second assembling part 3004 further includes a liquid replenishing port 3005 , which is located approximately in the center of the second assembling part 3004 and is used for injecting cleaning liquid into the liquid storage tank 3000 .
在本公开实施例中，如图12所示，储液箱300的补液口3005上设置有阀门17，阀门17可打开和闭合地设置，以控制补液口3005与储液箱3000的连通与断开。储液箱3000内设置有管路18，管路18的一端设置有阀门17。In the embodiment of the present disclosure, as shown in FIG. 12 , a valve 17 is provided on the liquid replenishment port 3005 of the liquid storage tank 300 , and the valve 17 can be opened and closed to control the communication and disconnection between the liquid replenishment port 3005 and the liquid storage tank 3000 . open. A pipeline 18 is arranged in the liquid storage tank 3000 , and a valve 17 is arranged at one end of the pipeline 18 .
在本公开实施例中，阀门17可以是电子阀，也可以是手动阀，通过相应的控制来确保其处于打开或者闭合。在本公开其他实施例中，阀门17还可以是止逆阀，当储液箱3000完成补液，补液口3005与储液箱3000的连接断开之后，阀门17自动闭合，防止储液箱3000中清洁液流出。例如，阀门17可以是十字阀、升降式止回阀、旋启式止回阀等。In the embodiment of the present disclosure, the valve 17 may be an electronic valve or a manual valve, which is ensured to be opened or closed by corresponding control. In other embodiments of the present disclosure, the valve 17 can also be a check valve. When the liquid storage tank 3000 completes rehydration and the connection between the rehydration port 3005 and the liquid storage tank 3000 is disconnected, the valve 17 is automatically closed to prevent the liquid storage tank 3000 from Cleaning fluid flows out. For example, the valve 17 may be a cross valve, a lift check valve, a swing check valve and the like.
在本公开实施例中，如图13-16所示，自动清洁设备10包括储液箱装配结构4000，所述储液箱3000包括一与所述储液箱装配结构4000匹配的缺口部3006，当所述储液箱3000装配于所述自动清洁设备10时，所述储液箱装配结构4000装配于所述缺口部3006，实现完全匹配。In the embodiment of the present disclosure, as shown in FIGS. 13-16 , the automatic cleaning device 10 includes a liquid storage tank assembly structure 4000 , and the liquid storage tank 3000 includes a notch 3006 matching the liquid storage tank assembly structure 4000 , When the liquid storage tank 3000 is assembled on the automatic cleaning device 10 , the liquid storage tank assembly structure 4000 is assembled on the notch 3006 to achieve complete matching.
如图13-14所示，所述储液箱装配结构4000包括一凸舌4001，配置为与按键结构12的凸台2002抵接后卡止。所述储液箱装配结构4000还包括第二弹性件4004，第二弹性件4004提供竖直方向的弹力，使所述凸舌4001沿竖直方向伸缩运动，第二弹性件4004和凸舌4001可以位于同一滑道内，实现上述伸缩运动，第二弹性件4004例如为螺旋弹簧等。As shown in FIGS. 13-14 , the liquid storage tank assembly structure 4000 includes a protruding tongue 4001 configured to abut against the boss 2002 of the button structure 12 and lock it. The liquid storage tank assembly structure 4000 also includes a second elastic member 4004, which provides elastic force in the vertical direction to make the tongue 4001 stretch and move in the vertical direction. The second elastic member 4004 and the tongue 4001 It can be located in the same slideway to realize the above telescopic movement, and the second elastic member 4004 is, for example, a coil spring or the like.
在本公开实施例中，所述凸舌4001包括一斜面4002，当所述凸舌4001与所述凸台抵接后，所述斜面4002与所述凸台的斜面匹配后卡止。所述凸舌4001还包括一竖直面4003，当所述储液箱装配于所述自动清洁设备时，所述竖直面4003与所述凹槽3002内侧面卡止。斜面4002和竖直面4003能够保证储液箱3000在安装到自动清洁设备上后在前向和后向实现准确定位，避免在任何方向出现送到现象。In the embodiment of the present disclosure, the tongue 4001 includes a slope 4002 , and when the tongue 4001 abuts against the boss, the slope 4002 matches with the slope of the boss and locks. The tongue 4001 also includes a vertical surface 4003, and when the liquid storage tank is assembled on the automatic cleaning device, the vertical surface 4003 is locked with the inner surface of the groove 3002. The inclined surface 4002 and the vertical surface 4003 can ensure that the liquid storage tank 3000 can be positioned accurately in the forward and backward directions after being installed on the automatic cleaning equipment, so as to avoid sending phenomenon in any direction.
如图11所示，储液箱3000包括第一装配部3001，第一装配部3001位于所述储液箱3000大致中央的位置，第一装配部3001可以为矩形、圆形等结构，对此不做限定。第一装配部3001包括按键结构12、凹槽3002和通光口3003。其中，凹槽3002位于第一装配部3001底部向下凹陷形成，其形成与按键结构12相匹配的形状，当所述按键结构12装配于所述储液箱3000时，凹槽3002用于容纳所述按键结构12。As shown in Figure 11, the liquid storage tank 3000 includes a first assembly part 3001, the first assembly part 3001 is located in the approximate center of the liquid storage tank 3000, the first assembly part 3001 can be a rectangular, circular or other structure, for this No limit. The first assembly part 3001 includes a button structure 12 , a groove 3002 and a light opening 3003 . Wherein, the groove 3002 is formed at the bottom of the first assembly part 3001 and is recessed downwards, which forms a shape matching the button structure 12. When the button structure 12 is assembled on the liquid storage tank 3000, the groove 3002 is used to accommodate The button structure 12.
如图15-16所示，按键结构12装配于储液箱的第一装配部3001，配置为使所述储液箱可拆卸的装配于自动清洁设备，所述按键结构大致为薄片状的结构，包括：基本呈平板状的按键本体2000，按键本体2000可以为矩形结构；按压部2001，位于所述按键本体2000的一端，当受到向下的作用力时将所述储液箱从所述自动清洁设备解锁，从而使得储液箱处于从所述自动清洁设备可拆卸的状态，按压部2001相比于按键本体2000具有较宽的边缘，便于实施按压作用力，例如按压部2001可以为扇形结构；按压部2001外边缘和两侧边缘还具有凸起的边缘部，防止按压时打滑，同时具有遮挡水箱内部结构的效果。当所述储液箱从所述自动清洁设备解锁后，通过按压部2001外边缘凸起的边缘部向外拉拽，可以完全将储液箱从所述自动清洁设备拆卸下来。As shown in Figures 15-16, the button structure 12 is assembled on the first assembly part 3001 of the liquid storage tank, and is configured so that the liquid storage tank can be detachably assembled to the automatic cleaning equipment, and the button structure is roughly a sheet-like structure , comprising: a substantially flat key body 2000, the key body 2000 may be a rectangular structure; a pressing part 2001, located at one end of the key body 2000, when subjected to a downward force, pushes the liquid storage tank from the The automatic cleaning device is unlocked, so that the liquid storage tank is in a detachable state from the automatic cleaning device. Compared with the button body 2000, the pressing part 2001 has a wider edge to facilitate the implementation of pressing force. For example, the pressing part 2001 can be fan-shaped Structure; the outer edge and both side edges of the pressing part 2001 also have raised edge parts to prevent slipping when pressing, and at the same time have the effect of covering the internal structure of the water tank. After the liquid storage tank is unlocked from the automatic cleaning device, the liquid storage tank can be completely disassembled from the automatic cleaning device by pulling the protruding edge of the outer edge of the pressing part 2001 outward.
按键结构还包括凸台2002，位于所述按键本体2000的与所述按压部2001相反的一端；当所述按键结构12装配于所述储液箱3000时，在第一弹性件自然状态下，所述按压部2001高于所述凸台2002，从而有利于增大按压部2001和凸台2002的可移动行程，确保储液箱在安装状态下能够稳固安装，不易脱落，在需要拆卸时能够有效脱落凸舌的卡止，所述凸台2002与所述按压部2001的移动方向相反，实现跷跷板的状态，相比于凸台与所述按压部移动方向相同的方案，进一步增加凸台的可移动行程，从而使得所述储液箱更加容易的实现可拆卸的装配于所述自 动清洁设备。The button structure also includes a boss 2002, which is located at the end of the button body 2000 opposite to the pressing portion 2001; when the button structure 12 is assembled on the liquid storage tank 3000, under the natural state of the first elastic member, The pressing part 2001 is higher than the boss 2002, which is conducive to increasing the movable stroke of the pressing part 2001 and the boss 2002, ensuring that the liquid storage tank can be installed stably in the installed state, not easy to fall off, and can be removed when it needs to be disassembled. Effectively detach the locking of the tongue, the moving direction of the boss 2002 is opposite to that of the pressing part 2001, and realize the state of a seesaw. Compared with the scheme in which the moving direction of the boss and the pressing part are the same, further increase the The movable stroke makes it easier for the liquid storage tank to be detachably assembled to the automatic cleaning device.
在本公开实施例中，如图15所示，所述凸台2002进一步包括：第一面20021，为沿所述按键本体2000上表面向上延伸的曲面；第二面20022，为与所述第一面20021平滑连接的曲面，配置为与所述自动清洁设备的凸舌抵接后卡止；第三面20023，为与所述第二面20022平滑连接后沿基本竖直方向延伸的平面，第三面可以实现与凹槽内侧面的平面贴合，结合凸舌的平面，实现三个平面的稳定卡止。其中，第二面20022可以为形成凹陷的多弧度曲面，用于与凸舌的端部和斜面配合，实现稳定卡止。In the embodiment of the present disclosure, as shown in FIG. 15 , the boss 2002 further includes: a first surface 20021, which is a curved surface extending upward along the upper surface of the key body 2000; a second surface 20022, which is in line with the first surface One side 20021 is a curved surface that is smoothly connected, and is configured to be locked after abutting against the tongue of the automatic cleaning device; the third surface 20023 is a plane that is smoothly connected to the second surface 20022 and extends along a substantially vertical direction. The third surface can be fitted to the plane of the inner surface of the groove, combined with the plane of the tongue, to achieve stable locking of the three planes. Wherein, the second surface 20022 may be a concave multi-curved surface, which is used to cooperate with the end of the tongue and the inclined surface to realize stable locking.
在本公开的实施例中，所述第一面20021与所述第二面20022的连接部高于所述第二面20022与所述第三面20023的连接部，当凸舌与第二面接触时，可以保证凸舌不会向前后方向滑动，实现稳定卡止。In the embodiment of the present disclosure, the connecting portion between the first surface 20021 and the second surface 20022 is higher than the connecting portion between the second surface 20022 and the third surface 20023 , when the tongue and the second surface When in contact, it can ensure that the tongue will not slide forward and backward, so as to achieve stable locking.
在本公开实施例中，如图15所示，所述按键结构还包括：凸耳2003，对称设置于所述按键本体2000两侧；转轴2004，连接所述凸耳2003与所述储液箱，使得所述按键结构绕所述转轴2004转动。其中，转轴2004可以设置于更靠近按压部2001一侧，这样，按键结构通过转轴实现跷跷板运动时，凸台具有比按压部更长的可移动行程，从而更加容易通过凸台将凸舌顶起，使得所述储液箱更加容易的实现可拆卸。In the embodiment of the present disclosure, as shown in FIG. 15 , the button structure further includes: lugs 2003 symmetrically arranged on both sides of the button body 2000; a rotating shaft 2004 connecting the lugs 2003 with the liquid storage tank , so that the key structure rotates around the rotating shaft 2004 . Wherein, the rotating shaft 2004 can be arranged on the side closer to the pressing part 2001. In this way, when the button structure realizes seesaw movement through the rotating shaft, the boss has a longer movable stroke than the pressing part, so that it is easier to lift the tongue through the boss. , so that the liquid storage tank can be disassembled more easily.
在本公开实施例中，如图13所示，所述按键结构还包括：第一弹性件2005，设置于所述按压部2001的下表面，使得当施加于所述按压部2001的作用力释放时，为所述按压部2001提供恢复力。第一弹性件2005例如为螺旋弹簧等。In the embodiment of the present disclosure, as shown in FIG. 13 , the button structure further includes: a first elastic member 2005 disposed on the lower surface of the pressing portion 2001 so that when the force applied to the pressing portion 2001 is released, When , a restoring force is provided for the pressing part 2001 . The first elastic member 2005 is, for example, a coil spring or the like.
在本公开实施例中，如图14所示，所述按压部2001的上表面高于所述按键本体2000的上表面，且所述按压部2001的下表面高于所述按键本体2000的下表面。从而可以给按压部2001提供更多的可移动空间，保证按压部2001的移动行程，方便储液箱的拆卸。In the embodiment of the present disclosure, as shown in FIG. 14 , the upper surface of the pressing portion 2001 is higher than the upper surface of the key body 2000 , and the lower surface of the pressing portion 2001 is higher than the lower surface of the key body 2000 surface. Therefore, more movable space can be provided for the pressing part 2001, the moving stroke of the pressing part 2001 can be ensured, and the disassembly of the liquid storage tank can be facilitated.
在本公开实施例中，如图16所示，所述按压部2001的下表面包括多个加强筋，和/或，所述按键本体2000的下表面包括多个加强筋，以增强按键结构刚性的同时减轻按键结构整体的重量。In the embodiment of the present disclosure, as shown in FIG. 16 , the lower surface of the pressing part 2001 includes a plurality of reinforcing ribs, and/or, the lower surface of the key body 2000 includes a plurality of reinforcing ribs, so as to enhance the structural rigidity of the key. While reducing the overall weight of the button structure.
在本公开实施例中，如图13所示，凹槽3002包括凹槽壁30021，按键结构12装配于凹槽3002后，凸台2002在凸舌4001的抵顶下，高度低于凹槽壁30021的高度，从而使得凸舌4001可以抵接于凸台2002的顶端而卡止于凹槽壁30021。此外，凹槽3002的两侧壁上还设置有供按键结构转轴***并旋转的轴孔(未图示)。In the embodiment of the present disclosure, as shown in FIG. 13 , the groove 3002 includes a groove wall 30021. After the button structure 12 is assembled in the groove 3002, the boss 2002 is lower than the groove wall under the abutment of the tongue 4001. 30021, so that the tongue 4001 can abut against the top of the boss 2002 and lock to the groove wall 30021. In addition, shaft holes (not shown) are provided on the two side walls of the groove 3002 for inserting and rotating the key structure shaft.
当储液箱被放置于自动清洁设备上时，凸舌4001先是在储液箱的推动作用下压缩弹簧向上移动，当到达凹槽位置时，在弹簧的作用下向下延伸，凸舌4001从斜面4002滑入凹槽3002，然后，凸舌端部抵顶到凸台的第二面20022，同时，凸舌的竖直面4003与凹槽壁30021的内侧面贴合后卡止，所述凸台2002的第三面20023也与凹槽壁30021的内侧面抵靠后卡止，使得储液箱紧扣在自动清洁设备上。当需要取出储液箱时，按板被按下，在转轴的作用下凸台向上抬起并顶起凸舌，此时凸舌后侧端不再与凹槽侧壁接触，即可实现储液箱的取出。When the liquid storage tank is placed on the automatic cleaning equipment, the protruding tongue 4001 first moves upwards under the push of the liquid storage tank, and when it reaches the position of the groove, it extends downward under the action of the spring, and the protruding tongue 4001 moves from The inclined surface 4002 slides into the groove 3002, and then, the end of the tongue abuts against the second surface 20022 of the boss, and at the same time, the vertical surface 4003 of the tongue is engaged with the inner surface of the groove wall 30021 and then locked. The third surface 20023 of the boss 2002 also abuts against the inner surface of the groove wall 30021 and locks, so that the liquid storage tank is fastened to the automatic cleaning equipment. When it is necessary to take out the liquid storage tank, the pressing plate is pressed down, and under the action of the rotating shaft, the boss is lifted up and the tongue is pushed up. At this time, the rear side of the tongue is no longer in contact with the side wall of the groove, and the storage can be realized. Removal of the liquid tank.
在本公开实施例中，如图11所示，所述第一装配部3001还包括一通光口3003，位于所述按键结构12上方，所述通光口3003与所述自动清洁设备上的回桩灯位置相匹配，回桩灯通过所述通光口3003射出实现与充电桩的通讯。In the embodiment of the present disclosure, as shown in FIG. 11 , the first assembly part 3001 further includes a light opening 3003 located above the key structure 12, the light opening 3003 is connected to the back of the automatic cleaning device. The positions of the post lights are matched, and the return post lights are emitted through the light opening 3003 to realize communication with the charging post.
本公开实施例提供的按键结构为一种薄片状结构，体积小，增大了储液箱的容积，便于占用较小体积的情况下控制储液箱的拆卸。同时按键结构能够实现跷跷板式的移动，与自动清洁设备的凸舌弹性配合更加方便的实现可拆卸，避免卡死现象的发生。The button structure provided by the embodiments of the present disclosure is a sheet-like structure with a small volume, which increases the volume of the liquid storage tank, and is convenient for controlling disassembly of the liquid storage tank while occupying a small volume. At the same time, the button structure can realize seesaw-like movement, and it is more convenient to realize detachability with the elastic cooperation of the tongue of the automatic cleaning equipment, so as to avoid the occurrence of stuck phenomenon.
最后应说明的是：本说明书中各个实施例采用递进的方式描述，每个实施例重 点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的***或装置而言，由于其与实施例公开的方法相对应，所以描述比较简单，相关之处参见方法部分说明即可。Finally, it should be noted that each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.
以上实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments The recorded technical solutions are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims (20)

  1. 一种按键结构，装配于储液箱，配置为使所述储液箱可拆卸的装配于自动清洁设备，其特征在于，所述按键结构包括：A button structure, assembled in a liquid storage tank, configured to enable the liquid storage tank to be detachably assembled in an automatic cleaning device, characterized in that the button structure includes:
    按键本体(2000)；Button body (2000);
    按压部(2001)，位于所述按键本体(2000)的一端，当受到向下的作用力时将所述储液箱从所述自动清洁设备解锁；A pressing part (2001), located at one end of the key body (2000), unlocks the liquid storage tank from the automatic cleaning device when a downward force is applied;
    凸台(2002)，位于所述按键本体(2000)的与所述按压部(2001)相反的一端；a boss (2002), located at the end of the key body (2000) opposite to the pressing portion (2001);
    其中，当所述按键结构装配于所述储液箱时，所述按压部(2001)高于所述凸台(2002)，且所述凸台(2002)与所述按压部(2001)的移动方向相反，从而使得所述储液箱可拆卸的装配于所述自动清洁设备。Wherein, when the button structure is assembled in the liquid storage tank, the pressing part (2001) is higher than the boss (2002), and the protrusion (2002) and the pressing part (2001) The direction of movement is opposite, so that the liquid storage tank can be detachably assembled to the automatic cleaning device.
  2. 根据权利要求1所述的按键结构，其中，所述凸台(2002)包括：The button structure according to claim 1, wherein the boss (2002) comprises:
    第一面(20021)，为沿所述按键本体(2000)上表面向上延伸的曲面；The first surface (20021) is a curved surface extending upward along the upper surface of the key body (2000);
    第二面(20022)，为与所述第一面(20021)平滑连接的曲面，配置为与所述自动清洁设备的凸舌抵接后卡止；The second surface (20022), which is a curved surface smoothly connected to the first surface (20021), is configured to abut against the tongue of the automatic cleaning device and lock it;
    第三面(20023)，为与所述第二面(20022)平滑连接后沿基本竖直方向延伸的平面。The third surface (20023) is a plane extending along a substantially vertical direction after being smoothly connected with the second surface (20022).
  3. 根据权利要求2所述的按键结构，其中，所述第一面(20021)与所述第二面(20022)的连接部高于所述第二面(20022)与所述第三面(20023)的连接部。The button structure according to claim 2, wherein the connecting portion between the first surface (20021) and the second surface (20022) is higher than the second surface (20022) and the third surface (20023) ) connection part.
  4. 根据权利要求1所述的按键结构，其中，所述按键结构还包括：The button structure according to claim 1, wherein the button structure further comprises:
    凸耳(2003)，对称设置于所述按键本体(2000)两侧；The lugs (2003) are symmetrically arranged on both sides of the key body (2000);
    转轴(2004)，连接所述凸耳(2003)与所述储液箱，使得所述按键结构绕所述转轴(2004)转动。A rotating shaft (2004), connecting the lug (2003) and the liquid storage tank, so that the key structure rotates around the rotating shaft (2004).
  5. 根据权利要求1所述的按键结构，其中，所述按键结构还包括：The button structure according to claim 1, wherein the button structure further comprises:
    第一弹性件(2005)，设置于所述按压部(2001)的下表面，使得当施加于所述按压部(2001)的作用力释放时，为所述按压部(2001)提供恢复力。The first elastic member (2005) is arranged on the lower surface of the pressing part (2001), so as to provide restoring force for the pressing part (2001) when the force applied to the pressing part (2001) is released.
  6. 根据权利要求1所述的按键结构，其特征在于，所述按压部(2001)的上表面高于所述按键本体(2000)的上表面，且所述按压部(2001)的下表面高于所述按键本体(2000)的下表面。The key structure according to claim 1, characterized in that, the upper surface of the pressing part (2001) is higher than the upper surface of the key body (2000), and the lower surface of the pressing part (2001) is higher than The lower surface of the key body (2000).
  7. 根据权利要求6所述的按键结构，其中，所述按压部(2001)的下表面包括多个加强筋，和/或，所述按键本体(2000)的下表面包括多个加强筋。The key structure according to claim 6, wherein, the lower surface of the pressing part (2001) comprises a plurality of reinforcing ribs, and/or, the lower surface of the key body (2000) comprises a plurality of reinforcing ribs.
  8. 一种储液箱，包括权利要求1-7任一项所述的按键结构。A liquid storage tank, comprising the button structure according to any one of claims 1-7.
  9. 根据权利要求8所述的储液箱，其特征在于，所述储液箱还包括第一装配部(3001)，位于所述储液箱(3000)大致中央的位置，用于装配所述按键结构。The liquid storage box according to claim 8, characterized in that, the liquid storage box further comprises a first assembly part (3001), which is located in the approximate center of the liquid storage box (3000), and is used for assembling the button structure.
  10. 根据权利要求9所述的储液箱，其中，所述第一装配部(3001)包括一凹槽(3002)，当所述按键结构装配于所述储液箱(3000)时，用于容纳所述按键结构。The liquid storage tank according to claim 9, wherein, the first assembly part (3001) includes a groove (3002), which is used to accommodate the The button structure.
  11. 根据权利要求9所述的储液箱，其中，所述第一装配部(3001)还包括一通光口(3003)，位于所述按键结构上方，所述通光口(3003)与所述自动清洁设备上的回桩灯位置相匹配。The liquid storage tank according to claim 9, wherein, the first assembly part (3001) further includes a light opening (3003), located above the button structure, and the light opening (3003) is connected with the automatic The position of the back stake light on the cleaning device matches.
  12. 根据权利要求8所述的储液箱，其中，所述储液箱还包括第二装配部(3004)，位于所述储液箱(3000)大致中央的位置，用于与基站连接后为所述储液箱(3000)注入清洁液。The liquid storage box according to claim 8, wherein the liquid storage box further comprises a second assembly part (3004), which is located in the approximate center of the liquid storage box (3000), and is used for connecting with the base station for the Fill the liquid storage tank (3000) with cleaning liquid.
  13. 根据权利要求12所述的储液箱，其中，所述第二装配部(3004)还包括补液口(3005)，位于所述第二装配部(3004)大致中央的位置，用于为所述储液 箱(3000)注入清洁液。The liquid storage tank according to claim 12, wherein, the second assembly part (3004) further includes a liquid replenishment port (3005), which is located approximately in the center of the second assembly part (3004), and is used for the The liquid storage tank (3000) is filled with cleaning liquid.
  14. 一种自动清洁设备，包括权利要求8-14任一项所述的储液箱。An automatic cleaning device, comprising the liquid storage tank according to any one of claims 8-14.
  15. 根据权利要求14所述的自动清洁设备，其中，所述自动清洁设备包括储液箱装配结构(4000)，所述储液箱包括一与所述储液箱装配结构(4000)匹配的缺口部(3006)，当所述储液箱装配于所述自动清洁设备时，所述储液箱装配结构(4000)装配于所述缺口部(3006)。The automatic cleaning device according to claim 14, wherein the automatic cleaning device comprises a liquid storage tank assembly structure (4000), and the liquid storage tank includes a notch matching the liquid storage tank assembly structure (4000) (3006), when the liquid storage tank is assembled on the automatic cleaning equipment, the liquid storage tank assembly structure (4000) is assembled on the notch (3006).
  16. 根据权利要求15所述的自动清洁设备，其中，所述储液箱装配结构(4000)包括一凸舌(4001)，配置为与所述凸台抵接后卡止。The automatic cleaning device according to claim 15, wherein the assembly structure (4000) of the liquid storage tank includes a tongue (4001 ), which is configured to abut against the boss and then lock.
  17. 根据权利要求16所述的自动清洁设备，其中，所述凸舌(4001)包括一斜面(4002)，当所述凸舌(4001)与所述凸台抵接后，所述斜面(4002)与所述凸台卡止。The automatic cleaning device according to claim 16, wherein the tongue (4001) includes an inclined surface (4002), and when the tongue (4001) abuts against the boss, the inclined surface (4002) Lock with the boss.
  18. 根据权利要求16所述的自动清洁设备，其中，所述储液箱装配结构(4000)还包括第二弹性件(4004)，配置为使所述凸舌(4001)沿竖直方向伸缩运动。The automatic cleaning device according to claim 16, wherein the liquid storage tank assembly structure (4000) further comprises a second elastic member (4004) configured to make the tongue (4001) expand and contract in a vertical direction.
  19. 根据权利要求16所述的自动清洁设备，其中，所述储液箱包括还一凹槽(3002)，当所述储液箱装配于所述自动清洁设备时，所述凸舌(4001)与所述凹槽(3002)卡止。The automatic cleaning device according to claim 16, wherein the liquid storage tank includes a groove (3002), and when the liquid storage tank is assembled on the automatic cleaning device, the tongue (4001) and The groove (3002) is locked.
  20. 根据权利要求19所述的自动清洁设备，其中，所述凸舌(4001)还包括一竖直面(4003)，配置为当所述储液箱装配于所述自动清洁设备时，所述竖直面(4003)与所述凹槽(3002)内侧面卡止。The automatic cleaning device according to claim 19, wherein the tongue (4001) further includes a vertical surface (4003), configured so that when the liquid storage tank is assembled on the automatic cleaning device, the vertical The straight face (4003) is locked with the inner surface of the groove (3002).
PCT/CN2022/080010 2021-09-01 2022-03-09 Button structure, liquid storage tank, and automatic cleaning device WO2023029427A1 (en)

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