Dust box, sweeping robot, and control method of sweeping robot

Abstract

The present application provides a dust box, a sweeping robot and a control method of the sweeping robot, wherein the dust box comprises a dust box body, the dust box body is provided with two ash discharge ports, an intermediate rotating shaft is provided at the ash discharge port of the dust box body, two ash discharge port pressure plates are connected to the intermediate rotating shaft and the ash discharge port pressure plates are arranged at the ash discharge port in a one-to-one correspondence; under the action of a driving force, the driving force drives the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash discharge ports are opened synchronously. The synchronous opening of the two ash discharge ports can ensure that the dust in the dust box body is discharged from the two ash discharge ports at the same time, accelerate the discharge speed of the dust in the dust box body, and thus improve the discharge efficiency of the dust in the dust box body.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and specifically to a dust box, a sweeping robot, and a control method for the sweeping robot. Background Art

[0002] A sweeping robot is also known as an automatic cleaning machine, smart vacuum cleaner, robot vacuum cleaner, etc. The sweeping robot can automatically suck up debris on the ground in the room into its own dust box, and complete floor cleaning tasks such as sweeping, vacuuming, and mopping. It has a wide range of applications, such as homes, shopping malls, hospitals, office buildings, squares and many other occasions.

[0003] One type of existing sweeping robot is equipped with a workstation for recycling garbage in the dust box of the sweeping robot. After the sweeping robot sucks the debris on the ground into its own dust box, the sweeping robot walks to the workstation, and the workstation can suck the garbage in the dust box of the sweeping robot into the dust storage bucket of the workstation. The user only needs to clean the garbage in the dust storage bucket of the workstation at intervals, and the user does not need to frequently take out the dust box of the sweeping robot to clean the garbage in the dust box, which reduces the frequency of users dumping garbage, reduces the user's physical labor and saves time. Therefore, the sweeping robot is equipped with a workstation for recycling garbage will become the development trend of future sweeping robots.

[0004] In the prior art, the dust removal efficiency of a sweeping robot equipped with a workstation is low, and the unreasonable design of the dust box dust discharge port of the sweeping robot is one of the main factors. The number of dust box dust discharge ports of the sweeping robot is generally two, and the two dust discharge ports of the existing dust box are difficult to open at the same time. After opening one dust discharge port, the second dust discharge port will be unable to be opened or the opening is very small due to the reduction in pressure difference, thereby reducing the discharge efficiency of garbage in the dust box of the sweeping robot. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a dust box, a sweeping robot and a control method of the sweeping robot to solve the technical defects existing in the prior art.

[0006] The embodiment of the present application provides a dust box, including a dust box body, the dust box body is provided with two ash discharge ports, an intermediate rotating shaft is arranged at the ash discharge port of the dust box body, two ash discharge port pressure plates are connected to the intermediate rotating shaft, and the ash discharge port pressure plates are arranged at the ash discharge ports in a one-to-one correspondence;

[0007] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash discharge ports are opened synchronously.

[0008] Optionally, a reset mechanism is provided on the dust box body;

[0009] The reset force provided by the reset mechanism drives the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash discharge ports are closed synchronously.

[0010] Optionally, the reset mechanism includes a first suction unit provided on the intermediate rotating shaft and a second suction unit provided on the dust box body, and the magnetic force between the first suction unit on the intermediate rotating shaft and the second suction unit on the dust box body serves as at least part of the reset force, driving the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft, so that the two ash discharge ports are closed synchronously.

[0011] Optionally, the first attraction unit is an iron sheet, which is arranged on the shaft body in the middle of the intermediate rotating shaft, and the second attraction unit is a magnet embedded in the dust box body, and the magnet is arranged corresponding to the iron sheet.

[0012] Optionally, a receiving groove is provided on the dust box body, and the first suction unit is installed in the receiving groove.

[0013] Optionally, the reset mechanism includes a torsion spring located at the connection between the ash discharge port pressure plate and the intermediate shaft and sleeved on the intermediate shaft, one end of the torsion spring is folded on the dust box body, and the other end of the torsion spring is folded on the ash discharge port pressure plate;

[0014] The torsion force provided by the torsion spring serves as at least part of the reset force, driving the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft, so that the two ash discharge ports are closed synchronously.

[0015] Optionally, the opening direction of the ash discharge port is inclined downward, and the plate surface of the ash discharge port pressure plate is inclined and pressed against the ash discharge port.

[0016] Optionally, the angle between the opening direction of the ash discharge port and the horizontal plane is 10° to 30°.

[0017] Optionally, a groove with an opening facing downward is provided on the bottom shell of the dust box body, and the dust discharge port is arranged in the groove.

[0018] Optionally, when the ash discharge port pressure plate is in a closed position pressed against the ash discharge port, the distance between the lowest end of the ash discharge port pressure plate and the lowest end of the side wall of the groove is not less than 1 / 2 of the length of the side wall of the groove.

[0019] Optionally, when the ash discharge port pressure plate is in an open position separated from the ash discharge port, the ash discharge port pressure plate at least partially protrudes from the side wall of the groove.

[0020] Optionally, a notch is formed on the inner side wall of the groove, and an axial hole is formed on the outer side wall of the groove; both ends of the intermediate rotating shaft are respectively inserted into the axial holes through the notch.

[0021] Optionally, a pressure plate rubber is connected to the inner plate surface of the ash discharge port pressure plate.

[0022] The embodiment of the present application provides a sweeping robot, including a dust box, wherein two dust discharge ports are provided on a dust box body of the dust box, an intermediate rotating shaft is provided at the dust discharge port of the dust box body, two dust discharge port pressure plates are connected to the intermediate rotating shaft, and the dust discharge port pressure plates are arranged at the dust discharge port in a one-to-one correspondence;

[0023] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash discharge ports are opened synchronously.

[0024] The present application provides a control method for a sweeping robot, the sweeping robot comprising a dust box body, the bottom of the dust box body being provided with two ash discharge ports, the bottom of the dust box body being provided with an intermediate rotating shaft, two ash discharge port pressure plates being connected to the intermediate rotating shaft, and the ash discharge port pressure plates being arranged at the ash discharge ports in a one-to-one correspondence;

[0025] The method comprises:

[0026] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash discharge ports are opened synchronously.

[0027] Optionally, the sweeping robot is docked with a workstation, and the method includes:

[0028] The fan of the workstation works to generate a pressure difference between the inner and outer sides of the dust discharge port pressure plate on the dust box body to form air pressure as the driving force;

[0029] The air pressure drives the two ash discharge port pressure plates to rotate synchronously with the middle rotating shaft so that the two ash discharge ports are opened synchronously.

[0030] Optionally, a reset mechanism is provided between the dust box body and the intermediate rotating shaft;

[0031] The method further comprises:

[0032] After the sweeping robot completes dust removal, the resetting force provided by the resetting mechanism drives the two ash removal port pressure plates to rotate synchronously with the intermediate rotating shaft so that the two ash removal ports are closed synchronously.

[0033] The present application provides a dust box, a sweeping robot and a control method for the sweeping robot. During the dust discharge working process in the dust box main body, a driving force will act on the ash discharge port pressure plate. Since the two ash discharge port pressure plates are arranged on the same intermediate rotating shaft, that is, the two ash discharge port pressure plates are coaxially arranged, the driving force drives the two ash discharge port pressure plates and the intermediate rotating shaft to rotate synchronously, thereby realizing the synchronous opening of the two ash discharge ports, thereby avoiding the situation where, after one ash discharge port is opened, the second ash discharge port cannot be opened subsequently or the opening is very small due to the reduction in pressure difference. The synchronous opening of the two ash discharge ports can ensure that the dust in the dust box main body is discharged from the two ash discharge ports at the same time, thereby accelerating the dust discharge speed in the dust box main body, and thereby improving the dust discharge efficiency in the dust box main body. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the three-dimensional structure of the dust box in this application;

[0035] Figure 2 A schematic diagram of air circulation in the dust box in this application;

[0036] Figure 3 This is a cross-sectional view of the dust box in this application after the dust discharge port pressure plate opens the dust discharge port;

[0037] Figure 4 A schematic diagram of the dust discharge port pressure plate of the dust box in this application generating negative pressure;

[0038] Figure 5 for Figure 4 A magnified schematic diagram of the structure at M in the middle;

[0039] Figure 6 This is a partial cross-sectional schematic diagram of the dust box after flipping in this application;

[0040] Figure 7 This is a relationship diagram between the opening angle of the ash discharge port pressure plate and the torque of the intermediate shaft in this application;

[0041] Figure 8 This is a flow chart of the control method of the sweeping robot of the present application.

[0042] Figure numerals: 10-dust box body, 11-ash discharge port, 12-groove, 121-notch, 122-axis hole, 13-opening, 14-exit, 15-handle, 16-high-efficiency filter; 20-middle rotating shaft; 30-ash discharge port pressure plate, 31-pressure plate rubber; 41-first suction unit, 42-second suction unit, 43-torsion spring. DETAILED DESCRIPTION

[0043] The specific implementation of the present application is described below in conjunction with the accompanying drawings.

[0044] Embodiment 1

[0045] This embodiment provides a dust box, see Figures 1 to 6 As shown, it includes a dust box body 10, on which two ash discharge ports 11 are provided, and an intermediate shaft 20 is provided at the ash discharge port 11 of the dust box body 10, and two ash discharge port pressure plates 30 are connected to the intermediate shaft 20, and the ash discharge port pressure plates 30 are arranged at the ash discharge port 11 in a one-to-one correspondence;

[0046] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously.

[0047] The ash discharge port 11 on the dust box body 10 may be provided at a plurality of locations on the dust box body 10 . For example, the ash discharge port 11 may be provided on the bottom of the dust box body 10 or on the wall of the dust box body 10 .

[0048] The number of the ash discharge ports 11 may be two or three, or may be more. The present application does not limit the number of the ash discharge ports 11 .

[0049] In this embodiment, preferably, two ash discharge ports 11 are opened on the bottom of the dust box body 10, and the two ash discharge ports 11 are disposed on both sides of the bottom of the dust box body 10. Ash discharge port pressure plates 30 are respectively provided at the two ash discharge ports 11, that is, the left ash discharge port pressure plate and the right ash discharge port pressure plate are respectively arranged at the left ash discharge port and the right ash discharge port of the bottom of the dust box body 10.

[0050] Compared with other positions where the dust discharge openings 11 are arranged, two dust discharge openings 11 are provided on the bottom of the dust box body 10 , which is beneficial to the discharge of dust in the dust box body 10 .

[0051] Alternatively, see Figure 1 , 4 As shown in FIG. 5 , the reset mechanism includes a torsion spring 43 located at the connection between the ash discharge port pressure plate 30 and the intermediate shaft 20 and sleeved on the intermediate shaft 20 , one end of the torsion spring 43 is folded on the dust box body 10 , and the other end of the torsion spring 43 is folded on the ash discharge port pressure plate 30 ;

[0052] When the driving force stops acting, the torsion force of the torsion spring 43 drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate shaft 20 , so that the two ash discharge ports 11 are closed synchronously.

[0053] One end of the torsion spring 43 is folded onto the dust box body 10, and the other end of the torsion spring 43 is folded onto the ash discharge port pressure plate 30. The torsion force of the torsion spring 43 is used as the reset force for closing the ash discharge port pressure plate 30. The torsion spring 43 itself has a simple structure and is easy to install. The purchase cost of the torsion spring 43 is low, which can save the manufacturing cost of the dust box.

[0054] See also Figure 2 As shown, the arrow on the dotted line is the direction of air circulation. An opening 13 for air flow to enter may be opened on one side of the dust box body 10, and an outlet 14 for air flow to flow out may be opened on the other side of the dust box body 10. A filter is generally provided at the outlet 14 opened on the other side of the dust box body 10.

[0055] Furthermore, the filter screen may include a primary filter screen and a high-efficiency filter screen 16 arranged in sequence from the inside to the outside at the outlet 14, and the primary filter screen and the high-efficiency filter screen 16 may be existing filter screens.

[0056] The dust box provided in this embodiment can be applied to various occasions. The application in a sweeping robot is used as an example for explanation below, but it is not limited to the application in a sweeping robot. It can also be used in other scenarios where garbage discharge is required, such as trash cans, vacuum cleaners, etc.

[0057] In a specific usage scenario, for example, the working process of the dust box installed in a sweeping robot is as follows.

[0058] 1) When the sweeping robot is performing floor cleaning, the ash discharge port pressing plate 30 is pressed against the edge of the ash discharge port 11, that is, the ash discharge port pressing plate 30 closes the ash discharge port 11. Figure 2 As shown, the air pump of the sweeping robot draws air, and the air enters from the opening 13 on one side of the dust box body 10 and is discharged through the outlet 14 on one side of the dust box body 10. The dust in the air is blocked by the filter provided at the outlet 14 and accumulated in the box cavity of the dust box body 10.

[0059] 2) The sweeping robot receives a dust discharge instruction, and the dust discharge instruction is used to instruct the sweeping robot to walk to the workstation. After the dust discharge port 11 of the sweeping robot corresponds to the suction opening of the workstation, the dust in the dust box body 10 can be sucked. It should be pointed out that the dust discharge instruction can be various instructions. For example, the dust discharge instruction can be a recharge instruction. Specifically, when it is detected that the battery power is lower than the preset power, the recharge instruction is triggered, and the robot discharges dust while docking the charging stand for charging; for another example, the dust discharge instruction can be a dust full instruction. Specifically, when it is detected that the dust box is full of dust, a signal is sent to the controller, thereby triggering the dust discharge instruction, and the robot docks the charging stand for dust discharge.

[0060] 3) During the dust discharge process of the dust box body 10 of the sweeping robot, the fan of the workstation works to generate a pressure difference between the inner and outer sides of the dust discharge port pressure plate 30 on the dust box body 10 to form a driving force, which is the air pressure.

[0061] 4) The air pressure drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate shaft 20 so that the two ash discharge ports 11 are opened synchronously. The two ash discharge ports 11 are opened synchronously so that the dust in the dust box body 10 is discharged from the two ash discharge ports 11 simultaneously.

[0062] The ash discharge port pressure plates 30 described in the present embodiment are under the action of the driving force. Since the two ash discharge port pressure plates 30 are arranged on the same intermediate rotating shaft 20, that is, the two ash discharge port pressure plates 30 are coaxially arranged, the driving force drives the two ash discharge port pressure plates 30 and the intermediate rotating shaft 20 to rotate synchronously, thereby realizing the synchronous opening of the two ash discharge ports 11, avoiding the situation that after opening one ash discharge port 11, the second ash discharge port 11 cannot be opened subsequently or the opening is very small due to the reduction of pressure difference. The synchronous opening of the two ash discharge ports 11 can ensure that the dust in the dust box body 10 is discharged from the two ash discharge ports 11 at the same time, thereby accelerating the dust discharge speed in the dust box body 10, improving the dust discharge efficiency in the dust box body 10, reducing the working time of the fan in the workstation, extending its service life and reducing the energy consumption.

[0063] Embodiment 2

[0064] The present embodiment provides a dust box, including a dust box body 10, the dust box body 10 is provided with two ash discharge ports 11, the ash discharge ports 11 of the dust box body 10 are provided with an intermediate shaft 20, the intermediate shaft 20 is connected with two ash discharge port pressure plates 30, and the ash discharge port pressure plates 30 are arranged at the ash discharge ports 11 in a one-to-one correspondence;

[0065] A reset mechanism is provided between the dust box body 10 and the intermediate rotating shaft 20;

[0066] See also Figure 3 As shown, the reset mechanism includes a first suction unit 41 provided on the intermediate rotating shaft 20 and a second suction unit 42 provided on the dust box body 10. The magnetic force between the first suction unit 41 on the intermediate rotating shaft 20 and the second suction unit 42 on the dust box body 10 drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20, so that the two ash discharge ports 11 are closed synchronously.

[0067] The first suction unit 41 disposed on the intermediate rotating shaft 20 and the second suction unit 42 disposed on the dust box body 10 may both be magnets, and one of the first suction unit 41 and the second suction unit 42 may be a magnet, and the other may be a non-magnetic iron material.

[0068] Specifically, the first suction unit 41 is an iron sheet, which is arranged on the shaft body in the middle of the intermediate rotating shaft 20, and the second suction unit 42 is a magnet embedded in the dust box body 10, and the magnet is arranged corresponding to the iron sheet.

[0069] The second attraction unit 42 may be a flat cylindrical magnet embedded in the dust box body 10 , and the magnet may also be in other shapes. A certain magnetic force will be generated between the magnet and the iron sheet, and the magnetic force will control the opening and closing action of the ash discharge port pressure plate 30 .

[0070] The reset mechanism also includes a torsion spring 43 located at the connection between the ash discharge port pressure plate 30 and the intermediate shaft 20 and sleeved on the intermediate shaft 20 , one end of the torsion spring 43 is folded on the dust box body 10 , and the other end of the torsion spring 43 is folded on the ash discharge port pressure plate 30 .

[0071] During the action of the driving force, the driving force overcomes the torsion of the torsion spring 30 and the magnetic force between the iron sheet and the magnet and causes the ash discharge port pressure plate 30 to rotate synchronously with the intermediate shaft 20 to synchronously open the two ash discharge ports 11 .

[0072] When the driving force stops acting, the torsion force of the torsion spring 30 and the magnetic force between the iron sheet and the magnet drive the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate shaft 20, so that the two ash discharge ports 11 are closed synchronously.

[0073] In a specific usage scenario, the working process of the dust box of this embodiment is as follows.

[0074] 1) When the sweeping robot is performing floor cleaning, the iron sheet arranged on the intermediate rotating shaft 20 is tightly attracted to the magnet on the dust box body 10, and the ash discharge port pressing plate 30 is pressed against the edge of the ash discharge port 11 mainly under the action of the magnetic force between the magnet and the iron sheet, that is, the ash discharge port pressing plate 30 closes the ash discharge port 11, and the air pump of the sweeping robot draws air, and the air enters from the opening 13 on one side of the dust box body 10 and is discharged through the outlet 14 on one side of the dust box body 10, and the dust in the air is blocked by the filter screen arranged at the outlet 14 and accumulated in the box cavity of the dust box body 10.

[0075] 2) The sweeping robot receives a dust discharge instruction, which is used to instruct the sweeping robot to walk to the workstation, and the sweeping robot prepares to discharge the dust in the dust box body 10 after the dust discharge port 11 of the sweeping robot corresponds to the suction opening of the workstation.

[0076] 3) See Figure 4 and Figure 5As shown, during the dust discharge process of the dust box body 10 of the sweeping robot, the inner side of the ash discharge port pressure plate 30 on the dust box body 10 is at atmospheric pressure, and the fan of the workstation works to generate negative pressure on the outer side of the ash discharge port pressure plate 30 on the dust box body 10. The air pressure formed by the pressure difference between the inner and outer sides of the ash discharge port pressure plate 30 is the driving force.

[0077] 4) The air pressure overcomes the magnetic force between the magnet and the iron sheet and the torsion of the torsion spring 43, and drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously, and the dust in the dust box body 10 is discharged from the two ash discharge ports 11 to the dust storage bucket of the workstation at the same time.

[0078] 5) See Figures 4 to 6 As shown, the negative pressure generated by the fan of the workstation gradually decreases, and the ash discharge port pressure plate 30 is mainly under the torsion force generated by the torsion spring 43, as shown in FIG. Figure 6 As shown, the ash discharge port pressure plate 30 rotates synchronously with the intermediate rotating shaft 20, and the ash discharge port pressure plate 30 rotates a certain angle. The magnetic force of the magnet and the iron sheet mainly drives the ash discharge port pressure plate 30 to rotate synchronously with the intermediate rotating shaft 20. It is mainly because the magnetic force acts on the ash discharge port pressure plate 30 and makes the ash discharge port pressure plate 30 tightly attached to the outer periphery of the ash discharge port 11 to close the ash discharge port 11.

[0079] Figure 7 A relationship diagram between the opening angle of the ash discharge port pressure plate and the torque is shown, wherein the dotted line represents the linearly proportional relationship between the opening angle of the ash discharge port pressure plate and the torque generated by the torsion spring, the thin solid line represents the nonlinearly inversely proportional relationship between the opening angle of the ash discharge port pressure plate and the torque generated by the magnetic force between the magnet and the iron sheet, the thick solid line represents the relationship between the opening angle of the ash discharge port pressure plate and the torque overcome by the intermediate rotating shaft, and the dotted line represents the relationship between the opening angle of the ash discharge port pressure plate and the torque generated by the driving force acting on the ash discharge port pressure plate.

[0080] Combine the following Figure 7 The opening and closing cooperation of the ash discharge port pressure plate in this embodiment is described in detail.

[0081] Since the opening angle of the ash discharge port pressure plate 30 is inversely proportional to the torque generated by the magnetic force between the magnet and the iron sheet, when the ash discharge port pressure plate 30 closes the ash discharge port 11, the torque generated by the torsion spring 43 is small, and the large torque generated by the magnetic force between the magnet and the iron sheet is utilized to press the ash discharge port pressure plate 30 tightly against the periphery of the ash discharge port 11. When the sweeping robot is performing floor cleaning work, the ash discharge port pressure plate 30 is tightly fitted with the ash discharge port of the dust box body 10, which can effectively prevent dust from being spilled from the ash discharge port 11 due to the shaking of the sweeping robot body.

[0082] During the dust discharge process of the dust box body 10 of the sweeping robot, the air pressure generated by the workstation's fan acts on the ash discharge port pressure plate 30 to open the ash discharge port 11. When the torque generated by the air pressure generated by the workstation's fan acting on the ash discharge port pressure plate 30 is equal to the torque generated by the magnetic force and the torsion force, the ash discharge port pressure plate 30 is in a balanced state. That is, the angle value of the ash discharge port pressure plate 30 corresponding to the intersection of the thick solid line and the dotted line is the opening angle of the ash discharge port pressure plate 30, which is the opening angle maintained by the ash discharge port pressure plate 30 when the workstation's fan is working.

[0083] The present embodiment utilizes the nonlinear inverse relationship between the opening angle of the ash discharge port pressure plate and the torque generated by the magnetic force between the magnet and the iron sheet to achieve a rapid downward trend in the torque overcome by the ash discharge port pressure plate 30 during the opening process, which is beneficial to the accumulation of negative pressure outside the ash discharge port pressure plate 30 and improves the dust discharge efficiency. At the same time, after the ash discharge port pressure plate 30 is opened, the closing torque is small, which can keep the ash discharge port pressure plate 30 at a larger opening angle, further improving the dust discharge efficiency.

[0084] In this embodiment, an iron sheet is provided on the shaft body in the middle part of the intermediate rotating shaft 20, a magnet is embedded in the dust box main body 10, and a torsion spring 43 is provided at the connection between the ash discharge port pressure plate 30 and the intermediate rotating shaft 20. Through the cooperation of the magnetic force between the magnet and the iron sheet and the torque generated by the torsion spring 43, on the one hand, the ash discharge port pressure plate 30 can be tightly fitted with the ash discharge port of the dust box main body 10 during the floor cleaning operation of the sweeping robot, effectively avoiding the situation where dust is spilled from the ash discharge port 11 due to the shaking of the sweeping robot body; on the other hand, during the dust discharge operation of the dust box main body 10 of the floor robot, the ash discharge port pressure plate 30 can be opened quickly and stably, and a larger opening angle of the ash discharge port pressure plate 30 can be maintained, thereby accelerating the dust discharge speed of the dust box main body 10, thereby improving the dust discharge efficiency of the dust box main body.

[0085] In addition, an iron sheet is provided on the shaft in the middle of the intermediate rotating shaft 20, a magnet is embedded in the dust box body 10, and a torsion spring 43 is provided at the connection between the ash discharge port pressure plate 30 and the intermediate rotating shaft 20. Not only is the structure ingenious, but the cost is also low, which can save the manufacturing cost of the sweeping robot to a certain extent.

[0086] Embodiment 3

[0087] The present embodiment provides a dust box, including a dust box body 10, the dust box body 10 is provided with two ash discharge ports 11, the ash discharge ports 11 of the dust box body 10 are provided with an intermediate shaft 20, the intermediate shaft 20 is connected with two ash discharge port pressure plates 30, and the ash discharge port pressure plates 30 are arranged at the ash discharge ports 11 in a one-to-one correspondence;

[0088] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously.

[0089] The specific limiting structure of the intermediate rotating shaft 20 is shown below.

[0090] Two grooves 12 with openings facing downward are arranged on the bottom shell of the dust box body 10 , and each dust discharge port 11 is arranged in a corresponding groove 12 .

[0091] A notch 121 is provided on the inner side wall of the groove 12, and an axial hole 122 is provided on the outer side wall of the groove 12. Both ends of the intermediate rotating shaft 20 are respectively inserted into the axial hole 122 through the notch 121 to limit the radial position of the intermediate rotating shaft 20. An ash discharge port pressure plate 30 is connected to the shaft body of the intermediate rotating shaft 20 located in the groove 12. The side walls of the ash discharge port pressure plate 30 are close to the side walls of the enclosure 12 to limit the axial position of the intermediate rotating shaft 20. That is, the ash discharge port pressure plate 30 and the intermediate rotating shaft 20 can move slightly in the axial direction to ensure that the position of the intermediate rotating shaft 20 can be stably constrained.

[0092] It should be noted that the inner sidewalls of the grooves 12 refer to the sidewalls where the two grooves 12 are close to each other, and the outer sidewalls refer to the sidewalls where the two grooves 12 are far away from each other.

[0093] When in use, when the ash discharge port pressure plate 30 is in a closed position pressed against the ash discharge port 11, the distance between the lowest end of the ash discharge port pressure plate 30 and the lowest end of the side wall of the groove 12 is not less than 1 / 2 of the length of the side wall of the groove 12; when the ash discharge port pressure plate 30 is in an open position separated from the ash discharge port 11, the ash discharge port pressure plate 30 at least partially protrudes from the side wall of the groove 12.

[0094] Optionally, a handle 15 is provided on the top of the dust box body 10 .

[0095] In this embodiment, the opening direction of the ash discharge port 11 is inclined downward, and the plate surface of the ash discharge port pressing plate 30 is inclined and pressed against the ash discharge port 11 .

[0096] Furthermore, the angle between the opening direction of the ash discharge port 11 and the horizontal plane is 10° to 30°.

[0097] That is, the surface where the edge of the ash discharge port 11 is located is arranged to be inclined downward from the rotation axis 20, and the angle between the surface where the edge of the ash discharge port 11 is located and the horizontal plane is 10° to 30°.

[0098] The angle between the surface where the edge of the ash discharge port 11 is located and the horizontal plane can be 15°, 18°, 20° or 25°.

[0099] Optionally, a pressure plate rubber 31 is connected to the inner plate surface of the ash discharge port pressure plate 30. When the ash discharge port pressure plate 30 closes the ash discharge port 11, the pressure plate rubber 31 fits tightly with the outer periphery of the ash discharge port 11 of the dust box body 10, thereby improving the sealing performance of the ash discharge port pressure plate 30 when closing the ash discharge port 11. This can avoid the situation where dust is spilled from the ash discharge port due to the shaking of the machine body to a certain extent.

[0100] In this embodiment, the opening direction of the ash discharge port 11 is tilted downward, and the plate surface of the ash discharge port pressure plate 30 is tilted and pressed against the ash discharge port 11. When the negative pressure outside the ash discharge port pressure plate 30 is constant, the tilted plate surface of the ash discharge port pressure plate 30 will increase the effective area of ​​the negative pressure, that is, the pulling force for opening the ash discharge port pressure plate 30 will increase, making it easier to open the ash discharge port pressure plate 30. At the same time, from the perspective of fluid, the area of ​​the ash discharge port pressure plate 30 is increased, that is, the air outlet cross-sectional area of ​​the ash discharge port 11 is increased, which is conducive to the discharge of dust in the dust box body 10 carried by air, shortening the dust removal time and improving the dust discharge efficiency in the dust box body 10.

[0101] Embodiment 4

[0102] The present embodiment discloses a sweeping robot, including a dust box, wherein two ash discharge ports 11 are provided on a dust box body 10 of the dust box, an intermediate rotating shaft 20 is provided at the ash discharge port 11 of the dust box body 10, two ash discharge port pressing plates 30 are connected to the intermediate rotating shaft 20, and the ash discharge port pressing plates 30 are arranged at the ash discharge port 11 in a one-to-one correspondence;

[0103] Under the action of the driving force, the driving force drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously.

[0104] The working process of the sweeping robot is described in detail below.

[0105] 1) When the sweeping robot is performing floor cleaning, the ash discharge port pressing plate 30 is pressed against the edge of the ash discharge port 11, that is, the ash discharge port pressing plate 30 closes the ash discharge port 11. Figure 2 As shown, the air pump of the sweeping robot draws air, and the air enters from the opening 13 on one side of the dust box body 10 and is discharged through the outlet 14 on one side of the dust box body 10. The dust in the air is blocked by the filter provided at the outlet 14 and accumulated in the box cavity of the dust box body 10.

[0106] 2) The sweeping robot receives a dust removal instruction, which is used to instruct the sweeping robot to walk to the workstation. After the dust removal port 11 of the sweeping robot corresponds to the suction opening of the workstation, the dust in the dust box body 10 can be sucked.

[0107] 3) During the dust discharge process of the dust box body 10 of the sweeping robot, the fan of the workstation works to generate a pressure difference between the inner and outer sides of the dust discharge port pressure plate 30 on the dust box body 10 to form a driving force, which is the air pressure.

[0108] 4) The air pressure drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate shaft 20 so that the two ash discharge ports 11 are opened synchronously. The two ash discharge ports 11 are opened synchronously so that the dust in the dust box body 10 is discharged from the two ash discharge ports 11 simultaneously.

[0109] The ash discharge port pressure plates 30 described in the present embodiment are under the action of the driving force. Since the two ash discharge port pressure plates 30 are arranged on the same intermediate rotating shaft 20, that is, the two ash discharge port pressure plates 30 are coaxially arranged, the driving force drives the two ash discharge port pressure plates 30 and the intermediate rotating shaft 20 to rotate synchronously, thereby realizing the synchronous opening of the two ash discharge ports 11, thereby avoiding the situation where, after one ash discharge port 11 is opened, the second ash discharge port 11 cannot be opened subsequently or the opening is very small due to the reduction in pressure difference. The synchronous opening of the two ash discharge ports 11 can ensure that the dust in the dust box body 10 is discharged from the two ash discharge ports 11 at the same time, thereby accelerating the dust discharge speed in the dust box body 10, improving the dust discharge efficiency in the dust box body 10, reducing the working time of the fan in the workstation, extending its service life and reducing energy consumption.

[0110] Embodiment 5

[0111] The present embodiment discloses a control method for a sweeping robot, the sweeping robot comprising a dust box body 10, the bottom of the dust box body 10 being provided with two ash discharge ports 11, the bottom of the dust box body 10 being provided with an intermediate rotating shaft 20, the intermediate rotating shaft 20 being connected with two ash discharge port pressure plates 30, and the ash discharge port pressure plates 30 being arranged one-to-one at the ash discharge ports 11.

[0112] The method comprises: under the action of a driving force, the driving force drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously.

[0113] See also Figure 8 As shown, the method includes:

[0114] Step 802: The cleaning robot receives a dust removal instruction.

[0115] Step 804: The dust discharge instruction is used to instruct the sweeping robot to walk to the workstation, and the dust discharge port 11 of the sweeping robot corresponds to the suction opening of the workstation.

[0116] Step 806: The fan of the workstation operates to generate a pressure difference between the inner and outer sides of the dust discharge port pressure plate 30 on the dust box body 10 to form air pressure as the driving force.

[0117] Step 808 : The air pressure drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are opened synchronously.

[0118] In a preferred implementation of this embodiment, a reset mechanism is provided between the dust box body 10 and the intermediate rotating shaft 20;

[0119] Step 808 specifically includes: the air pressure overcomes the reset force provided by the reset mechanism and drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate shaft 20 so that the two ash discharge ports 11 are opened synchronously;

[0120] The control method of the sweeping robot also includes:

[0121] After the sweeping robot completes dust removal, the resetting force provided by the resetting mechanism drives the two ash discharge port pressure plates 30 to rotate synchronously with the intermediate rotating shaft 20 so that the two ash discharge ports 11 are closed synchronously.

[0122] In the present embodiment, the ash discharge port pressure plates 30 are under the action of the driving force. Since the two ash discharge port pressure plates 30 are arranged on the same intermediate rotating shaft 20, that is, the two ash discharge port pressure plates 30 are coaxially arranged, the driving force drives the two ash discharge port pressure plates 30 and the intermediate rotating shaft 20 to rotate synchronously, thereby realizing the synchronous opening of the two ash discharge ports 11, thereby avoiding the situation where, after one ash discharge port 11 is opened, the second ash discharge port 11 cannot be opened subsequently or the opening is very small due to the reduction in pressure difference. The synchronous opening of the two ash discharge ports 11 can ensure that the dust in the dust box body 10 is discharged from the two ash discharge ports 11 at the same time, thereby accelerating the discharge speed of the dust in the dust box body 10, and thereby improving the dust discharge efficiency in the dust box body 10.

[0123] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0124] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0125] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0126] Unless otherwise stated, the numerical ranges herein include not only the entire range within its two endpoints but also include several sub-ranges contained therein.

[0127] The preferred specific implementation modes and embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above implementation modes and embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the concept of the present application.

Claims

1. A dust box, the dust box being configured to be installed on a sweeping robot, characterized in that: The invention comprises a dust box body (10), wherein two dust discharge ports (11) are provided on the dust box body (10), an intermediate rotating shaft (20) is arranged at the dust discharge port (11) of the dust box body (10), the intermediate rotating shaft (20) is connected to two dust discharge port pressure plates (30), and the dust discharge port pressure plates (30) are arranged at the dust discharge ports (11) in a one-to-one correspondence, and dust in the dust box body (10) is discharged simultaneously from the two dust discharge ports (11); Under the action of a driving force, the driving force drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are opened synchronously, wherein the driving force is air pressure; wherein a reset mechanism is provided on the dust box body (10); The reset force provided by the reset mechanism drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously. The reset mechanism comprises a first suction unit (41) provided on the intermediate rotating shaft (20) and a second suction unit (42) provided on the dust box body (10). The magnetic force between the first suction unit (41) on the intermediate rotating shaft (20) and the second suction unit (42) on the dust box body (10) serves as at least part of the reset force, driving the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously.

2. The dust box according to claim 1, characterized in that: The first suction unit (41) is an iron sheet, which is arranged on the shaft body in the middle of the intermediate rotating shaft (20), and the second suction unit (42) is a magnet embedded in the dust box body (10), and the magnet is arranged corresponding to the iron sheet.

3. The dust box according to claim 1 or 2, characterized in that: The dust box body (10) is provided with a receiving groove, and the first suction unit (41) is installed in the receiving groove.

4. The dust box according to claim 1, characterized in that: The opening direction of the ash discharge port (11) is inclined downward, and the plate surface of the ash discharge port pressure plate (30) is inclined and pressed against the ash discharge port (11).

5. The dust box according to claim 4, characterized in that: The angle between the opening direction of the ash discharge port (11) and the horizontal plane is 10° to 30°.

6. The dust box according to claim 4, characterized in that: A groove (12) with an opening facing downward is provided on the bottom shell of the dust box body (10), and the dust discharge port (11) is arranged in the groove (12).

7. The dust box according to claim 6, characterized in that: When the ash discharge port pressure plate (30) is in a closed position pressed against the ash discharge port (11), the distance between the lowest end of the ash discharge port pressure plate (30) and the lowest end of the side wall of the groove (12) is not less than 1 / 2 of the length of the side wall of the groove (12).

8. The dust box according to claim 6, characterized in that: When the ash discharge port pressure plate (30) is in an open position separated from the ash discharge port (11), the ash discharge port pressure plate (30) at least partially protrudes from the side wall of the groove (12).

9. The dust box according to claim 6, characterized in that: The inner side wall of the groove (12) is provided with a notch (121), and the outer side wall of the groove (12) is provided with an axial hole (122); Both ends of the intermediate rotating shaft (20) are respectively inserted into the shaft hole (122) through the notches (121).

10. The dust box according to claim 1, characterized in that: A pressure plate rubber (31) is connected to the inner plate surface of the ash discharge port pressure plate (30).

11. A dust box, the dust box being configured to be installed on a sweeping robot, characterized in that: The invention comprises a dust box body (10), wherein two dust discharge ports (11) are provided on the dust box body (10), an intermediate rotating shaft (20) is arranged at the dust discharge port (11) of the dust box body (10), the intermediate rotating shaft (20) is connected to two dust discharge port pressure plates (30), and the dust discharge port pressure plates (30) are arranged at the dust discharge ports (11) in a one-to-one correspondence, and dust in the dust box body (10) is discharged simultaneously from the two dust discharge ports (11); Under the action of a driving force, the driving force drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are opened synchronously, wherein the driving force is air pressure; wherein a reset mechanism is provided on the dust box body (10); The reset force provided by the reset mechanism drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously, the reset mechanism comprises a torsion spring (43) located at the connection between the ash discharge port pressure plates (30) and the intermediate rotating shaft (20) and sleeved on the intermediate rotating shaft (20), one end of the torsion spring (43) is folded on the dust box body (10), and the other end of the torsion spring (43) is folded on the ash discharge port pressure plates (30); The torsion force provided by the torsion spring (43) serves as at least part of the restoring force, driving the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20), so that the two ash discharge ports (11) are closed synchronously.

12. A sweeping robot, characterized in that: The dust box comprises a dust box body (10) of which two dust discharge ports (11) are provided, an intermediate rotating shaft (20) is arranged at the dust discharge port (11) of the dust box body (10), two dust discharge port pressure plates (30) are connected to the intermediate rotating shaft (20), and the dust discharge port pressure plates (30) are arranged at the dust discharge port (11) in a one-to-one correspondence, and dust in the dust box body (10) is discharged simultaneously from the two dust discharge ports (11); Under the action of a driving force, the driving force drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are opened synchronously, wherein the driving force is air pressure; wherein a reset mechanism is provided on the dust box body (10); The reset force provided by the reset mechanism drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously. The reset mechanism comprises a first suction unit (41) provided on the intermediate rotating shaft (20) and a second suction unit (42) provided on the dust box body (10). The magnetic force between the first suction unit (41) on the intermediate rotating shaft (20) and the second suction unit (42) on the dust box body (10) serves as at least part of the reset force, driving the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously.

13. A control method for a sweeping robot, characterized in that: The sweeping robot comprises a dust box body (10), the bottom of the dust box body (10) is provided with two dust discharge ports (11), the bottom of the dust box body (10) is provided with an intermediate rotating shaft (20), the intermediate rotating shaft (20) is connected to two dust discharge port pressure plates (30), and the dust discharge port pressure plates (30) are arranged at the dust discharge ports (11) in a one-to-one correspondence, and dust in the dust box body (10) is discharged simultaneously from the two dust discharge ports (11); The method comprises: Under the action of a driving force, the driving force drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are opened synchronously, wherein the driving force is air pressure; wherein a reset mechanism is provided on the dust box body (10); The reset force provided by the reset mechanism drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously. The reset mechanism comprises a first suction unit (41) provided on the intermediate rotating shaft (20) and a second suction unit (42) provided on the dust box body (10). The magnetic force between the first suction unit (41) on the intermediate rotating shaft (20) and the second suction unit (42) on the dust box body (10) serves as at least part of the reset force, driving the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are closed synchronously.

14. The control method of the sweeping robot according to claim 13, characterized in that: The sweeping robot is docked with a workstation; The method comprises: The fan of the workstation operates to generate a pressure difference between the inner and outer sides of the dust outlet pressure plate (30) on the dust box body (10) to form air pressure as the driving force; The air pressure drives the two ash discharge port pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash discharge ports (11) are opened synchronously.

15. The control method of the sweeping robot according to claim 14, characterized in that: A reset mechanism is provided between the dust box body (10) and the intermediate rotating shaft (20); The method further comprises: After the sweeping robot completes dust removal, the resetting force provided by the resetting mechanism drives the two ash removal opening pressure plates (30) to rotate synchronously with the intermediate rotating shaft (20) so that the two ash removal openings (11) are closed synchronously.

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